Cleaning robot

Abstract

This utility model discloses a cleaning robot that can move forward or backward on a surface to be cleaned. The forward direction is forward and the backward direction is backward. The direction of gravity of the cleaning robot is downward and the opposite direction of gravity is upward. The cleaning robot includes a body, a cleaning component and an LDS component. The cleaning component is configured to clean the surface to be cleaned. The LDS component is located above the cleaning component, and the projection of the LDS component and the cleaning component in the vertical direction at least partially overlaps.

Description

Technical Field

[0001] This utility model belongs to the field of cleaning equipment technology, and specifically relates to a cleaning robot. Background Technology

[0002] With the development of technology, various types of robots with intelligent systems have emerged, such as cleaning robots, floor scrubbers, vacuum cleaners, and lawnmowers. These robots can automatically move around in a certain area and perform cleaning or removal operations without user intervention.

[0003] Taking a cleaning robot as an example, the cleaning robot is equipped with a laser distance sensor (LDS) for detecting the distance to obstacles. In existing cleaning robots, the distribution of the LDS on the main body occupies the mounting space of the circuit board, preventing the circuit board from being made into a large board. The circuit board needs to be split into at least two parts, and the two circuit boards need to be connected by wiring. This results in low internal space utilization and a complex circuit board structure for the cleaning robot. Therefore, it is necessary to improve the existing technology to overcome the aforementioned shortcomings. Utility Model Content

[0004] Therefore, the technical problem to be solved by this utility model is to provide a cleaning robot.

[0005] To solve the above-mentioned technical problems, this utility model provides a cleaning robot that can move forward or backward on the surface to be cleaned. The forward direction is forward and the backward direction is backward. The direction of gravity of the cleaning robot is downward and the direction opposite to the direction of gravity is upward. The cleaning robot includes: a body, a cleaning component and an LDS component. The cleaning component is configured to clean the surface to be cleaned. The LDS component is located above the cleaning component, and the projection of the LDS component and the cleaning component in the vertical direction at least partially overlaps.

[0006] In some embodiments, the overlap rate between the LDS component and the cleaning component ranges from 60% to 100%, wherein the overlap rate refers to the ratio of the area of ​​the overlapping portion of the projection of the LDS component and the projection of the cleaning component to the total projected area of ​​the LDS component.

[0007] In some embodiments, the overlap rate between the LDS component and the cleaning component ranges from 80% to 100%, wherein the overlap rate refers to the ratio of the area of ​​the overlapping portion of the projection of the LDS component and the projection of the cleaning component to the total projected area of ​​the LDS component.

[0008] In some embodiments, the projection of the LDS component is located within the projection of the cleaning component in the vertical direction.

[0009] In some embodiments, the cleaning component is a cleaning roller brush.

[0010] In some embodiments, the LDS assembly includes at least an LDS sensor and a sensor driving unit driven by the LDS sensor, wherein the LDS sensor and the sensor driving unit are distributed in a horizontal direction, and the sensor driving unit is configured to drive the LDS sensor to perform vertical movement.

[0011] In some embodiments, the LDS sensor and the sensor drive unit are arranged side by side along the axial direction of the cleaning roller brush.

[0012] In some embodiments, the sensor driving unit includes a driving part and a connecting rod structure, the connecting rod structure connecting the output end of the driving part and the LDS sensor, and the LDS sensor having a sliding groove that mates with the connecting rod structure;

[0013] The LDS component further includes a guide structure for defining the direction of motion of the LDS sensor.

[0014] In some embodiments, the body includes a base, wherein the LDS component is disposed above the base and the cleaning component is disposed below the base.

[0015] In some embodiments, the body is provided with a control panel, which is located on the front side of the cleaning assembly and is continuously distributed in the horizontal direction.

[0016] In some embodiments, the front end of the body is provided with a ramming plate assembly, and the control plate is horizontally and continuously distributed in the area between the ramming plate assembly and the cleaning assembly.

[0017] In some embodiments, a dirt collection element is provided on one side of the LDS component, the dirt collection element overlapping the projection portion of the LDS component in the front-to-back direction and distributed adjacently to the projection portion in the left-to-right direction.

[0018] The technical solution provided by this utility model has the following advantages:

[0019] By rationally arranging the position of the LDS components, the space above the cleaning components can be fully utilized, avoiding the LDS components being placed too far forward, which would affect the installation space of the control board on the main body, thus improving the overall reliability and maintainability of the machine.

