Mobile cleaning robot

Abstract

The present disclosure provides a mobile cleaning robot, which is characterized by comprising: a main body, the periphery of which defines a floor area of the robot; the bottom frame is arranged on the main body; the cleaning assembly is arranged on the bottom frame and is configured to erase dirt particles from the surface to be cleaned; the cleaning assembly comprises a cleaning piece arranged on the bottom frame and configured to be capable of conducting wet type cleaning on the surface to be cleaned in the working process; and the foam distributor is arranged on the bottom frame and is configured to selectively distribute foam to the surface to be cleaned during working, and the range of the foam distributed to the surface to be cleaned from the foam distributor does not exceed the occupied range.

Description

Technical Field

[0001] This disclosure relates to a mobile cleaning robot. Background Technology

[0002] Mobile cleaning robots, as an important application of automation technology, have a history dating back to simple vacuum cleaners in the early 1990s. With advancements in sensor technology, artificial intelligence, and mechanical design, modern mobile cleaning robots are now capable of performing complex cleaning tasks, including vacuuming, mopping, and surface disinfection. However, existing technologies still face many challenges, particularly regarding efficiency in cleaning heavily soiled surfaces. Utility Model Content

[0003] This disclosure provides a mobile cleaning robot comprising the following main components: a body that defines the robot's footprint and serves as the basic structure of the entire device; a base frame disposed on the body for supporting cleaning components and having openings to allow the cleaning components to contact the surface to be cleaned; and cleaning components mounted on the base frame and configured to wipe away dirt particles from the surface to be cleaned.

[0004] Specifically, the cleaning components include: a cleaning element, mounted on the base frame, configured to perform wet cleaning of the surface to be cleaned during operation, and switchable between a retracted position and an extended position; in the retracted position, the cleaning element is mostly located above the opening of the base frame; in the extended position, at least a portion of the cleaning element extends below the opening to contact the surface to be cleaned; a foam dispenser, mounted on the base frame, configured to selectively dispense foam to the surface to be cleaned during operation, the foam dispensing range not exceeding the robot's footprint to ensure cleaning accuracy; and a liquid dispenser, mounted on the base frame, configured to selectively dispense cleaning liquid in the direction of the roller brush during operation to further enhance the cleaning effect.

[0005] According to some examples, the foam dispenser includes a foam nozzle configured to spray foam onto the surface to be cleaned, with the spray direction substantially perpendicular to the surface to ensure uniform foam coverage. In the robot's forward direction, the foam nozzle is positioned in front of the cleaning component to distribute foam before cleaning, while being located behind the drive wheels to avoid interfering with movement.

[0006] According to some examples, the foam nozzle can also be configured to spray foam in multiple directions relative to the direction of travel to accommodate different cleaning needs. The foam dispensing channel component is located in a virtual plane that is substantially parallel to the surface to be cleaned as the robot moves, ensuring the stability of foam dispensing.

[0007] According to some examples, the liquid dispenser includes a liquid dispensing channel component located in a virtual plane that is substantially perpendicular to the surface to be cleaned as the robot moves, ensuring that the cleaning fluid is accurately dispensed in the direction of the roller brush. Attached Figure Description

[0008] The accompanying drawings illustrate exemplary examples of this disclosure and, together with its description, serve to explain the principles of this disclosure. These drawings are included to provide a further understanding of this disclosure and are incorporated in and constitute a part of this specification.

[0009] Figure 1 This is a schematic diagram of a surface cleaning equipment base according to an example of this disclosure.

[0010] Figure 2 This is a bottom view schematic diagram of the base of a surface cleaning device according to an example of this disclosure.

[0011] Figure 3 This is a side sectional view of the base of a surface cleaning device according to an example of this disclosure.

[0012] Figure 4 This is a block diagram of a sensor system according to an example of this disclosure. Detailed Implementation

[0013] The present disclosure will now be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0014] It should be noted that, where there is no conflict, the examples and features in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and examples.

