Recycling channel and mobile robot

Abstract

This application relates to the field of mobile robot technology, and provides a recycling channel and a mobile robot. The recycling channel includes: a channel bottom wall, two channel side walls, and a channel top wall, wherein the two channel side walls are respectively disposed on both sides of the channel bottom wall; the channel top wall is disposed opposite to the channel bottom wall and together with the channel bottom wall and the two channel side walls, forms a channel cavity; at least a portion of the channel top wall has a top wall air outlet angle, which is the angle between the lower surface of the channel top wall and a reference plane; the top wall air outlet angle includes a first angle and a second angle, wherein the first angle is smaller than the second angle, and the reference plane is a plane located on the lower side of the channel bottom wall. The recycling channel provided by this application reduces material blockage, eliminates the need for frequent cleaning and maintenance, and extends the service life of the recycling channel.

Description

Technical Field

[0001] This application belongs to the field of mobile robot technology, and more specifically, relates to a recycling channel and a mobile robot. Background Technology

[0002] A lawnmower robot is a common type of mobile robot. It integrates technologies from multiple disciplines such as mechanics, electronics, automation, and computer science, and has functions such as autonomous navigation, automatic mowing, and obstacle avoidance. It aims to free up manpower, improve mowing efficiency and quality, and provide users with convenient and efficient lawn maintenance solutions.

[0003] Some existing lawnmowers have the grass discharge port located at the rear of the lawnmower. The grass discharge port at the rear of the lawnmower is usually connected to the grass collection box or grass clipping device through the grass collection channel. After the lawnmower cuts the grass with the cutting blades, the grass clippings can enter the grass collection box through the grass collection channel or be processed in other ways.

[0004] However, in some existing lawnmowers, the state and quantity of grass clippings vary when transporting them through the grass collection channel. Therefore, when the grass clippings are long, wet, or there is a large amount of grass, they are prone to accumulating and clogging in the grass collection channel. Utility Model Content

[0005] The purpose of this application is to provide a recycling channel and a mobile robot, which aims to solve the technical problem that existing grass collection channels cannot effectively transport grass clippings.

[0006] To achieve the above objectives, according to one aspect of this application, a recycling channel is provided, comprising: a channel bottom wall, two channel side walls, and a channel top wall, wherein the two channel side walls are respectively disposed on both sides of the channel bottom wall; the channel top wall is disposed opposite to the channel bottom wall and together with the channel bottom wall and the two channel side walls to form a channel cavity; at least a portion of the channel top wall has a top wall air outlet rise angle, which is the angle between the lower surface of the channel top wall and a reference plane; the top wall air outlet rise angle includes a first rise angle and a second rise angle, the channel cavity includes a recycling inlet and a recycling outlet, the first rise angle is the angle between the lower surface of the channel top wall at the recycling inlet and the reference plane, the second rise angle is the angle between the lower surface of the channel top wall at the recycling outlet and the reference plane, wherein the first rise angle is smaller than the second rise angle, and the reference plane is a plane located on the lower side of the channel bottom wall.

[0007] Optionally, the lower surface of the channel top wall intersects with the virtual reference plane to obtain the top wall air outlet intersection line, and the virtual reference plane is parallel to the extension direction of the recovery channel; the angle between the tangent of the lower surface of the channel top wall at each point of the top wall air outlet intersection line or the tangent of the top wall air outlet intersection line at each point of itself and the reference plane is the top wall air outlet rise angle.

[0008] Optionally, the top wall air outlet angle gradually increases along the direction from the recycling inlet to the recycling outlet; or, the lower surface of the channel top wall includes a first inclined section and a second inclined section arranged sequentially along the direction from the recycling inlet to the recycling outlet, the top wall air outlet angle includes a first top wall air outlet angle and a second top wall air outlet angle, the first inclined section has a first top wall air outlet angle relative to the reference plane, the second inclined section has a second top wall air outlet angle relative to the reference plane, along the direction from the recycling inlet to the recycling outlet, the first top wall air outlet angle is inclined upward and the angle remains unchanged or gradually increases, the second top wall air outlet angle is inclined upward and the angle remains unchanged or gradually increases, wherein the maximum value of the first top wall air outlet angle is a, the minimum value of the second top wall air outlet angle is b, and a≤b.

[0009] Optionally, the upper surface of the channel bottom wall intersects with the virtual reference plane to obtain the bottom wall air outlet intersection line. The angle between the tangent of the upper surface of the channel bottom wall at each point of the bottom wall air outlet intersection line or the tangent of the bottom wall air outlet intersection line at each point of itself and the reference plane is the bottom wall air outlet rise angle. The upper surface of the channel bottom wall has a bottom wall air outlet tilt angle relative to the reference plane. Along the direction from the recovery inlet to the recovery outlet, the bottom wall air outlet tilt angle tilts upward and remains unchanged or gradually increases. Alternatively, the upper surface of the channel bottom wall includes a third tilt angle arranged sequentially along the direction from the recovery inlet to the recovery outlet. The inclined section and the fourth inclined section have bottom wall air outlet rise angles including a first bottom wall air outlet rise angle and a second bottom wall air outlet rise angle. The third inclined section has a first bottom wall air outlet rise angle relative to the reference plane, and the fourth inclined section has a second bottom wall air outlet rise angle relative to the reference plane. Along the direction from the recovery inlet to the recovery outlet, the first bottom wall air outlet rise angle is inclined upward and the angle remains unchanged or gradually decreases, and the second bottom wall air outlet rise angle is inclined upward and the angle remains unchanged or gradually decreases. Among them, the minimum value of the first bottom wall air outlet rise angle is c, and the maximum value of the second bottom wall air outlet rise angle is d, where c > d.

[0010] Optionally, a virtual scanning surface is defined through the channel cavity, and the virtual scanning surface is moved along the extension direction of the retrieval channel. During the scanning movement of the virtual scanning surface, the virtual scanning surface intersects with the channel cavity to form a series of channel cross sections. Along the direction from the retrieval inlet to the retrieval outlet, the cross-sectional area of ​​each channel cross section gradually decreases, wherein the virtual scanning surface is perpendicular to the virtual reference surface.

[0011] Optionally, the upper surface of the bottom wall of the channel intersects with the virtual reference plane to obtain the bottom wall air outlet intersection line. The angle between the tangent of the upper surface of the bottom wall of the channel at each point of the bottom wall air outlet intersection line or the tangent of the bottom wall air outlet intersection line at each point of itself and the reference plane is the bottom wall air outlet rise angle. At the same channel cross section, the top wall air outlet rise angle is smaller than the bottom wall air outlet rise angle.

[0012] Optionally, along the direction from the recycling inlet to the recycling outlet, the distance between the top wall and the bottom wall of each channel cross-section gradually decreases, and the rate of decrease remains constant or decreases.