[0020] The control board is located on the front of the cleaning components and is continuously distributed in the horizontal direction, which allows it to be made into a large board and to bring each interface (not shown) close to the corresponding component, shortening the signal transmission distance, reducing interference, and facilitating maintenance. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 A three-dimensional structural diagram of the cleaning robot provided by this utility model;

[0023] Figure 2 A schematic diagram of the cleaning robot provided by this utility model from a top-down perspective;

[0024] Figure 3 An exploded view of the cleaning robot provided by this utility model;

[0025] Figure 4 A cross-sectional structural diagram of the cleaning robot provided by this utility model;

[0026] Figure 5 One of the schematic diagrams showing the projection relationship between the cleaning component and the LDS component;

[0027] Figure 6 This is the second schematic diagram showing the projection relationship between the cleaning component and the LDS component;

[0028] Figure 7 This is a schematic diagram of the three-dimensional structure of the LDS component;

[0029] Figure 8 for Figure 7 A schematic diagram of the decomposed structure;

[0030] Figure 9 This is a schematic diagram of the upper shell cover.

[0031] Figure 10 This is a schematic diagram of the supporting plate. Detailed Implementation

[0032] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The present utility model will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0034] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0035] like Figures 1 to 4 As shown, this utility model provides a cleaning robot that can move forward or backward on the surface to be cleaned. The forward direction of the cleaning robot is forward, and the backward direction is backward. The direction of gravity of the cleaning robot is downward, and the direction opposite to the direction of gravity is upward. When the user faces the cleaning robot, the user's left hand is to the left, and the right hand is to the right. It is worth noting that the cleaning robot can be a cleaning robot with a sweeping roller brush and a wet cleaning component, or it can be a cleaning robot with only a sweeping roller brush.

[0036] The cleaning robot includes a main body, on which a cleaning component 100 and an LDS component 200 are mounted. The cleaning component 100 is used to clean the surface to be cleaned, preferably a smooth, hard surface (e.g., tile, wood flooring), but can also be PVC flooring or epoxy flooring. The LDS component 200 has functions such as environmental scanning, spatial map construction, and obstacle recognition. The LDS component 200 can intelligently plan cleaning routes based on map data, avoiding repeated or missed areas; it can also detect dynamic obstacles in real time and adjust its travel route accordingly.

[0037] In this embodiment of the disclosure, the LDS component 200 is located above the cleaning component 100, and the projections of the LDS component 200 and the cleaning component 100 in the vertical direction at least partially overlap. This can make full use of the space above the cleaning component 100 and avoid the LDS component 200 being set too far forward, thus affecting the installation space of the control board 600 on the main body.

[0038] Specifically, the main body includes a base 300, an LDS component 200 detachably disposed above the base 300, and a cleaning component 100 disposed below the base 300. In one embodiment, the cleaning component 100 is a cleaning roller brush (dry roller brush). The cleaning roller brush rotates at high speed to rub against the surface to be cleaned, raising dust and hair on the surface, and then, with the help of negative pressure suction, sucks the dust and hair into the dust collection component 500 (dust box) on the main body. The bottom of the base 300 has a roller brush cavity for accommodating the cleaning component 100.

[0039] In another embodiment, the cleaning component 100 is a roller-type or conveyor-type cleaning cloth. The cleaning roller brush rubs the ground at high speed and, in conjunction with negative pressure suction, sucks dust, hair, debris, etc., into the collection unit 500 (sewage tank), achieving simultaneous cleaning of dry and wet waste. The bottom of the base 300 has a roller brush cavity for accommodating the cleaning component 100.

[0040] In another embodiment, the cleaning component 100 is a mop tray, which can work in conjunction with the sweeping roller brush (dry cleaning component) on the main body to achieve deep cleaning (fine wet mopping, floor polishing, sterilization and maintenance, etc.).

[0041] In summary, the cleaning component 100 can be a sweeping roller brush, a cleaning roller brush, or a mop tray, etc.

[0042] In this embodiment, the overlap rate between the LDS component 200 and the cleaning component 100 ranges from 60% to 100%. The overlap rate can be 60%, 65%, 70%, 75%, 80%, 85%, 90%, 95%, 100%, etc., or it can be a value increasing in 1% increments between 60% and 100%. The aforementioned overlap rate refers to the ratio of the area of ​​the overlapping portion of the projections of the LDS component 200 and the cleaning component 100 to the total projected area of ​​the LDS component 200.

