A wiping robot

Abstract

The utility model provides a kind of wiping robot, it is related to window cleaning robot technical field.The wiping robot is used to wipe the surface to be cleaned, including host computer and the advancing mechanism being set to host computer, advancing mechanism includes advancing assembly, motor and detection component.Motor includes body and shaft.Detection component includes the trigger assembly and sensing component of cooperation, the first one in trigger assembly and sensing component and host computer or body fixed connection, the second one in trigger assembly and sensing component is connected with shaft and moves with the rotation of shaft;When shaft rotates clockwise, trigger assembly and sensing component form first cooperation state, and sensing component exports first direction feedback;When shaft rotates counterclockwise, trigger assembly and sensing component form second cooperation state, and sensing component exports second direction feedback.The technical scheme of the utility model makes wiping robot be able to accurately distinguish movement direction based on the different direction feedback exported by sensing component, to avoid displacement deviation.

Description

Technical Field

[0001] This utility model relates to the field of window cleaning robot technology, and in particular to a wiping robot. Background Technology

[0002] Window cleaning robots, also known as automatic window cleaners, glass cleaning robots, intelligent window cleaners, and smart window cleaners, are a type of smart home appliance. They use a vacuum pump or fan at their base to firmly adhere to the glass. Window cleaning robots typically use the force of their adhesion to the glass to move a cloth at the bottom of the machine to wipe away dirt and grime.

[0003] In related technologies, window cleaning robots use sensors to detect the boundaries of windows in order to plan cleaning paths and return to their origin. However, these window cleaning robots suffer from low cleaning efficiency. Utility Model Content

[0004] This invention provides a wiping robot to solve the problem of low cleaning efficiency.

[0005] According to one aspect of the present invention, a wiping robot is provided for wiping a surface to be cleaned. The wiping robot includes a main unit and a traveling mechanism disposed on the main unit. The traveling mechanism includes: a traveling component disposed on the main unit; a motor including a body and a rotating shaft, the body being disposed on the main unit; the rotating shaft being rotatably disposed on the body and connected to the traveling component, driving the traveling component to travel on the surface to be cleaned; and a detection component including a cooperating trigger component and a sensing component, a first of the trigger component and the sensing component being fixedly connected to the main unit or the body, and a second of the trigger component and the sensing component being connected to the rotating shaft and moving with the rotation of the rotating shaft; when the rotating shaft rotates clockwise, the trigger component and the sensing component form a first cooperative state, and the sensing component outputs a first directional feedback; when the rotating shaft rotates counterclockwise, the trigger component and the sensing component form a second cooperative state, and the sensing component outputs a second directional feedback; the first cooperative state is different from the second cooperative state, and the first directional feedback is different from the second directional feedback.

[0006] The wiping robot mentioned in this embodiment drives the robot by connecting the motor shaft to the traveling component. A triggering component or sensing component is connected to the shaft, allowing the triggering and sensing components to form different engagement states when the shaft rotates clockwise and counterclockwise. This results in different feedback outputs from the sensing component, enabling the robot's controller, electrically connected to the sensing component, to distinguish whether the wiping component is in a forward or backward state. This allows the controller to determine the robot's accurate travel distance, ensuring accurate positioning and allowing the robot to return directly to its origin without edge probing, thus reducing movement time and improving cleaning efficiency. Furthermore, both the first and second directional feedback include the rotation direction and number of rotations of the shaft. This simplifies control.

[0007] In some exemplary embodiments of this utility model, the traveling assembly includes two drive wheels and a track sleeved on the outside of the two drive wheels. The two drive wheels are spaced apart along a third direction, and each drive wheel is rotatably mounted on the host machine. The third direction is the direction of movement of the track. The motor is located on one side of the drive wheels in a fourth direction. The rotating shaft extends along the third direction and has a head and a tail that are arranged opposite to each other. The head of the rotating shaft drives at least one of the two drive wheels to rotate. The tail of the rotating shaft is connected to the second drive wheel, and causes the second drive wheel to move with the rotation of the tail of the rotating shaft. The fourth direction is the direction of the rotation axis of the drive wheels.