[0013] Optionally, at least one of the two channel sidewalls corresponding to each channel section is inclined relative to the reference plane, and at the same channel section, the width of the channel top wall is smaller than the width of the channel bottom wall.

[0014] According to another aspect of this application, a mobile robot is provided, the mobile robot including a cutting module and a recycling channel, the recycling inlet of the recycling channel being connected to the cutting module, and the recycling channel being the aforementioned recycling channel.

[0015] Optionally, the mobile robot also includes a recycling container connected to the recycling outlet of the recycling channel; the top wall and two side walls of the channel are integrally formed and connected to the cutting module or are separately fixedly connected, while the bottom wall of the channel is separately set from the cutting module, and the bottom wall of the channel has a first state of blocking the lower side of the channel cavity and a second state of opening the lower side of the channel cavity; the recycling container can rotate relative to the cutting module, and the recycling container has a recycling state of communicating with the recycling channel and receiving materials in the recycling channel, and a tilting state of communicating with the external environment and allowing the materials in the recycling container to be discharged under its own gravity; the bottom wall of the channel is integrally formed and connected to the recycling container or is separately fixedly connected; when the recycling container rotates relative to the cutting module to the recycling state, it drives the bottom wall of the channel to switch to the first state; when the recycling container rotates relative to the cutting module to the tilting state, it drives the bottom wall of the channel to switch to the second state.

[0016] The beneficial effects of the recycling channel provided in this application are as follows: Compared with the prior art, the recycling channel provided in this application is formed by the channel top wall and channel bottom wall arranged opposite to each other, and two channel side walls located on both sides of the channel top wall and channel bottom wall. The recycling outlet of the recycling channel is connected to the recycling container, so that the material can enter the channel cavity through the recycling inlet of the recycling channel and be transported to the recycling container through the channel. At the same time, the recycling channel provided in this application sets at least part of the channel top wall to have a top wall air outlet rise angle relative to the reference plane, and sets the first rise angle at the recycling inlet to be smaller than the second rise angle at the recycling outlet, so that the material can have a larger horizontal throwing distance after being thrown out of the channel cavity, which facilitates the smooth passage of the material through the area where it may accumulate, and avoids blocking the recycling channel. Since the material blockage is reduced, the recycling channel does not need to be cleaned and maintained frequently. This not only saves the user's time and energy, but also reduces the risk of damage to the recycling channel due to improper maintenance, and extends the service life of the recycling channel. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the recycling channel integrated with the cutter head cover, provided in an embodiment of this application.

[0019] Figure 2 A cross-sectional schematic diagram of the recovery channel integrated with the cutter head cover, provided for an embodiment of this application;

[0020] Figure 3 A cross-sectional schematic diagram of the recovery channel integrated with the cutter head cover from another perspective provided for an embodiment of this application;

[0021] Figure 4 A cross-sectional schematic diagram of the recycling channel integrated with the cutter head cover from another perspective provided for an embodiment of this application;

[0022] Figure 5 A schematic diagram of the structure of a mobile robot with some components removed, provided in an embodiment of this application;

[0023] Figure 6 A cross-sectional schematic diagram of a mobile robot with some parts removed, provided as an embodiment of this application;

[0024] Figure 7 A schematic diagram of the structure of a recycling container with a channel bottom wall provided in an embodiment of this application;

[0025] Figure 8 A schematic diagram of the structure of the recovery channel integrated with the cutter head cover and intersecting with the virtual cylindrical surface, provided in an embodiment of this application;

[0026] Figure 9 This is a schematic diagram of the structure of the recycling channel integrated with the cutter head cover, provided in an embodiment of this application.

[0027] Figure 10 A schematic diagram of the structure of the recycling channel integrated with the cutter head cover from another perspective provided in this application embodiment;

[0028] The details of the reference numerals used in the above figures are as follows:

[0029] 10. Channel bottom wall; 11. Third inclined section; 12. Fourth inclined section;

[0030] 20. Passage sidewalls;

[0031] 30. Top wall of the passageway; 31. First inclined section; 32. Second inclined section; 33. Air outlet intersection line of the top wall;

[0032] 40. Cutting module; 41. Cutter head cover; 413. Spiral top wall; 4131. Recess; 4132. Spiral shaft; 4133. Spiral line; 414. Spiral side wall; 415. Cutter head cavity; 416. Spiral cavity section; 42. Cutting blade assembly; 421. Cutter head body; 422. Cutting blade; 43. Power assembly;

[0033] 50. Recycle containers;

[0034] 60. Walking module;

[0035] 70. Shell module;

[0036] 80. Virtual reference plane;

[0037] 90. Virtual cylinder. Detailed Implementation

[0038] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0039] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly or indirectly on that other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to that other element. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0040] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0042] As described in the background section, lawnmower robots are a common type of mobile robot. They integrate technologies from multiple disciplines, including mechanics, electronics, automation, and computer science, and possess functions such as autonomous navigation, automatic mowing, and obstacle avoidance. Their aim is to liberate manpower, improve mowing efficiency and quality, and provide users with convenient and efficient lawn maintenance solutions. Some existing lawnmower robots have the discharge port located at the rear of the robot. This discharge port is typically connected to a collection box or clipping device via a collection channel. After the lawnmower cuts the grass with its blades, the clippings can enter the collection box or undergo other processing through the collection channel. However, in some existing lawnmower robots, the state and quantity of clippings vary when transporting them through the collection channel. Therefore, when the clippings are long, wet, or in large quantities, they can easily accumulate and clog the collection channel.

[0043] See Figures 1 to 10As shown, in order to solve the above problems, according to one aspect of this application, an embodiment of this application provides a recycling channel, which includes: a channel bottom wall 10, two channel side walls 20 and a channel top wall 30, wherein the two channel side walls 20 are respectively disposed on both sides of the channel bottom wall 10; the channel top wall 30 is disposed opposite to the channel bottom wall 10 and together with the channel bottom wall 10 and the two channel side walls 20 forms a channel cavity; at least a portion of the channel top wall 30 has a top wall air outlet rise angle, which is the angle between the lower surface of the channel top wall 30 and a reference plane; the recycling channel includes a recycling inlet and a recycling outlet; a first rise angle is the angle between the lower surface of the channel top wall 30 at the recycling inlet and the reference plane; a second rise angle is the angle between the lower surface of the channel top wall 30 at the recycling outlet and the reference plane; wherein the first rise angle is smaller than the second rise angle; and the reference plane is a plane located below the channel bottom wall 10. The recycling channel provided in this embodiment is formed by the channel top wall 30 and channel bottom wall 10 arranged opposite to each other, and two channel side walls 20 located on both sides of the channel top wall 30 and channel bottom wall 10. The recycling outlet of the recycling channel is connected to the recycling container 50, so that the material can enter the channel cavity through the recycling inlet of the recycling channel and be transported to the recycling container 50 through the channel cavity. At the same time, the recycling channel provided in this embodiment sets at least part of the channel top wall 30 to have a top wall air outlet rise angle relative to the reference plane, and sets the first rise angle at the recycling inlet to be smaller than the second rise angle at the recycling outlet, so that the material can have a larger horizontal throwing distance after being thrown out of the channel cavity, which facilitates the smooth passage of the material through the area where it may accumulate, and avoids blocking the recycling channel. Since the material blockage is reduced, the recycling channel does not need to be cleaned and maintained frequently. This not only saves the user's time and energy, but also reduces the risk of damage to the recycling channel due to improper maintenance and extends the service life of the recycling channel.