[0043] like Figure 5 As shown, the projected area of ​​the cleaning component 100 is S1, the total projected area of ​​the LDS component 200 is S2, and the area of ​​the portion of the LDS component 200 whose projection lies within the projection of the cleaning component 100 is S3. The overlap ratio is S3:S2. (See attached diagram) Figure 5 This is a schematic diagram showing the overlap between the LDS component 200 and the cleaning component 100 at 75%. It is worth noting that in this embodiment, "projection" refers to projection in the vertical direction.

[0044] Furthermore, the overlap rate between the LDS component 200 and the cleaning component 100 ranges from 80% to 100%. Preferably, the projection of the LDS component 200 lies within the projection of the cleaning component 100, such as... Figure 6As shown, at this time, S3 = S2.

[0045] The cleaning component 100 on the main body can be a sweeping roller brush or a mop tray, and the LDS component 200 is disposed above the sweeping roller brush or the mop tray. Preferably, the LDS component 200 is disposed above the sweeping roller brush and at least partially overlaps with the projection of the sweeping roller brush in the vertical direction.

[0046] In existing technologies, the LDS (Local Displacement Controller) component is typically located at the top of the cleaning robot body, resulting in a relatively high robot height that prevents it from accessing the space under low furniture. Therefore, to enable the cleaning robot to operate in low-ceilinged environments, such as... Figure 7 As shown, the LDS assembly 200 includes at least an LDS sensor 210 and a sensor drive unit 220 that is drively connected to the LDS sensor 210. The sensor drive unit 220 is used to drive the LDS sensor 210 to perform lifting and lowering movements. The LDS sensor 210 is mounted on the cleaning robot in a lifting and lowering manner through the sensor drive unit 220.

[0047] When the cleaning robot moves from a relatively spacious area to a lower area (e.g., from under the sofa in the living room), the sensor drive unit 220 causes the LDS sensor 210 to descend, reducing the robot's height and ensuring smooth entry into the lower area. This prevents the LDS component 200 from being collided with during entry, thus protecting it and extending its lifespan. Once inside the lower area, the sensor drive unit 220 can raise the LDS sensor 210 to its working position, coordinating with the robot to perform cleaning tasks.

[0048] In the embodiments disclosed herein, such as Figure 3 and Figure 7 As shown, the LDS sensor 210 and sensor drive unit 220 are distributed horizontally. This horizontal distribution reduces the space occupied by the LDS component 200 in the vertical direction. This reduces the vertical space requirements of the LDS component 200, thus providing more options for its installation position on the cleaning robot body without occupying space on the front side of the body.

[0049] Furthermore, the LDS sensor 210 and the sensor drive unit 220 are arranged side by side along the axis of the cleaning roller brush. In this way, the LDS assembly 200 is distributed in the left and right directions, and occupies less space in the front and rear directions, which is beneficial to reserving space for installing the control board 600 on the front side of the main body.

[0050] In embodiments of this disclosure, such as Figure 3As shown, the main body is equipped with a control board 600, which is connected to the LDS assembly 200 via wiring and can control the operation of the LDS sensor 210 and the sensor drive unit 220. The control board 600 is located on the front side of the cleaning assembly 100 and is continuously distributed in the horizontal direction. Specifically, the front end of the main body is provided with a collision plate assembly 400, and the control board 600 is continuously distributed horizontally in the area between the collision plate assembly 400 and the cleaning assembly 100. The above-mentioned "continuous distribution in the horizontal direction" means that the hardware layout or functional modules of the control board 600 extend in the horizontal direction, avoiding vertical stacking, and the control board 600 can be made into a single-layer, large board.

[0051] The control board 600 is located on the front side of the cleaning assembly 100, which can shorten the connection distance with the roller brush motor and the side brush motor, reduce cable clutter, and improve space utilization. In addition, the control board 600 is located on the front side of the cleaning assembly 100, so the connection wires of the front sensors of the main body (such as cliff sensors and carpet detection sensors) can be directly connected to the control board 600, reducing the number of connection wires and reducing wiring complexity.

[0052] Since the wet cleaning component is located at the rear of the cleaning robot, the area in front of the component is drier than the rear, away from high-humidity areas. Therefore, the control board 600 can avoid humid airflow, reducing the risk of short circuits. Additionally, ventilation holes (not shown) are typically located near the cleaning component 100, allowing the control board 600 to utilize the natural airflow during the cleaning robot's movement for heat dissipation.

[0053] The collision plate assembly 400 incorporates collision sensors (such as a buffer contact plate and an infrared proximity sensor). The control board 600 is positioned adjacent to the collision plate assembly 400, shortening the signal transmission path and reducing latency. The installation method of the collision plate assembly 400 facilitates separate maintenance of the control board 600 behind it. Specifically, the collision plate assembly 400 is detachably connected to the front of the cleaning robot body. When maintaining the control board 600, only the collision plate assembly 400 needs to be removed, without disassembling the entire robot body, allowing for convenient separate maintenance of the control board 600.