[0008] In this embodiment, the extension direction of the rotating shaft is consistent with the movement direction of the track, making the extension direction of the rotating shaft intersect or even perpendicular to the rotation axis of the drive wheel. This reduces the width of the rotating shaft in the fourth direction, and consequently reduces the width of the traveling component in the fourth direction. When the middle of the wiping robot is occupied by the fan, the narrow arrangement of the traveling component not only maintains a reasonable distance from the fan, avoiding noise interference caused by close contact, but also reduces the width of the wiping robot in the fourth direction. This allows the wiping robot to work on narrower surfaces to be cleaned, making it suitable for more wiping scenarios.

[0009] Furthermore, if the extension direction of the rotating shaft intersects or is even perpendicular to the axis of the drive wheel's rotating shaft, a direction conversion component (such as a pair of bevel gears, a worm gear, etc.) must be installed between the rotating shaft and the drive wheel. In this embodiment, the head of the rotating shaft's extension direction is connected to the drive wheel, and the tail is connected to a triggering component or a sensing component. This avoids placing the triggering component or sensing component at the head of the rotating shaft, which would make the head of the rotating shaft too complex and bulky, affecting the arrangement of parts on the main unit (such as water tanks, solenoid valves, water pumps, electrical modules, etc.). This embodiment has the advantages of small size of the traveling mechanism, small overall size of the wiping robot, and wide applicability.

[0010] In some exemplary embodiments of this utility model, the motion trajectory of the second party is circular, and the motion trajectory of the second party is perpendicular to the rotation axis of the rotating shaft; the tail of the rotating shaft forms a cantilever, one end of the tail of the rotating shaft is rotatably connected to the machine body, and the other end of the tail of the rotating shaft is connected to the second party.

[0011] In this embodiment, the rotating shaft rotates around its own axis, and its motion trajectory is circular. Setting the motion trajectory of the second component as a ring allows for more direct feedback of the rotating shaft's direction of motion, thereby making the output feedback in the first and second directions more accurate. The center line of the second component's circular motion trajectory can be either the rotation axis of the rotating shaft or a non-rotating shaft rotation axis. Furthermore, one end of the rotating shaft's tail is constrained by the machine body, while the other end is a free end connected to the triggering or sensing component. This avoids the need for additional limiting parts (such as a bracket on the main unit or machine body, with the other end of the rotating shaft rotatably mounted on this bracket) to restrict the tail of the rotating shaft, which would result in a longer tail, a larger traveling mechanism, more components, and higher assembly difficulty.

[0012] Furthermore, when the first component is fixedly connected to the main body and the second component is connected to the main body via a rotating shaft, the traveling mechanism can form a module. The traveling mechanism can be modularly assembled into the main body, which has the advantage of improving the assembly efficiency of the whole machine.

[0013] In some exemplary embodiments of this utility model, when the first part is fixedly connected to the body, the first part is provided with a first limiting part, and the end of the body is provided with a second limiting part. The second limiting part can limit the position of the first limiting part in the direction of the movement trajectory of the second part.

[0014] In some exemplary embodiments of this utility model, the second party is provided with a third limiting part, which can limit the position of the rotating shaft in the direction of the second party's movement trajectory.

[0015] In this embodiment, in the direction of the second party's movement trajectory, since one end of the rotating shaft is rotatably connected to the machine body, the position of the rotating shaft relative to the machine body is determined; since the second party and the rotating shaft are positioned through the third limiting part, the position of the second party relative to the machine body is determined by the rotating shaft. Since the first party and the machine body are positioned through the first and second limiting parts, the relative position between the machine body and the first party is determined, thereby determining the position of the first party relative to the second party by the machine body. Thus, the first party and the second party can form a first cooperation state and a second cooperation state according to the set movement trajectory direction.

[0016] In some exemplary embodiments of this utility model, when the first part is provided with a first limiting part and the end of the body is provided with a second limiting part, the first limiting part is one of the plug-in and the socket, and the second limiting part is the other of the plug-in and the socket.