[0044] It should be noted that when the recycling channel in this embodiment is applied to a mobile robot, the reference plane in this embodiment is the working plane of the mobile robot. Of course, in other embodiments, the reference plane in this embodiment can also be a horizontal plane or other planes.

[0045] In some embodiments, the top wall air outlet lift angle in this embodiment is 5° to 40°. Limiting the top wall air outlet lift angle to the range of 5° to 40° can optimize the airflow lift distribution, ensuring effective lifting and conveying of materials, and allowing materials to have a larger horizontal throwing distance after being thrown out of the channel cavity, reducing material accumulation or blockage.

[0046] See Figure 3As shown, in a specific embodiment, the lower surface of the channel top wall 30 intersects with the virtual reference plane 80, forming the top wall air outlet intersection line 33. The virtual reference plane 80 is parallel to the extension direction of the recovery channel. The angle between the tangent of the lower surface of the channel top wall 30 at each point of the top wall air outlet intersection line 33 or the tangent of the top wall air outlet intersection line 33 at each point of itself and the reference plane is the top wall air outlet rise angle. Designing the top wall air outlet rise angle based on the top wall air outlet intersection line 33 can optimize the flow characteristics of the fluid in the recovery channel, improve flow efficiency, and reduce energy loss.

[0047] See Figure 4 As shown, in some embodiments, the point of the top wall air outlet intersection line 33 at the recycling inlet is the air outlet starting point, and the point of the top wall air outlet intersection line 33 at the recycling outlet is the air outlet ending point. The angle between the tangent of the lower surface of the channel top wall 30 at the air outlet starting point or the tangent of the top wall air outlet intersection line 33 at the air outlet starting point and the reference plane is the first lifting angle, and the angle between the tangent of the lower surface of the channel top wall 30 at the air outlet ending point or the tangent of the top wall air outlet intersection line 33 at the air outlet ending point and the reference plane is the second lifting angle. The first lifting angle is smaller than the second lifting angle. The smaller first lifting angle can effectively guide the material into the recycling channel at the recycling inlet, while the larger second lifting angle at the recycling outlet allows the material to have a larger horizontal throwing distance after being thrown out of the channel cavity, reducing material accumulation or blockage. The size of the first lifting angle is u, and the size of the second lifting angle is v.

[0048] In one specific embodiment, the top wall air outlet angle gradually increases along the direction from the recycling inlet to the recycling outlet. Setting the top wall air outlet angle to gradually increase along the direction from the recycling inlet to the recycling outlet is beneficial to forming a gradually increasing guiding force in the recycling channel, thereby enabling the material to flow smoothly in the recycling channel. At the same time, it allows the material to have a larger horizontal throwing distance after being thrown out of the channel cavity, reducing material accumulation or blockage.

[0049] In another embodiment, the lower surface of the channel top wall 30 includes a first inclined section 31 and a second inclined section 32 arranged sequentially along the direction from the recycling inlet to the recycling outlet. The top wall air outlet rise angle includes a first top wall air outlet rise angle and a second top wall air outlet rise angle. The first inclined section 31 has a first top wall air outlet rise angle relative to the reference plane, and the second inclined section 32 has a second top wall air outlet rise angle relative to the reference plane. Along the direction from the recycling inlet to the recycling outlet, the first top wall air outlet rise angle is inclined upward and the angle remains unchanged or gradually increases, and the second top wall air outlet rise angle is inclined upward and the angle remains unchanged or gradually increases. The maximum value of the first top wall air outlet rise angle is a, and the minimum value of the second top wall air outlet rise angle is b, where a ≤ b. Setting the first top wall outlet air rise angle to an upward tilt with a constant angle provides a continuous and stable upward guiding force for the material in the front section of the recovery channel. This reduces the probability of blockage caused by material accumulation in the front section, allowing the material to pass through the front section of the recovery channel more orderly and maintaining its unobstructed flow. Setting the first top wall outlet air rise angle to an upward tilt with a gradually increasing angle provides a gradually increasing upward guiding force for the material in the front section of the recovery channel, accelerating its conveying speed and improving the efficiency of the entire material conveying process. This allows the material to be discharged from the recovery channel more quickly, and the gradually increasing first top wall outlet air rise angle also ensures a more orderly distribution of material entering the front section of the recovery channel, preventing disorderly accumulation at the entrance and affecting the entry of subsequent material, ensuring the unobstructed flow of the recovery channel at the entrance and improving the continuity of material conveying. Setting the second top wall outlet air rise angle to an upward tilt with a constant angle... This design allows the material in the latter part of the recycling channel to receive a continuous and stable upward guiding force, which helps reduce the probability of blockage caused by material accumulation in the latter part of the recycling channel. This allows the material to pass through the latter part of the recycling channel more orderly, keeping the latter part of the recycling channel unobstructed. Setting the second top wall air outlet angle upward and gradually increasing the angle provides stronger power support for the material in the latter part of the recycling channel, allowing the material to be discharged from the recycling channel at a more stable speed, reducing the possibility of material accumulation in the latter part of the recycling channel. Furthermore, the gradually increasing second top wall air outlet angle also allows the recycling channel to better cope with different working conditions and changes in material quantity, maintaining good material conveying performance and enhancing the overall stability of the material conveying system. At the same time, setting the minimum value of the second top wall air outlet angle to be greater than or equal to the maximum value of the first top wall air outlet angle can effectively compensate for the power attenuation of the material at the corresponding position of the second inclined section 32, ensuring that the material can be discharged smoothly.