[0015] Unless otherwise stated, the exemplary examples / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of the various examples / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0016] In existing technologies, mobile cleaning robots primarily address the cleaning needs of dirty floors in the following ways. The first method involves the user manually adding cleaning solution to the tank. The solution wets the cleaning components through the tank assembly, enhancing their ability to remove stubborn stains. However, this method has the following drawbacks: the chemical components in the cleaning solution may corrode or damage some flooring materials (such as wooden floors); furthermore, the addition of cleaning solution may leave residue on the floor, increasing the risk of slipping. The second method involves the mobile cleaning robot identifying dirty areas through its control system and repeatedly cleaning those areas to increase cleaning frequency and wiping intensity, thereby improving cleaning effectiveness. However, this method also has problems: firstly, repeated cleaning significantly prolongs cleaning time, reducing overall cleaning efficiency; secondly, multiple cleanings consume more water, increasing the robot's operating costs; and most importantly, for some stubborn stains (such as oil or sticky substances), even with increased cleaning frequency, the cleaning effect remains unsatisfactory.

[0017] To address the aforementioned issues, existing technologies have proposed several improvement solutions. For example, some mobile cleaning robots attempt to enhance cleaning capabilities by increasing the absorbency of the cleaning components or increasing mechanical wiping force; however, these improvements have limited effectiveness when dealing with oily surfaces. Furthermore, some solutions propose using high-temperature steam cleaning to break down stains, but this method requires additional heating devices, increasing the machine's complexity and energy consumption, making it unsuitable for widespread application. Therefore, how to effectively improve the cleaning ability of mobile cleaning robots on dirty surfaces without significantly increasing cost and complexity has become a pressing technical challenge in this field.

[0018] This invention aims to solve the technical problem of poor cleaning effect of traditional mobile cleaning robots when cleaning heavily soiled floors, especially floors with adhesive stains. It provides a mobile robot that, in some embodiments, can remove adhesive particles from the floor surface by stirring the adhesive particles, selectively spraying foam and / or scrubbing the floor surface within the robot's coverage area, thereby enhancing the cleaning effect.

[0019] The mobile cleaning robot 100 may include cleaning components for cleaning or treating floor surfaces F. For example... Figure 1 and 2As shown, the cleaning assembly may include a foam dispenser 121 extending along the lateral axis X of the base 110 of the mobile cleaning robot 100 and dispensing cleaning foam onto the floor surface F. The foam dispenser 121 may include at least one nozzle 1211 capable of spraying foam P1 onto the floor surface F. In some examples, the nozzle 1211 sprays substantially downwards to cover an area one robot-width wide below the base 110 of the mobile cleaning robot 100 and in front of the cleaning component (in the direction of travel). The perimeter and / or circumference of the mobile cleaning robot 100 define the footprint of the mobile cleaning robot 100.

[0020] In some embodiments, the mobile cleaning robot 100 sprays foam only onto specific areas of the floor surface F detected by the mobile cleaning robot 100. In one example, the foam dispenser 121 includes a plurality of nozzles 1211, each nozzle configured to spray foam P1 in a different direction than the other nozzles, but generally towards the surface to be cleaned within the footprint of the mobile cleaning robot 100 at that time. Instead of spraying foam outwards, the foam dispenser 121 can spray foam directly below the mobile cleaning robot 100, whose base 110 is adjacent to the surface to be cleaned. Spraying below the robot rather than outwards better suppresses unwanted secondary pollution caused by splashing of the spray pulses into the surrounding environment.

[0021] The foam dispenser 121 extends laterally along the robot base 110 and is designed to selectively distribute cleaning foam P1 onto the floor surface F. Foam nozzles 1211 are configured to spray foam downwards, covering the area below the robot base 110 and in front of the cleaning component (in the robot's forward direction). The nozzles are sprayed substantially perpendicular to the floor surface F to ensure that the foam spreads evenly upon contact and forms a consistent foam layer, thereby optimizing cleaning performance. In this embodiment, multiple foam nozzles are symmetrically arranged along the robot's lateral axis X, spaced 100 mm apart, and their flow rate is adjustable from 0.1 to 0.5 liters per minute, dynamically controlled by the controller 150 according to the degree of dirt on the floor surface.