[0054] The impact plate assembly 400 has a buffering function, which can indirectly protect the control panel 600 from direct impact damage. The rear side of the impact plate assembly 400 is usually a non-active area, and placing the control panel 600 will not interfere with the disassembly and maintenance of the cleaning component 100 and the dirt collection component 500.

[0055] Furthermore, the distribution of the control board 600 between the impact plate assembly 400 and the cleaning assembly 100 also allows the control board 600 to be close to the left and right drive wheels, facilitating the connection between the motors of the left and right drive wheels and the control board 600.

[0056] In summary, the distribution of the control board 600 in this embodiment facilitates the connection between the control board 600 and other functional modules on the main body, shortens the wiring distance, reduces cable clutter and interference, improves space utilization, and enhances the overall reliability and maintainability of the machine.

[0057] Regarding LDS component 200, such as Figure 8 As shown, the sensor driving unit 220 includes a driving part 221 and a connecting rod structure 222. The connecting rod structure 222 connects the output end of the driving part 221 and the LDS sensor 210. The LDS sensor 210 is slidably connected to the connecting rod structure 222, wherein the LDS sensor 210 is provided with a groove 223 that cooperates with the connecting rod structure 222.

[0058] The drive unit 221 is an eccentric motor, and the connecting rod structure 222 is a rod-shaped member. One end of the connecting rod structure 222 is connected to the output shaft of the drive unit 221, and the other end is provided with a roller 2221, which is located in the slide groove 223.

[0059] The LDS assembly 200 also includes a base 240, an LDS sensor 210, and a sensor drive unit 220 disposed on the base 240. The LDS sensor 210 and the sensor drive unit 220 can be mounted on the main body (base 300) via the base 240.

[0060] like Figure 7 straight Figure 9 As shown, the base 240 is hollow internally and is divided into two parts in the vertical direction. Specifically, the base 240 includes a base plate 241 and an upper cover 242 detachably mounted on the base plate 241. The LDS sensor 210 is installed in the hollow cavity formed by the base plate 241 and the upper cover 242. The sliding groove 223 is also located in the hollow cavity, and the sensor driving unit 220 is located outside the hollow cavity of the base 240. The LDS sensor 210, the sensor driving unit 220, and the base 240 form a mounting module. During installation, the LDS assembly 200 can be installed simply by placing the base 240 on the main body, which has the advantages of convenient installation and maintenance.

[0061] like Figure 9 As shown, the upper cover 242 (base 240) has a first clearance opening 2421 on its side wall and a second clearance opening 2422 on its top. The roller 2221 on the linkage structure 222 can be received in the slide groove 223 through the first clearance opening 2421. The LDS sensor 210 can be lifted upwards through the second clearance opening 2422. The first clearance opening 2421 extends vertically, and its height in the vertical direction is greater than or equal to the lifting stroke of the LDS sensor 210.

[0062] Furthermore, such as Figure 10 As shown, a support plate 250 is also provided inside the base 240. The LDS sensor 210 is detachably mounted on the support plate 250, and the side of the support plate 250 is formed with the aforementioned sliding groove 223. The sensor driving unit 220 drives the support plate 250 to move up and down, thereby realizing the up and down movement of the LDS sensor 210. The sliding groove 223 is a straight groove that extends in the front-to-back direction.

[0063] To ensure the stability and reliability of the LDS sensor 210's vertical movement, the LDS assembly 200 also includes a guide structure 230 for defining the direction of movement of the LDS sensor 210. Specifically, as shown... Figure 8 and Figure 10 As shown, the guide structure 230 includes guide posts 231 fixed on the base plate 241 and distributed in the vertical direction, and through holes 232 provided on the bearing plate 250 for the guide posts 231 to pass through.

[0064] like Figure 2 and Figure 3 As shown, the top of the cleaning robot body is provided with a top cover plate 310, which has a through hole 311 that cooperates with the LDS sensor 210. The through hole 311 is configured such that at least a portion of the LDS sensor 210 can extend from inside the cleaning robot body to above the top cover plate 310. The cleaning robot body has a symmetrical plane X distributed along the front and rear directions, and the through hole 311 is symmetrical about the symmetrical plane X. Symmetrical mounting of the LDS sensor 210 helps ensure that the LDS sensor 210 has the same detection sensitivity to obstacles on both sides, improving obstacle avoidance reliability. Furthermore, the symmetrical arrangement of the LDS sensor 210 helps maintain the physical balance of the cleaning robot, avoiding the impact of uneven weight distribution of the LDS sensor 210 on movement performance, and reducing interference from mechanical vibration on the LDS sensor 210 measurements.