[0050] In one specific embodiment, the upper surface of the channel bottom wall 10 intersects with the virtual reference plane 80, forming a bottom wall air outlet intersection line. The angle between the tangent of the upper surface of the channel bottom wall 10 at each point of the bottom wall air outlet intersection line or the tangent of the bottom wall air outlet intersection line at each point of itself and the reference plane is the bottom wall air outlet rise angle. The upper surface of the channel bottom wall 10 has a bottom wall air outlet rise angle relative to the reference plane. Along the direction from the recovery inlet to the recovery outlet, the bottom wall air outlet rise angle tilts upward and remains constant or gradually increases. Setting the bottom wall air outlet rise angle to be constant can provide a continuous air supply for the material. A stable upward guiding force helps reduce the probability of material blockage caused by accumulation on the bottom wall 10 of the recycling channel, allowing the material to pass through the recycling channel more orderly and keeping the channel unobstructed. Setting the bottom wall air outlet angle to gradually increase allows the material to obtain a gradually increasing upward force in the recycling channel, thereby accelerating the material discharge speed. As the bottom wall air outlet angle increases, the upward component force on the material also increases, which can more effectively overcome various resistances, making the material conveying process more efficient and reducing the residence time of the material in the recycling channel.

[0051] In another embodiment, the upper surface of the channel bottom wall 10 includes a third inclined section 11 and a fourth inclined section 12 arranged sequentially along the direction from the recycling inlet to the recycling outlet. The bottom wall air outlet rise angle includes a first bottom wall air outlet rise angle and a second bottom wall air outlet rise angle. The third inclined section 11 has a first bottom wall air outlet rise angle relative to the reference plane, and the fourth inclined section 12 has a second bottom wall air outlet rise angle relative to the reference plane. Along the direction from the recycling inlet to the recycling outlet, the first bottom wall air outlet rise angle is inclined upward and the angle remains unchanged or gradually increases, and the second bottom wall air outlet rise angle is inclined upward and the angle remains unchanged or gradually increases. The minimum value of the first bottom wall air outlet rise angle is c, and the maximum value of the second bottom wall air outlet rise angle is d, where c > d. When the third inclined section 11 has a constant first bottom wall air outlet angle, it allows materials to enter the recovery channel in an orderly manner. When the third inclined section 11 has a gradually increasing first bottom wall air outlet angle, it provides a continuously increasing upward thrust for the materials, enabling them to start moving upward more quickly, thereby improving the conveying efficiency of the materials in the initial stage and reducing the stagnation time of the materials at the entrance of the recovery channel. When the fourth inclined section 12 has a constant second bottom wall air outlet angle, it provides a stable discharge dynamic environment for the materials, allowing them to be discharged upward in the recovery channel at a relatively stable speed and state, reducing the possibility of blockage and backflow, and improving the material conveying efficiency. The process is more stable and continuous, improving the reliability of the conveying system. When the fourth inclined section has a gradually increasing second bottom wall air outlet angle, the fourth inclined section 12 can accelerate the discharge of materials, thereby reducing the overall residence time of materials in the recycling channel and improving the material conveying efficiency. Setting the minimum value of the first bottom wall air outlet angle to be greater than the maximum value of the second bottom wall air outlet angle allows the recycling channel to provide strong initial upward force to the materials through the third inclined section 11 with a larger inclination angle, enabling the materials to quickly enter the recycling channel and move upward. The fourth inclined section 12 with a smaller inclination angle ensures that the materials continue to be discharged upward, while avoiding collisions, accumulations, or excessive pressure on the recycling channel caused by excessive force.

[0052] In one specific embodiment, a virtual scanning surface is defined through the channel cavity, and this virtual scanning surface moves along the extension direction of the recycling channel. During the scanning movement, the virtual scanning surface intersects with the channel cavity to form a series of channel cross-sections. Along the direction from the recycling inlet to the recycling outlet, the cross-sectional area of ​​each channel cross-section gradually decreases. The virtual scanning surface is perpendicular to the virtual reference surface 80°. From a fluid dynamics perspective, as the cross-sectional area of ​​the channel cavity gradually decreases, the material flow velocity increases, similar to fluid flow in a constricting pipe. Assuming the material can be approximated as an incompressible fluid, according to the continuity equation, under the condition of mass conservation, a smaller channel cross-sectional area leads to a corresponding increase in material flow velocity, thereby promoting faster material transport, reducing the time the material spends and accumulates in the recycling channel, and improving material transfer efficiency.

[0053] In one specific embodiment, the upper surface of the channel bottom wall 10 intersects with the virtual reference plane 80, forming a bottom wall air outlet intersection line. The angle between the tangent of the upper surface of the channel bottom wall 10 at each point of the bottom wall air outlet intersection line or the tangent of the bottom wall air outlet intersection line at each point of itself and the reference plane is the bottom wall air outlet rise angle. At the same channel cross-section, the top wall air outlet rise angle is smaller than the bottom wall air outlet rise angle. Setting the top wall air outlet rise angle at the same channel cross-section to be smaller than the bottom wall air outlet rise angle allows the recovery channel to form a flow channel structure that is gentler at the top and steeper at the bottom, effectively guiding the airflow to form a stable rising vortex, thereby significantly improving material conveying efficiency and reducing conveying resistance, achieving a more efficient material recovery effect.

[0054] In one specific embodiment, along the direction from the recycling inlet to the recycling outlet, the distance between the top wall 30 and the bottom wall 10 of each channel cross-section gradually decreases, and the rate of decrease remains constant or decreases. Setting the distance between the top wall 30 and the bottom wall 10 to gradually decrease along the direction from the recycling inlet to the recycling outlet at a constant or decreasing rate allows a tapered flow channel structure to be formed within the recycling channel. This tapered flow channel structure effectively improves the airflow acceleration stability of the recycling channel, enhances the material conveying capacity, and avoids turbulence losses caused by abrupt changes in cross-section, thereby significantly improving the material conveying efficiency of the recycling channel and reducing system energy consumption.

[0055] In one specific embodiment, at least one of the two channel sidewalls 20 corresponding to each channel cross-section is inclined relative to the reference plane, and at the same channel cross-section, the width of the channel top wall 30 is smaller than the width of the channel bottom wall 10. By inclining at least one channel sidewall 20 and making the width of the channel top wall 30 smaller than the width of the channel bottom wall 10, the recycling channel can form a trapezoidal flow channel structure that is narrower at the top and wider at the bottom, thereby optimizing the airflow distribution effect in the recycling channel, effectively improving the material conveying efficiency, reducing airflow resistance, and achieving a more stable and energy-efficient recycling process.