[0017] In this embodiment, the socket and plug-in form a positioning assembly to determine the relative position of the first component and the body, thereby enabling the first and second components to form a first and a second mating state according to a preset configuration. Furthermore, the first limiting part can be located on the outer periphery of the first component to avoid affecting the mating between the first and second components. The second limiting part can be located on the outer periphery of the body to connect it to the outer shell of the body without affecting internal components. Additionally, the cross-section of the plug-in can be a narrow rectangle, and the cross-section of the socket can also be correspondingly set to a narrow rectangle to reduce the area occupied by the plug-in and socket, avoiding interference with the mating between the first and second components. Moreover, when the first component is a sensing component, the sensing component includes a circuit board and multiple electronic components disposed on the circuit board. Using the combination of the socket and plug-in can reduce the area occupied by the circuit board, allowing more electronic components to be placed on a limited circuit board, improving the integration and functional expansion capabilities of the circuit board.

[0018] In some exemplary embodiments of this utility model, when the second party is provided with a third limiting part, the second party includes a second base and a second mating member that forms a different mating state with the first party. The second base includes a second plate and the third limiting part connected to the second plate. The second plate is provided with the second mating member. The third limiting part protrudes from the plate surface of the second plate and is in concave-convex mating with the rotating shaft.

[0019] In this embodiment, the third limiting part is thicker along the axis of the rotating shaft (compared to the second plate). This results in a longer connection length between the third limiting part and the rotating shaft along the rotation axis, leading to a more stable connection. It also brings the distances between the first connection point of the third limiting part and the rotating shaft, and between the body and the second connection point of the rotating shaft, closer. The length of the rotating shaft between the first and second connection points is shorter, making the tail of the rotating shaft less prone to bending or wobbling. This prevents the second plate from wobbling vertically or horizontally, thus preventing the second mating parts from wobbling and ensuring a stable first and second mating state with the first component. Furthermore, the third limiting part protrudes from the second plate, preventing the second base from being too thick along the rotation axis of the rotating shaft, thus avoiding a heavy second base that could wobble and affect the mating state. Additionally, multiple second mating parts can be evenly distributed on the second plate to prevent the rotating shaft from tilting to one side due to uneven distribution of the second mating parts, which would affect the mating state.

[0020] In some exemplary embodiments of this utility model, the main body, the second party, and the first party are arranged sequentially along the third direction, and the tail end of the rotating shaft extends out of the main body and is connected to the second party.

[0021] In this embodiment, the main body, the second component, and the first component are arranged sequentially along a third direction to utilize the third direction for positioning and avoid increasing the width of the traveling component in the fourth direction. Furthermore, the tail of the rotating shaft extending from the main body is directly connected to the second component and drives its rotation. This ensures a short distance between the point where the rotating shaft is limited by the main body and the second component, preventing vertical or horizontal swaying due to excessive extension of the rotating shaft beyond the main body, which could cause the second component to sway and lead to accidental activation.

[0022] In some exemplary embodiments of this utility model, the body, the first component, and the second component are arranged sequentially along the third direction; the first component has a through hole; the tail of the rotating shaft extends through the body and the through hole and connects to the second component.

[0023] In this embodiment, the body, the first component, and the second component are arranged sequentially along a third direction to utilize the third direction for positioning and avoid increasing the width of the traveling component in the fourth direction. Furthermore, the through-hole formed by the first component assists in assembling the first and second components. Specifically, the through-hole has a positioning function. When the rotating shaft passes through the through-hole, the relative position between the first component and the rotating shaft (in the radial direction of the rotating shaft) is determined. The rotating shaft is then connected to the second component, further determining the relative position between the rotating shaft and the second component (in the radial direction of the rotating shaft). Thus, the position of the first and second components (in the radial direction of the rotating shaft) is determined through the rotating shaft.

[0024] In some exemplary embodiments of this utility model, along the axial direction of the rotating shaft, the orthographic projection of the second on the end face of the machine body is located inside or coincides with the orthographic projection of the first on the end face of the machine body.