[0022] In one example, such as Figure 2As shown, the foam nozzle 1211 is positioned on the base frame 110 in front of the cleaning component (in the robot's forward direction), approximately 20 mm from the leading edge of the cleaning component, to ensure that foam first covers the target cleaning area, preparing it for subsequent scrubbing of the cleaning component. The nozzle supports a spray angle in the range of 10° to 30°, thereby achieving a coverage width of approximately 50 mm. In some examples, the foam distributor 121 includes more than one nozzle 1211, each nozzle spraying fluid in a fan shape to evenly distribute foam P1 on the floor surface F. The foam distributor 121 may include a foam distribution channel accommodating the nozzle 1211. Additionally, the foam distributor 121 includes a foam distribution channel component 1212, which in one example is made of corrosion-resistant polyamide and has dimensions of 300 mm in length, 20 mm in width, and 3 mm in thickness. The foam distribution channel component 1212 has multiple parallel interconnected microchannels inside to ensure uniform delivery of foam from the generator to the nozzle. In one example, as... Figure 3 As shown, the foam distribution channel component 1212 is located substantially on a virtual plane parallel to the floor surface F to stabilize the spray trajectory toward the surface to be cleaned. In one example, the foam distribution channel component 1212 is bolted to a base frame for easy disassembly and maintenance.

[0023] like Figure 1 As shown, a foaming agent reservoir 160 is provided on the robot body (i.e., the base frame 110) to contain the foaming agent and is connected to a nozzle 1211 via a pipe. The foaming agent reservoir 160 can be installed in the rear of the mobile cleaning robot 100. The cleaning assembly may also include a foam generating device 130 for conveying liquid from the foaming agent reservoir 160 to the nozzle 1211 via a pipe. The pipe passes from the foaming agent reservoir 160 through the foam generating device 130 and finally reaches the foam dispenser 121. The pipe connects to the foam generating device 130 at the lowest point of the foaming agent reservoir 160 to discharge almost all of the foaming medium in the foaming agent reservoir 160. In some examples, the foam generating device 130 includes structures such as a gas pump, a liquid pump, and a mixing chamber, as detailed in Chinese Patent ZL202320137781.3, which will not be elaborated here.

[0024] The foaming agent reservoir 160 can hold cleaning fluid or foaming agent with a volume of 50 ml to 250 ml or more. The foaming agent reservoir 160 may have a semi-transparent or completely transparent portion to allow a user to observe the amount of cleaning fluid remaining in the reservoir. The transparent portion may include an indicator enabling the user to identify the volume of remaining cleaning fluid and whether the foaming agent reservoir 160 needs to be refilled. In some examples, the foaming agent reservoir 160 may include a removable cap allowing a user to empty the foaming agent reservoir 160 or inject foaming agent (or cleaning fluid) into it.

[0025] As the primary cleaning mode for the mobile cleaning robot 100 in wet cleaning operation, the mobile cleaning robot 100 can perform routine wet cleaning on hard floors (such as wood floors, tiles, or short-pile carpets), that is, by wetting the cleaning components with clean water to improve the cleaning components' ability to adsorb and remove stains from the surface to be cleaned. In one embodiment, such as Figure 1 As shown, a liquid distributor 122 is mounted on the base frame 110, which functions to selectively deliver cleaning fluid, such as cleaning water, towards the cleaning component. The liquid distributor 122 is positioned inside the cleaning component cavity near the cleaning component (e.g., mounted vertically relative to the base frame 110). The liquid distributor 122 distributes the cleaning fluid along the longitudinal axis of the cleaning component in a manner that is laterally distributed along the base frame 110, thereby wetting the cleaning component and continuously supplying cleaning fluid as the mobile cleaning robot 100 moves across the floor surface F to facilitate scrubbing. The liquid distributor 122 is typically configured with a liquid distribution channel component 1221, which in one example is made of corrosion-resistant polyamide and has dimensions of 300 mm long, 20 mm wide, and 3 mm thick, providing good durability. The liquid distribution channel component 1221 contains multiple parallel interconnected microchannels to ensure uniform delivery of foam from the generator to the nozzle. In one example, the channel is located substantially on a virtual plane perpendicular to the floor surface F. Multiple clean water nozzles, each 2mm in diameter and spaced 30mm apart, are located at the bottom of the flow channel to dispense cleaning liquid to the cleaning components. The cleaning liquid is pumped from the storage tank to the nozzles via pipeline by a 5W pump. The liquid dispenser 122 includes a storage tank 1222 made of transparent polycarbonate material with graduated level lines for easy monitoring of remaining liquid volume.