[0056] In some embodiments, the lower surface of the channel top wall 30 in this embodiment includes a first inclined segment 31 and a second inclined segment 32 arranged sequentially along the direction from the recycling inlet to the recycling outlet, and the upper surface of the channel bottom wall 10 includes a third inclined segment 11 and a fourth inclined segment 12 arranged sequentially along the direction from the recycling inlet to the recycling outlet. The first inclined segment 31 is parallel to the third inclined segment 11; and / or, the second inclined segment 32 is parallel to the fourth inclined segment 12. When the first inclined segment 31 is parallel to the third inclined segment 11, and / or the second inclined segment 32 is parallel to the fourth inclined segment 12, a more regular shape and size can be adopted in the structural design and manufacturing process of the recycling channel. Compared with complex non-parallel shapes, parallel structures are easier to process in mold making, material cutting and assembly, etc., reducing the difficulty and cost of manufacturing. In addition, the parallel channel top wall 30 and channel bottom wall 10 can provide a relatively uniform channel space, reducing the irregular movement of materials in the recycling channel, enabling materials to flow more smoothly in the recycling channel, improving the stability and reliability of the recycling channel, and reducing the turbulence of materials. In other embodiments, the lower surface of the channel top wall 30 in this embodiment includes a first inclined segment 31 and a second inclined segment 32 arranged sequentially along the direction from the recycling inlet to the recycling outlet. One of the first inclined segment 31 and the second inclined segment 32 is parallel to the upper surface of the channel bottom wall 10. Alternatively, the upper surface of the channel bottom wall 10 includes a third inclined segment 11 and a fourth inclined segment 12 arranged sequentially along the direction from the recycling inlet to the recycling outlet. One of the third inclined segment 11 and the fourth inclined segment 12 is parallel to the lower surface of the channel top wall 30.

[0057] See Figure 1 As shown, in some embodiments, the top wall 30 of the channel and the side wall 20 of the channel are smoothly connected. Setting the connection between the top wall 30 of the channel and the side wall 20 of the channel as a smooth transition can reduce the jamming and blockage of materials at the connection between the top wall 30 of the channel and the side wall 20 of the channel, improve the flowability and recycling efficiency of materials, and reduce the wear of the recycling channel.

[0058] See Figure 1 As shown, in some embodiments, the channel bottom wall 10 and the channel side wall 20 are smoothly connected. Setting the connection between the channel bottom wall 10 and the channel side wall 20 as a smooth transition can reduce material jamming and blockage at the connection point, improve material flowability and recycling efficiency, and reduce wear on the recycling channel.

[0059] See Figures 1 to 10As shown, according to another aspect of this application, a mobile robot is provided, the mobile robot including a cutting module 40 and a recycling channel, the recycling inlet of the recycling channel being connected to the cutting module 40, and the recycling channel being the aforementioned recycling channel.

[0060] See Figure 6 As shown, in a specific embodiment, the mobile robot further includes a recycling container 50, which is connected to the recycling outlet of the recycling channel; the top wall 30 and two side walls 20 of the channel are integrally formed and connected to the cutting module 40 or separately fixedly connected, and the bottom wall 10 of the channel is separately set from the cutting module 40, and the bottom wall 10 of the channel has a first state of blocking the lower side of the channel cavity and a second state of opening the lower side of the channel cavity; the recycling container 50 can rotate relative to the cutting module 40, and the recycling container 50 has a recycling state of communicating with the recycling channel and receiving the material in the recycling channel, and a tilting state of communicating with the external environment and allowing the material in the recycling container 50 to be discharged under its own gravity; by setting the bottom wall 10 of the channel with switchable states, the recycling channel can block the lower side of the channel cavity through the bottom wall 10 of the channel in the first state to prevent the material in the channel cavity from falling, and open the lower side of the channel cavity through the bottom wall 10 of the channel in the second state to facilitate the maintenance and cleaning of the channel cavity.

[0061] In some embodiments, the channel top wall 30 and the two channel side walls 20 are integrally formed and connected with the cutting module 40. By integrating the channel top wall 30 and the two channel side walls 20 with the cutting module 40, the assembly gaps and weak connection points of the traditional split structure can be eliminated, thereby significantly improving the overall structural rigidity and sealing performance of the mobile robot.

[0062] In other embodiments, the channel top wall 30 and the two channel side walls 20 in this embodiment are separately fixedly connected to the cutting module 40. By separately fixing the channel top wall 30 and the two channel side walls 20 to the cutting module 40, the channel top wall 30 and the two channel side walls 20 can be manufactured, maintained or replaced independently, which reduces the processing difficulty and manufacturing cost of the recycling channel, while improving assembly flexibility and maintenance convenience.

[0063] See Figure 7 As shown, in a specific embodiment, the channel bottom wall 10 and the recycling container 50 are integrally formed and connected. By integrating the channel bottom wall 10 and the recycling container 50, the assembly gaps and weak points of the traditional split structure can be eliminated, thereby significantly improving the overall structural rigidity and sealing performance of the mobile robot.

[0064] In another embodiment, the channel bottom wall 10 is separately and fixedly connected to the recycling container 50. By separately and fixedly connecting the channel bottom wall 10 to the recycling container 50, the channel bottom wall 10 can be manufactured, maintained, or replaced independently, reducing the processing difficulty and manufacturing cost of the recycling channel, while improving assembly flexibility and maintenance convenience.

[0065] In one specific embodiment, when the recycling container 50 rotates relative to the cutting module to the recycling state, it drives the bottom wall 10 of the channel to switch to the first state; when the recycling container 50 rotates relative to the cutting module to the tilting state, it drives the bottom wall 10 of the channel to switch to the second state. By setting the bottom wall 10 of the channel to switch states together with the recycling container 50, when the recycling container 50 is in the recycling state, the bottom wall 10 of the channel in the first state blocks the lower side of the channel cavity, preventing material from falling into the channel cavity and allowing the material to be effectively transported into the recycling container 50. When the recycling container 50 is in the tilting state, the bottom wall 10 of the channel in the second state opens the lower side of the channel cavity, allowing the residual material on the bottom wall 10 and the material in the recycling container to be discharged into the external environment, avoiding material residue in the channel cavity. In one specific embodiment, taking the working plane of the mobile robot as the reference plane, the minimum distance between the cutting module 40 and the reference plane is greater than or equal to the minimum distance between the bottom wall 10 of the channel and the reference plane. Setting the minimum distance from the bottom wall 10 of the channel to the reference plane to be no greater than the minimum distance from the bottom surface of the cutter head cover 41 to the reference plane can ensure that the gap between the bottom wall 10 of the channel and the reference plane is appropriate, avoiding material leakage caused by excessive gap or excessive contact and wear caused by excessive gap, thereby extending the service life of the mobile robot. Through reasonable gap setting, the mobile robot can have good ventilation effect, reduce dust and heat accumulation, and improve the working efficiency and stability of the mobile robot.

[0066] In another embodiment, the cutting module 40 includes a cutting blade assembly 42. The minimum distance between the cutting blade assembly 42 and the reference surface is greater than or equal to the minimum distance between the channel bottom wall 10 and the reference surface. Setting the minimum distance from the channel bottom wall 10 to the reference surface to be no greater than the minimum distance from the cutting blade assembly 42 to the reference surface ensures an appropriate gap between the channel bottom wall 10 and the reference surface. This avoids material leakage due to an excessively large gap or excessive contact and wear due to an excessively small gap, thereby extending the service life of the mobile robot. Furthermore, a reasonable gap setting can also ensure the normal working distance between the cutting blade assembly 42 and the reference surface, ensuring that the cutting blade assembly 42 can complete the cutting task efficiently and stably, thus improving work efficiency.