[0065] In this embodiment, a dirt collection component 500 is provided on the base 300. The dirt collection component 500 has a dirt inlet (not shown). The cleaning component 100 is located at the dirt inlet. Dust, hair, and debris raised by the cleaning component 100 are collected in the dirt collection component 500 under negative pressure. When the cleaning component 100 is a cleaning roller brush, the dirt collection component 500 is a dust box; when the cleaning component 100 is a cleaning roller brush, the dirt collection component 500 is a wastewater tank.

[0066] The sludge collection component 500 is located on one side of the LDS assembly 200. The LDS assembly 200 can be located in front of or behind the sludge collection component 500. The sludge collection component 500 and the LDS assembly 200 overlap in the front-to-back direction and are adjacent in the left-to-right direction. This arrangement ensures that the sludge collection component 500 and the LDS assembly 200 do not interfere with each other while sharing the installation space on the base 300, thus ensuring a compact overall structure.

[0067] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the protection scope of this utility model.

Claims

1. A cleaning robot capable of advancing or retreating on a surface to be cleaned, the advancing direction being the front direction, the retreating direction being the rear direction, the gravitational direction of the cleaning robot being the lower direction, the direction opposite to the gravitational direction being the upper direction, characterized in that, Comprise: The body is provided with a cleaning assembly (100) and an LDS assembly (200), the cleaning assembly (100) is configured to clean the surface to be cleaned; Wherein, the LDS assembly (200) is located above the cleaning assembly (100), the projection of the LDS assembly (200) and the cleaning assembly (100) at least partially overlaps.

2. The cleaning robot of claim 1, wherein, The overlap rate of the LDS assembly (200) and the cleaning assembly (100) ranges from 60% to 100%, wherein the overlap rate refers to the ratio of the area of the projection of the LDS assembly to the total area of the projection of the LDS assembly.

3. The cleaning robot of claim 1, wherein, The overlap rate of the LDS assembly (200) and the cleaning assembly (100) ranges from 80% to 100%, wherein the overlap rate refers to the ratio of the area of the projection of the LDS assembly to the total area of the projection of the LDS assembly.

4. The cleaning robot of claim 1, wherein, In the up-down direction, the projection of the LDS assembly (200) is located within the projection of the cleaning assembly (100).

5. The cleaning robot of claim 1, wherein, The cleaning assembly (100) is a cleaning roller brush.

6. The cleaning robot according to claim 1 or 5, wherein The LDS assembly (200) at least includes an LDS sensor (210) and a sensor driving unit (220) in driving connection with the LDS sensor (210), wherein the LDS sensor (210) and the sensor driving unit (220) are distributed along the horizontal direction, and the sensor driving unit (220) is configured to drive the LDS sensor (210) to make lifting motion.

7. The cleaning robot of claim 6, wherein, The LDS sensor (210) and the sensor driving unit (220) are distributed side by side along the axial direction of the cleaning roller brush.

8. The cleaning robot of claim 6, wherein, The sensor driving unit (220) includes a driving part (221) and a linkage structure (222), the linkage structure (222) connects the output end of the driving part (221) and the LDS sensor (210), and the LDS sensor (210) is provided with a sliding groove (223) matched with the linkage structure (222). Wherein, the LDS assembly (200) further includes a guide structure (230) for defining the motion direction of the LDS sensor (210).

9. The cleaning robot of claim 1, wherein, The body includes a base (300), wherein the LDS assembly (200) is located above the base (300), and the cleaning assembly (100) is located below the base (300).

10. The cleaning robot of claim 1, wherein, A control panel is provided on the body, and the control panel is located on the front side of the cleaning assembly (100) and is continuously distributed in the horizontal direction.

11. The cleaning robot of claim 10, wherein, The front end of the body is provided with a baffle assembly (400), and the control panel is continuously distributed horizontally in the area between the baffle assembly (400) and the cleaning assembly (100).

12. The cleaning robot of claim 1, wherein, One side of the LDS assembly (200) is provided with a pollution collecting piece (500), and the pollution collecting piece (500) partially overlaps the LDS assembly (200) in the projection along the front-back direction and is adjacently distributed in the projection along the left-right direction.

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