[0026] The mobile cleaning robot 100 is also equipped with drive wheels W1 and W2, which are motor-driven for navigation on the floor surface F. Drive wheels W1 and W2 provide a dry friction coefficient of 0.8 and a wet friction coefficient of 0.6 to ensure sufficient traction. Positionally, the foam nozzle 1211 is located behind drive wheels W1 and W2, and longitudinally inside drive wheels W1 and W2, approximately 30 mm from the trailing edge of the wheels, to avoid interference with the freshly sprayed foam, thus maintaining the integrity of the cleaning process.

[0027] like Figure 2 and 3As shown, the cleaning assembly also includes a cleaning element 123, located within an opening 117 of the base frame 110 and supported by the robot body (i.e., the base frame 110). The cleaning element 123 is configured to absorb and remove foam residue sprayed onto the floor surface F by the foam dispenser 121, as well as any absorbed stains. Some stains may be adhesive, such as soup or honey. Foam is absorbent and burstable. When the mobile cleaning robot 100 applies foam to specific locations on the floor surface F (e.g., adhesive stains), the cleaning element 123 wipes the floor surface F, causing the foam to burst actively or passively, loosening or eliminating the bond between the adhesive stain and the surface to be cleaned. Combined with the wiping action of the cleaning element 123, residual liquid on the floor surface F is absorbed. In some examples, the cleaning element 123 is a cylindrical roller brush made of a highly absorbent microfiber material with a bristled surface to enhance stain capture while protecting sensitive floor surfaces. The cleaning component 123 can absorb up to 100ml of liquid without significant deformation, maintaining stable cleaning performance. The cleaning component 123 is secured by a connector and can switch between retracted and extended positions. In the retracted state, the cleaning component 123 is positioned above the opening 117, suitable for cleaning surfaces unsuitable for wet cleaning, such as long-pile carpets; in the extended state, the cleaning component 123 extends below the opening 117, contacting the floor surface F, suitable for cleaning hard floors. The switching process is guided by the controller 150 and the sensor system 140. The sensor system 140 detects the floor type and triggers the extension of the cleaning component 123, while long-pile carpet surfaces prompt the cleaning component 123 to retract, thus dynamically adjusting the cleaning mode. Furthermore, the mobile cleaning robot 100's built-in vacuum system can recover 90% of the dirty liquid into a collection tank with a certain capacity to maintain the cleaning cycle.

[0028] In some examples, the mobile cleaning robot 100 can perform cleaning actions by moving in the forward direction toward an obstacle and then moving backward or in the opposite direction. The mobile cleaning robot 100 can travel a first distance in the forward drive direction to a first position, where the nozzle 1211 sprays foam P1 onto the floor surface F near the first position below the mobile cleaning robot 100 in a downward direction. Since the distance D is the longitudinal distance from the nozzle to the leading edge of the robot, the mobile cleaning robot 100 determines that cleaning foam will be applied to these surfaces or obstacles. The mobile cleaning robot 100 moves in the forward direction and continues forward after spraying cleaning foam until the cleaning component 123 reaches the foam spray point. At least under the agitation of the cleaning component 123, the foam breaks and explodes, dissolving and pulling out adhesive particles from the surface to be cleaned.