[0067] See Figures 8 to 10As shown, in a specific embodiment, the cutting module 40 includes a cutter head cover 41, which includes at least one spiral portion. The spiral portion includes a spiral top wall 413 and a spiral side wall 414. The spiral side wall 414 extends downward from the spiral top wall 413 towards a reference surface and together with at least a portion of the spiral top wall 413, forms a cutter head cavity 415. The top of the cutter head cavity 415 forms a spiral cavity segment 416 that spirals upward relative to the reference surface around the spiral axis 4132. The reference surface is located on one side of the cutter head cover 41. The spiral cavity segment 416 has a spiral inlet angle and a spiral outlet angle. The spiral inlet angle is the angle between the lower surface portion of the spiral top wall 413 corresponding to the bottom end of the spiral cavity segment 416 and the reference surface, and the size of the spiral inlet angle is g. The spiral outlet angle is the angle between the lower surface portion of the spiral top wall 413 corresponding to the top end of the spiral cavity segment 416 and the reference surface, and the size of the spiral outlet angle is h, where g > h. The top of the cutter head cavity 415 is configured with a spiral cavity section 416 that spirals upward relative to the reference plane around the spiral shaft 4132. This allows the airflow in the cutter head cavity 415 to be accelerated and concentrated through the spiral cavity section 416, facilitating the discharge of material from the cutter head cavity 415. Moreover, the larger the spiral exit angle, the more advantageous it is to throw the material to a higher and farther position, avoiding material accumulation near the cutter head cavity 415 and causing blockage. Since the bottom end of the spiral cavity section 416 is close to the reference plane, by setting a smaller spiral entry angle, the resistance generated when the lower surface of the spiral top wall 413 corresponding to the bottom end of the spiral cavity section 416 contacts the material can be reduced. At the same time, it can also ensure that the material has sufficient initial velocity when entering the spiral cavity section 416, further reducing the possibility of material accumulation near the cutter head cavity 415. Therefore, by designing the helix exit angle h to be greater than the helix entry angle g, the resistance generated when the cutter head cover 41 comes into contact with the material can be reduced, and the possibility of material accumulating near the cutter head cavity 415 and causing blockage of the cutter head cavity 415 can be significantly reduced.

[0068] It should be noted that the spiral shaft 4132 in this embodiment can be an axis perpendicular to the reference plane.

[0069] In some embodiments, the second rise angle is greater than the spiral exit angle. Setting the second rise angle to be greater than the spiral exit angle optimizes the material discharge path, ensuring that the material flows smoothly out of the recycling channel and avoiding blockages or backflow.

[0070] In some embodiments, the first rise angle in this embodiment is greater than or equal to the spiral exit angle. Setting the first rise angle to be greater than or equal to the spiral exit angle can optimize the initial flow path of the material entering the recycling channel to a certain extent, ensuring that the material enters the recycling channel smoothly and avoiding blockage or backflow at the recycling inlet. Furthermore, setting the first rise angle to be greater than the spiral exit angle can also help guide the airflow and material to flow in a predetermined direction, improve recycling efficiency and reduce energy loss.

[0071] See Figure 1 and Figure 5 As shown, in some embodiments, the cutting module 40 in this embodiment further includes a power component 43. The cutter head cover 41 has a recess 4131, which is located radially inside the spiral cavity section 416. The power component 43 is housed in the recess 4131, and a clearance through hole communicating with the cutter head cavity 415 is provided in the recess 4131. The power component 43 passes through the clearance through hole and is driven to connect with the cutting blade assembly 42 to drive the cutting blade assembly 42 to rotate within the cutter head cavity 415. By providing the recess 4131 to house the power component 43, the installation of the power component 43 can be made more compact. The clearance through hole communicating with the cutter head cavity 415 and the recess 4131 allows the power component 43 to be directly connected to the cutting blade assembly 42, reducing the complexity of the transmission components and improving the efficiency of power transmission.

[0072] In some embodiments, the cutting blade assembly 42 in this embodiment includes a blade disc body 421 and at least one cutting blade 422. The blade disc body 421 is rotatably mounted in the blade disc cavity 415, and the cutting blade 422 is fixedly mounted on the blade disc body 421. The cutting blade 422 can rotate together with the blade disc body 421 to cut the material.

[0073] In some embodiments, the rotating cutting blade assembly 42 in this embodiment can form an axial flow fan, so that air from the external environment is drawn into the cutter disc cavity 415 from the bottom of the cutter disc cover 41. The air in the cutter disc cavity 415 is guided by the spiral cavity section 416 and discharged through the channel cavity, thereby conveying the material in the cutter disc cavity 415 to the recycling container 50.

[0074] In some embodiments, the cutting module 40 in this embodiment includes multiple spiral parts, multiple cutting blade assemblies 42 and multiple power components 43, with each spiral part corresponding to a single cutting blade assembly 42 and each cutting blade assembly 42 corresponding to a single power component 43.

[0075] In some embodiments, the minimum value of the top wall air outlet angle k in this embodiment is k≥g. During the operation of the mobile robot, the material generated by the cutting module 40 rises through the spiral cavity section 416 of the cutter head cover 41 and needs to smoothly enter the recycling channel. If the angle between the spiral cavity section 416 and the top wall 30 of the recycling channel does not match, the material may accumulate or bounce in the transition area, resulting in reduced recycling efficiency. By setting the spiral outlet angle of the spiral cavity section 416 to be less than or equal to the minimum value of the top wall air outlet angle, it can be ensured that the material can smoothly transition from the spiral section to the recycling channel, avoiding material jamming at the junction. At the same time, when the mobile robot is working in a complex working environment, if the spiral outlet angle of the spiral cavity section 416 is too large, the material may flow back to the cutter head area due to gravity or other external forces, affecting the normal operation of the cutting module 40. By reasonably setting the relationship between the spiral outlet angle and the angle of the top wall 30 of the recycling channel, material backflow can be effectively prevented, ensuring the unidirectionality of the material transportation direction.

[0076] See Figure 8 As shown, in a specific embodiment, the lower surface of the helical top wall 413 corresponding to the helical cavity segment 416 intersects with the virtual cylindrical surface 90, resulting in a helix 4133. The point of the helix 4133 closest to the reference plane is the helix start point, and the angle between the tangent of the helical top wall 413 at the helix start point, or the tangent of the helix 4133 at the helix start point, and the reference plane is the helix angle. The point of the helix 4133 furthest from the reference plane is the helix end point, and the angle between the tangent of the helical top wall 413 at the helix end point, or the tangent of the helix 4133 at the helix end point, and the reference plane is the helix angle. The top wall outlet angle is greater than the spiral outlet angle. By defining the spiral inlet and outlet angles, the flow characteristics of fluid or airflow in the spiral cavity section 416 can be optimized, improving flow efficiency and reducing energy loss. Setting the top wall outlet angle to be greater than or equal to the spiral outlet angle can optimize the initial flow path of material entering the recycling channel to a certain extent, ensuring that the material enters the recycling channel smoothly and avoiding blockage or backflow at the recycling inlet. Furthermore, setting the top wall outlet angle to be greater than the spiral outlet angle also helps guide the airflow and material to flow in a predetermined direction, improving recycling efficiency and reducing energy loss.