[0025] In this embodiment, the second component is driven to rotate by a rotating shaft. To prevent the tail of the rotating shaft from wobbling due to the second component being too heavy or having an area that is too large relative to the rotating shaft, the size of the second component can be set to be no larger than the size of the first component. This ensures that the first and second components can cooperate while also ensuring a relatively stable cooperation.

[0026] In some exemplary embodiments of this utility model, the first component includes a first base and a first mating member disposed on the first base, and the second component includes a second base and a second mating member disposed on the second base. The first base and the second base are spaced apart along the rotation axis direction of the rotating shaft. In the rotation axis direction perpendicular to the rotating shaft, the outer edge of the second mating member is closer to the rotation axis of the rotating shaft than the outer edge of the first mating member.

[0027] In this embodiment, the closer the second mating component is to the rotation axis of the rotating shaft, the more stably it can rotate under the influence of the rotating shaft, so that the second mating component and the first mating component can be mated in a preset manner. In addition, the closer the second mating component is to the rotation axis of the rotating shaft, the smaller its overall size, and the smaller the size of the first component mating with the second component, thus occupying a smaller area.

[0028] In some exemplary embodiments of this utility model, the first component includes a first base and a first mating member, and the second component includes a second base and a second mating member. The first base and the second base are spaced apart along the rotation axis of the rotating shaft. In the rotation axis of the rotating shaft, the first mating member and the second mating member are arranged facing each other or in the same direction.

[0029] In this embodiment, when the sensing component includes a circuit board and electronic components disposed on the circuit board, the electronic components can be disposed between the first base and the second base (one of the first base and the second base is a circuit board). Sufficient space needs to be left between the first base and the second base for the placement of the electronic components. At this time, by disposing the first mating part and the second mating part between the first base and the second base (one of the first mating part and the second mating part is a sensing electronic component), the space can be utilized to achieve the mating of the two components, so as to effectively utilize the space.

[0030] Alternatively, when the sensing component includes a circuit board and electronic components mounted on the circuit board, the electronic components can be positioned on the side of the first base away from the second base, or on the side of the second base away from the first base (where one of the first and second bases is a circuit board), with sufficient clearance on the away side for the placement of the electronic components. This closer proximity between the first and second bases facilitates connection between the pivot and the second base, preventing the second base from wobbling.

[0031] In some exemplary embodiments of this utility model, the motion trajectory of the second party is circular, and the motion trajectory of the second party is perpendicular to the rotation axis of the rotating shaft; the sensing component includes a first sensing element and a second sensing element, and the first sensing element and the second sensing element are spaced apart along the motion trajectory direction of the second party; the triggering component includes a triggering element; when the rotating shaft rotates clockwise, the triggering element triggers the first sensing element and the second sensing element in sequence; when the rotating shaft rotates counterclockwise, the triggering element triggers the second sensing element and the first sensing element in sequence.

[0032] In this embodiment, the shaft rotates around its own axis, and its motion trajectory is circular. Setting the second sensor's motion trajectory as a ring allows for more direct feedback on the shaft's direction of motion, thus making the output feedback in both the first and second directions more accurate. By spacing the first and second sensors and differentiating them using the triggering sequence of the triggering component under different rotational directions of the shaft, the triggering sequence is first sensor first, then second sensor for clockwise rotation, and vice versa for counter-clockwise rotation. Through this structural arrangement, the sensing component can clearly determine the shaft's rotational direction based on the difference in the triggering sequence, thereby avoiding errors caused by relying solely on the number of rotations to identify the motor's rotational direction. This ensures the uniqueness of the motor's motion direction during the detection process and allows the accumulated displacement to accurately correspond to the actual direction of travel.

[0033] In some exemplary embodiments of this utility model, in the direction of the second person's movement trajectory, the first sensing element has a first length, the second sensing element has a second length, and the triggering element has a third length; the duration for which the triggering element triggers the first sensing element is related to the first length and the third length; the duration for which the triggering element triggers the second sensing element is related to the second length and the third length.