[0029] In some examples, the mobile cleaning robot 100 wets the cleaning component 123 and / or scrubs the floor surface F with a regular cleaning solution at the start of a cleaning run. In foam cleaning mode, the robot can move back and forth to cover specific portions of the floor surface F. As the mobile cleaning robot 100 moves back and forth, the agitated cleaning component 123 cleans the areas it passes through, thus thoroughly cleaning the floor surface F as the mobile cleaning robot 100 moves back and forth.

[0030] In some examples, the liquid dispenser 122 dispenses a general cleaning fluid (e.g., water) onto the cleaning component 123 and into areas along the direction of travel (e.g., forward direction) of the mobile cleaning robot 100. In some cases, the general cleaning fluid is applied to areas previously occupied by the cleaning component 123. In some examples, areas previously occupied by the cleaning component 123 are recorded on a stored map accessible to the controller 150.

[0031] In some examples, the mobile cleaning robot 100 tracks its visited locations by storing their coverage locations on a non-transitory memory or on a map on an external storage medium accessible by wired or wireless means during cleaning operations. The sensor system 140 of the mobile cleaning robot 100 may include a camera and / or one or more ranging lasers for mapping the space. The robot controller 150 uses the map of ground obstacles to position and place the mobile cleaning robot 100 away from obstacles and / or ground variations before using the cleaning component 123, ensuring that cleaning fluid or foam is used in areas of the floor surface F suitable for wet cleaning (e.g., hard floors).

[0032] In some examples, the mobile cleaning robot 100 moves back and forth to wet the cleaning component 123 and / or scrub the foam-sprayed floor surface F. The mobile cleaning robot 100 can traverse a fixed area of ​​foam-sprayed P1 on the floor surface F in a reciprocating pattern, as instructed by a reciprocating cleaning routine. In some embodiments, the reciprocating cleaning routine includes moving the mobile cleaning robot 100 in a forward and backward direction or in the opposite direction. In some examples, the reciprocating cleaning routine includes moving the mobile cleaning robot 100 along a left-hand track and a right-hand track, and in a forward and backward direction. The left-hand track and the right-hand track are arc-shaped tracks extending outward from the starting point of the reciprocating path. The left-hand track and the right-hand track can also be straight tracks extending outward in a straight line from the reciprocating path.

[0033] When the mobile cleaning robot 100 begins a cleaning run or routine cleaning, the cleaning component 123 is dry and needs to be wetted to reduce friction and distribute the cleaning fluid along its surface. Therefore, the mobile cleaning robot 100 applies a high volumetric flow rate of clean water at the start of a cleaning run to promote wetting of the cleaning component 123. In some examples, at the start of a foam cleaning run, the mobile cleaning robot 100 drives the cleaning component 123 through the applied foam, causing the central area of ​​the bottom surface of the cleaning component 123, as well as the left and right edge areas of the cleaning component 123, to be cleaned along the robot's bottom surface coverage area.

[0034] At the start of the cleaning operation, the robot applies cleaning fluid at a relatively high initial volumetric flow rate, applying a large amount of cleaning fluid to the cleaning component 123 to quickly wet it. After wetting the cleaning component 123, the mobile cleaning robot 100 continues its cleaning operation, subsequently applying foam at specific locations. In one example, the mobile cleaning robot 100 moves along a reciprocating path in both forward and backward directions, causing the center of the cleaning component 123 to pass through the applied foam. Then, the mobile cleaning robot 100 travels along a right-hand track in both forward and backward directions, causing the left-hand area of ​​the cleaning component 123 to pass through the applied foam P1. Subsequently, the mobile cleaning robot 100 travels along a left-hand track in both forward and backward directions, causing the right-hand area of ​​the cleaning component 123 to pass through the sprayed foam P1.

[0035] Therefore, the mobile cleaning robot 100 removes adhesive stains from the floor surface F by bursting foam and the reciprocating motion of the robot's cleaning component 123. The decomposed stains are then absorbed by the cleaning component 123 and recycled as waste liquid through a vacuuming action. In some examples, the vacuuming action can recover enough waste liquid to prevent foam residue.