[0077] In some embodiments, the first end of the recycling container 50 in this embodiment is the end of the inner top surface of the recycling container 50 that is close to the recycling channel, and the second end of the recycling container 50 is the end of the inner top surface of the recycling container 50 that is far away from the recycling channel. When the recycling container 50 is in the recycling state, the lower surface of the channel top wall 30 is virtually extended at the recycling outlet and intersects with the top of the recycling container 50 at the intersection area, and the distance from the intersection area to the first end of the recycling container 50 is greater than or equal to 1 / 3 of the length of the recycling container 50. Setting the distance from the intersection area to the first end of the recycling container 50 to be greater than or equal to 1 / 3 of the length of the recycling container 50 can optimize the distribution of materials in the recycling container 50 and improve the utilization efficiency of the recycling container 50.

[0078] It should be noted that when the portion of the lower surface of the channel top wall 30 near the recycling container 50 provided in this embodiment is a plane, the virtual extension of the channel top wall 30 near the recycling container 50 refers to the imaginary plane formed by the virtual extension of the plane along its extension direction; when the lower surface of the channel top wall 30 provided in this embodiment is a curved surface, the virtual extension of the channel top wall 30 near the recycling container 50 refers to the tangent plane at the highest point of the lower surface of the channel top wall 30 near the recycling container 50. In this case, the junction area is the junction line.

[0079] In one specific embodiment, the distance from the junction area to the first end of the recycling container 50 is less than or equal to 2 / 3 of the length of the recycling container 50; wherein, the length of the recycling container 50 is the horizontal distance between the first end and the second end of the recycling container 50. Setting the distance from the junction area to the first end of the recycling container 50 to less than or equal to 2 / 3 of the length of the recycling container 50 can further reduce the probability of material falling into the first end of the recycling container 50, optimize the distribution of material in the recycling container 50, and improve the utilization efficiency of the recycling container 50.

[0080] In one specific embodiment, the distance from the junction area to the second end of the recycling container 50 is greater than or equal to 0. Setting the distance from the junction area to the second end of the recycling container 50 to be greater than or equal to 0 ensures that the material can smoothly enter the recycling container 50, thereby improving the material recycling efficiency.

[0081] In one specific embodiment, the horizontal distance from the junction area to the second end of the recycling container 50 is less than or equal to half the horizontal distance from the junction area to the first end of the recycling container 50. Setting the horizontal distance from the junction area to the second end of the recycling container 50 to less than or equal to half the horizontal distance from the junction area to the first end of the recycling container 50 can further optimize the distribution of materials in the recycling container 50 and improve the utilization efficiency of the recycling container 50.

[0082] It should be noted that the horizontal distance in this embodiment refers to the distance in the direction parallel to the working plane.

[0083] In one specific embodiment, the virtual extension of the channel top wall 30 at the recycling outlet, and the junction area formed by its intersection with the top of the recycling container 50 in the recycling state, are located on the side of the recycling container 50 in the tilted state away from the recycling channel. By setting the junction area formed by the virtual extension of the channel top wall 30 at the recycling outlet and its intersection with the top of the recycling container 50 in the recycling state to be located on the side of the recycling container 50 in the tilted state away from the recycling channel, it can be ensured that the material can be smoothly discharged when the recycling container 50 is in the tilted state, reducing material residue and improving the emptying efficiency of the recycling container 50.

[0084] In one specific embodiment, the distance between the recycling container 50 in its tilted state and the junction area is greater than or equal to 1 cm. By setting the distance between the junction area and the recycling container 50 in its tilted state to be greater than or equal to 1 cm, it can be ensured that materials can be smoothly discharged when the recycling container 50 is in its tilted state, reducing material residue and improving the emptying efficiency of the recycling container 50.

[0085] In some embodiments, the mobile robot in this embodiment further includes a housing module 70, and the cutting module 40 and the recycling container 50 are all mounted on the housing module 70. By integrating the cutting module 40 and the recycling container 50 into the housing module 70, the spatial layout of the mobile robot can be optimized, making the structure of the mobile robot more compact.

[0086] In some embodiments, the walking module 60 is mounted on the housing module 70 and is used to drive the mobile robot to move. By integrating the walking module 60 into the housing module 70, the spatial layout of the mobile robot can be optimized, making the structure of the mobile robot more compact.

[0087] In some embodiments, the mobile robot in this embodiment further includes a power supply module, which is installed on the housing module 70 and electrically connected to the cutting module 40 and the walking module 60, for supplying power to the cutting module 40 and the walking module 60.

[0088] In some embodiments, the distance between the recovery outlet and the bottom surface of the cutter head cover 41 is greater than the distance between the recovery inlet and the bottom surface of the cutter head cover 41. The distance between the recovery outlet and the bottom surface of the cutter head cover 41 is the vertical distance from the lowest point of the channel bottom wall 10 to the bottom surface of the cutter head cover 41, and the distance between the recovery outlet and the bottom surface of the cutter head cover 41 is the vertical distance from the highest point of the channel top wall 30 to the bottom surface of the cutter head cover 41. The distance between the recovery outlet and the bottom surface of the cutter head cover 41 is 150-300 mm.

[0089] In summary, implementing the recycling channel and mobile robot provided in this embodiment has at least the following beneficial technical effects: The recycling channel provided in this embodiment is formed by the channel top wall 30 and channel bottom wall 10 arranged opposite each other, and two channel side walls 20 located on both sides of the channel top wall 30 and channel bottom wall 10. The recycling outlet of the recycling channel is connected to the recycling container 50, allowing materials to enter the channel cavity through the recycling inlet and be transported to the recycling container 50 through the channel cavity. At the same time, the recycling channel provided in this embodiment sets at least a portion of the channel top wall 30 to have a top wall air outlet rise angle relative to the reference plane, and sets the first rise angle at the recycling inlet to be smaller than the second rise angle at the recycling outlet, so that the material can have a larger horizontal throwing distance after being thrown out of the channel cavity, facilitating the smooth passage of the material through areas where accumulation may occur and avoiding blockage of the recycling channel. Since the blockage of materials is reduced, the recycling channel does not need to be cleaned and maintained frequently. This not only saves the user's time and energy, but also reduces the risk of damage to the recycling channel due to improper maintenance and extends the service life of the recycling channel.

[0090] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A recycling channel, characterized in that, The recycling channel includes: The bottom wall of the passage (10); Two channel sidewalls (20) are respectively disposed on both sides of the channel bottom wall (10); The top wall (30) of the channel is disposed opposite to the bottom wall (10) of the channel, and together with the bottom wall (10) of the channel and the two side walls (20) of the channel, it forms a channel cavity; At least a portion of the channel top wall (30) has a top wall air outlet rise angle, which is the angle between the lower surface of the channel top wall (30) and a reference plane; the top wall air outlet rise angle includes a first rise angle and a second rise angle, the channel cavity includes a recovery inlet and a recovery outlet, the first rise angle is the angle between the lower surface of the channel top wall (30) at the recovery inlet and the reference plane, the second rise angle is the angle between the lower surface of the channel top wall (30) at the recovery outlet and the reference plane, wherein the first rise angle is smaller than the second rise angle, and the reference plane is a plane located on the lower side of the channel bottom wall (10).

2. The recycling channel according to claim 1, characterized in that, The lower surface of the top wall (30) of the channel intersects with the virtual reference surface (80) to obtain the top wall air outlet intersection line (33), and the virtual reference surface (80) is parallel to the extension direction of the recycling channel; The angle between the tangent of the lower surface of the channel top wall (30) at each point of the top wall air outlet intersection line (33) or the tangent of the top wall air outlet intersection line (33) at each point of itself and the reference plane is the top wall air outlet rise angle.

3. The recycling channel according to claim 2, characterized in that, Along the direction from the recycling inlet to the recycling outlet, the air outlet angle of the top wall gradually increases; Alternatively, the lower surface of the channel top wall (30) includes a first inclined section (31) and a second inclined section (32) arranged sequentially along the direction from the recycling inlet to the recycling outlet. The top wall air outlet angle includes a first top wall air outlet angle and a second top wall air outlet angle. The first inclined section (31) has the first top wall air outlet angle relative to the reference plane, and the second inclined section (32) has the second top wall air outlet angle relative to the reference plane. Along the direction from the recycling inlet to the recycling outlet, the first top wall air outlet angle is inclined upward and the angle remains unchanged or gradually increases, and the second top wall air outlet angle is inclined upward and the angle remains unchanged or gradually increases. The maximum value of the first top wall air outlet angle is a, and the minimum value of the second top wall air outlet angle is b, where a ≤ b.

4. The recycling channel according to claim 2, characterized in that, The upper surface of the channel bottom wall (10) intersects with the virtual reference surface (80) to obtain the bottom wall air outlet intersection line. The angle between the tangent of the upper surface of the channel bottom wall (10) at each point of the bottom wall air outlet intersection line or the tangent of the bottom wall air outlet intersection line at each point of itself and the reference surface is the bottom wall air outlet rise angle. The upper surface of the channel bottom wall (10) has the bottom wall air outlet rise angle relative to the reference plane. Along the direction from the recycling inlet to the recycling outlet, the bottom wall air outlet rise angle is inclined upward and the angle remains unchanged or gradually increases; or, the upper surface of the channel bottom wall (10) includes a third inclined segment (11) and a fourth inclined segment (12) arranged sequentially along the direction from the recycling inlet to the recycling outlet. The bottom wall air outlet rise angle includes a first bottom wall air outlet rise angle and a second bottom wall air outlet rise angle. The third inclined segment (11) has the first bottom wall air outlet rise angle relative to the reference plane, and the fourth inclined segment (12) has the second bottom wall air outlet rise angle relative to the reference plane. Along the direction from the recycling inlet to the recycling outlet, the second bottom wall air outlet rise angle is inclined upward and the angle remains unchanged or gradually decreases. The second bottom wall air outlet rise angle is inclined upward and the angle remains unchanged or gradually decreases. Wherein, the minimum value of the first bottom wall air outlet rise angle is c, and the maximum value of the second bottom wall air outlet rise angle is d, where c > d.

5. The recycling channel according to claim 2, characterized in that, A virtual scanning surface is defined through the channel cavity, and the virtual scanning surface is moved along the extension direction of the recycling channel. During the scanning movement of the virtual scanning surface, the virtual scanning surface intersects with the channel cavity to form a series of channel cross sections. Along the direction from the recycling inlet to the recycling outlet, the cross-sectional area of ​​each channel cross section gradually decreases, wherein the virtual scanning surface is perpendicular to the virtual reference surface (80).

6. The recycling channel according to claim 5, characterized in that, The upper surface of the channel bottom wall (10) intersects with the virtual reference surface (80) to obtain the bottom wall air outlet intersection line. The angle between the tangent of the upper surface of the channel bottom wall (10) at each point of the bottom wall air outlet intersection line or the tangent of the bottom wall air outlet intersection line at each point of itself and the reference surface is the bottom wall air outlet rise angle. At the same cross-section of the channel, the air outlet angle of the top wall is smaller than that of the air outlet angle of the bottom wall.

7. The recycling channel according to claim 5, characterized in that, Along the direction from the recycling inlet to the recycling outlet, the distance between the top wall (30) and the bottom wall (10) of each channel cross-section gradually decreases, and the rate of decrease remains constant or decreases.

8. The recycling channel according to claim 5, characterized in that, At least one of the two channel sidewalls (20) corresponding to each channel cross section is inclined relative to the reference plane, and at the same channel cross section, the width of the channel top wall (30) is smaller than the width of the channel bottom wall (10).

9. A mobile robot, characterized in that, The mobile robot includes a cutting module (40) and a recycling channel, wherein the recycling inlet of the recycling channel is connected to the cutting module (40), and the recycling channel is the recycling channel as described in any one of claims 1 to 8.

10. The mobile robot according to claim 9, characterized in that, The mobile robot also includes a recycling container (50), which is connected to the recycling outlet of the recycling channel; The top wall (30) of the channel and the two side walls (20) of the channel are integrally formed and connected to the cutting module (40) or separately fixedly connected. The bottom wall (10) of the channel is separately set from the cutting module (40), and the bottom wall (10) of the channel has a first state of blocking the lower side of the channel cavity and a second state of opening the lower side of the channel cavity. The recycling container (50) is rotatable relative to the cutting module (40). The recycling container (50) is in a state of being in contact with the recycling channel and receiving the material in the recycling channel, and in a state of being in contact with the external environment and allowing the material in the recycling container (50) to be discharged under its own gravity. The bottom wall (10) of the channel is integrally formed and connected to the recycling container (50) or separately fixedly connected. When the recycling container (50) rotates relative to the cutting module to the recycling state, it drives the bottom wall (10) of the channel to switch to the first state; when the recycling container (50) rotates relative to the cutting module to the tilting state, it drives the bottom wall (10) of the channel to switch to the second state.

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