[0036] To achieve reliable and robust autonomous movement, the mobile cleaning robot 100 may include a sensor system 140, which has several different types of sensor systems 140. In some examples, the mobile cleaning robot 100 uses the sensor system 140 to assess the degree of dirt on the floor surface and, in conjunction with the controller 150, implements an intelligent cleaning mode.

[0037] Figure 4 This is a block diagram of a sensor system 140 according to an exemplary embodiment. The sensor system 140 includes a speed sensor 141, a pressure sensor 142, and a dirt detection sensor 143, etc. These sensors work together to provide real-time data to a controller 150 to optimize the operation of the cleaning components.

[0038] The speed sensor 141 can be an optical encoder or a Hall sensor, mounted on the rotation axis of the drive wheel or cleaning component 123, for measuring the movement speed and direction of the mobile cleaning robot. In one embodiment, the speed sensor 141 includes a magnetic part and a magnetic signal sensing part, the magnetic part being uniformly distributed on the inner surface of the drive wheel, and the magnetic signal sensing part detecting the rotation of the magnetic part to calculate the movement speed.

[0039] Pressure sensor 142 is installed at cleaning component 123 to detect the contact pressure between cleaning component 123 and the cleaning surface. The pressure data can be used to determine whether cleaning component 123 is in contact with a surface that does not need to be cleaned, such as a carpet or a soft object.

[0040] The dirt detection sensor 143, which can be an infrared sensor or a camera, is mounted near the front of the self-moving mobile cleaning robot to identify the type (such as solid debris or liquid stains) and degree of dirt on the cleaning surface. The data generated by the dirt detection sensor 143 helps the controller 150 determine whether the foam cleaning mode needs to be enabled.

[0041] For light stains, the controller activates only the liquid dispenser 122 to wet the cleaning component 123 for standard wet mopping. For heavy stains, both the liquid dispenser 122 and the foam dispenser 121 are activated simultaneously (or only the foam dispenser 121 is activated while the liquid dispenser 122 is paused), spraying foam onto the floor or the cleaning component 123. The cleaning foam can penetrate tiny crevices in the dirt and break down stubborn stains through bursting and dissolving action, significantly improving the removal of adhering stains. The controller's machine learning algorithm analyzes sensor data to identify stain types (such as oil or dust) with an accuracy rate of up to 95%, and dynamically adjusts the cleaning strategy accordingly.

[0042] In some embodiments, the mobile cleaning robot 100 includes a navigation system configured to allow the mobile cleaning robot 100 to navigate the floor surface F without colliding with obstacles or falling off stairs, and to intelligently identify relatively dirty floor areas for cleaning. Furthermore, the navigation system may be a behavior-based system stored and / or executed on the robot controller 150. The navigation system may communicate with the sensor system 140 to determine and issue drive commands to the drive system. The navigation system may influence and configure robot behavior 300, enabling the mobile cleaning robot 100 to act according to a pre-planned system movement pattern. In some examples, the navigation system receives data from the sensor system 140 and plans a desired path for the mobile cleaning robot 100. In some examples, the navigation system includes a map stored on non-transitory memory of the mobile cleaning robot 100 or on an external storage medium accessible via wired or wireless means during cleaning operations.

[0043] The above description of embodiments of this disclosure is for illustrative purposes only and is not intended to be exhaustive or to limit the disclosure to its precise forms. Those skilled in the art will understand that many modifications and variations are possible based on the above disclosure.

[0044] Certain portions of this description use notation to represent algorithms and information operations to describe embodiments of this disclosure. These algorithmic descriptions and representations are commonly used by those skilled in the art of data processing to effectively communicate the substance of their work to others skilled in the art. While these operations are described functionally, computationally, or logically, they are understood to be implemented through computer programs or equivalent circuits, microcode, or similar programs. Furthermore, it is sometimes convenient to refer to these operations as modules without loss of generality. The operations and their associated modules may be embodied in software, firmware, hardware, or any combination thereof.

[0045] Any step, operation, or process described in this disclosure may be performed or implemented by one or more hardware or software modules, alone or in combination with other devices. In one embodiment, the software module is implemented by a computer program product including a computer-readable medium containing computer program code executable by a computer processor to perform any or all of the steps, operations, or processes described.

[0046] Embodiments of this disclosure may also relate to means for performing the operations described herein. Such means may be specifically constructed for the desired purpose, and / or it may comprise a general-purpose computing device selectively activated or reconfigured by a computer program stored in the computer. This computer program may be stored in a non-transitory, tangible, computer-readable storage medium, or any type of medium suitable for storing electronic instructions, which may be connected to a computer system bus. Furthermore, any computing system mentioned in the specification may include a single processor or may employ a multi-processor architecture to enhance computing power.

[0047] Embodiments of this disclosure may also relate to products generated by the computational processes described herein. Such products may include information generated by the computational processes, wherein the information is stored on a non-transitory, tangible, computer-readable storage medium, and may include any embodiment of the computer program product or other data combination described herein.

[0048] Finally, the language used in this specification has been chosen primarily for readability and instructional purposes and may not have been chosen to define or limit the subject matter of this disclosure. Therefore, the scope of this disclosure should not be limited to this detailed description, but rather to any claims made on this basis. Thus, the disclosure of embodiments of this specification is intended to illustrate, not limit, the scope of this disclosure.

Claims

1. A mobile cleaning robot, characterized in that, include: The main body, whose perimeter defines the robot's footprint; The base frame is mounted on the main body; And a cleaning component, mounted on the base, configured to wipe away dirt particles from the surface to be cleaned; The cleaning assembly includes a cleaning component, disposed on the base frame, configured to perform wet cleaning of the surface to be cleaned during operation; A foam dispenser, mounted on the base frame, is configured to selectively dispense foam onto the surface to be cleaned during operation, wherein the foam dispensed from the foam dispenser to the surface to be cleaned extends beyond the area of ​​the base frame.

2. The mobile cleaning robot according to claim 1, characterized in that, The foam dispenser includes foam nozzles configured to spray foam onto the surface to be cleaned.

3. The mobile cleaning robot according to claim 2, characterized in that, The direction of the foam spray is substantially perpendicular to the surface to be cleaned.

4. The mobile cleaning robot according to claim 2, characterized in that, In the forward direction of the mobile cleaning robot, the foam nozzle is located in front of the cleaning component.

5. The mobile cleaning robot according to claim 1, characterized in that, The foam dispenser includes a foam dispensing channel component located in a virtual plane. When the mobile cleaning robot moves on the surface to be cleaned, the plane is substantially parallel to the surface to be cleaned.

6. The mobile cleaning robot according to claim 1, characterized in that, The cleaning assembly also includes a liquid dispenser, disposed on the base frame, configured to selectively dispense cleaning fluid in the direction of the roller brush during operation.

7. The mobile cleaning robot according to claim 6, characterized in that, The liquid dispenser also includes a liquid dispensing channel component located in a virtual plane, which is substantially perpendicular to the surface to be cleaned when the mobile cleaning robot moves on the surface to be cleaned.

8. The mobile cleaning robot according to claim 2, characterized in that, The foam nozzles are configured to spray foam in multiple directions relative to the robot's direction of travel.

9. The mobile cleaning robot according to claim 4, characterized in that, The mobile cleaning robot includes drive wheels for moving the robot on the surface to be cleaned, and the foam nozzle is located behind the drive wheels in the forward direction of the mobile cleaning robot.

10. The mobile cleaning robot according to claim 1, characterized in that, The base frame includes an opening; the cleaning component is disposed on the base frame and configured to switch between a retracted position and an extended position, wherein in the retracted position, the cleaning component is substantially above the opening; In the extended position, at least a portion of the cleaning element extends below the opening to contact the surface to be cleaned.

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