[0034] In this embodiment, the duration of the sensor's activation is controlled by utilizing the lengths of the sensing element and the trigger element along the second's trajectory. This approach offers advantages such as simple structure, convenient control, and high accuracy. For example, when the sensor and trigger element are activated by signal blocking (e.g., by an optocoupler sensor or a photosensitive sensor), the signal wave emitted by the sensor is at its leading edge when the trigger element just begins to block it; the signal wave emitted by the sensor is at its trailing edge when the trigger element leaves the sensor; and the signal wave emitted by the sensor is at a high level throughout the process from when the trigger element just begins to block the sensor until it completely leaves the sensor. Similarly, when the sensor and trigger element are activated by magnetic induction (e.g., by a magnetic sensor), the signal wave emitted by the sensor is at its leading edge when the trigger element just approaches the sensor; the signal wave emitted by the sensor is at its trailing edge when the trigger element leaves the sensor; and the signal wave emitted by the sensor is at a high level throughout the process from when the trigger element just approaches the sensor until it completely leaves the sensor.

[0035] In some exemplary embodiments of this utility model, the third length is not shorter than half of the first length and half of the second length.

[0036] In this embodiment, the longer the trigger element is, the longer it takes to pass the sensor element, and the longer the sensor element is triggered. This makes it easier for the controller of the wiping robot to make judgments based on the signal waves emitted by the sensor element, thereby improving calculation accuracy. Setting the length of the trigger element to be no less than half the length of the sensor element ensures that the trigger element travels at least half the length of the sensor element before passing the sensor element, thus allowing the controller sufficient reaction time and improving calculation accuracy.

[0037] In some exemplary embodiments of this utility model, the first length is equal to the second length.

[0038] In this embodiment, the two sensors are of equal length, ensuring that the triggering time for both sensors is equal. This facilitates the design of the phase difference between the signal waves emitted by the two sensors, resulting in a simple structure and easy control. The phase difference between the two signal waves allows the rotation direction of the shaft to be determined by comparing their temporal sequence during shaft rotation, thus determining whether the wiping robot is in a forward or backward state.

[0039] In some exemplary embodiments of this utility model, the triggering component includes a plurality of trigger elements, which are spaced apart along the movement trajectory direction of the second, and each of the trigger elements can trigger the first sensing element or the second sensing element.

[0040] In this embodiment, multiple triggers are provided, which allows the first or second sensor to be triggered multiple times after the second party completes a complete circular trajectory, so as to provide timely feedback on the rotation direction of the shaft and thus improve the accuracy of the wiping robot's travel distance calculation.

[0041] Furthermore, the third length is not shorter than the first length and the second length, and the first length and the second length are equal; when there are multiple triggers, if one of the multiple triggers triggers the entire first sensor, the other of the multiple triggers triggers the first half of the second sensor; or, if one of the multiple triggers triggers the entire second sensor, the other of the multiple triggers triggers the first half of the first sensor.

[0042] In this embodiment, the phase difference of the signal wave emitted by the sensor is designed using half the length of the sensor, so that the phase difference between the signal wave generated by the first sensor and the signal wave generated by the second sensor is +90 degrees or -90 degrees. This ensures that regardless of which of the two sensors is triggered first, the reaction time left for the controller of the wiping robot is the same, so as to avoid the controller from having different reaction times and affecting the accuracy of the distance calculation.

[0043] In some exemplary embodiments of this utility model, the first sensing element and the second sensing element are symmetrical about the center line of the motion trajectory, and the plurality of triggering elements are not symmetrical about the center line of the motion trajectory; or, the first sensing element and the second sensing element are not symmetrical about the center line of the motion trajectory, and the plurality of triggering elements are symmetrical about the center line of the motion trajectory; or, the first sensing element and the second sensing element are not symmetrical about the center line of the motion trajectory, and the plurality of triggering elements are not symmetrical about the center line of the motion trajectory.

[0044] In this embodiment, the asymmetry is utilized to achieve the sequential triggering of the two sensors, which has the advantages of simple structure and convenient control.

[0045] In some exemplary embodiments of this utility model, if the wiping robot encounters an obstacle on the surface to be cleaned during the first cleaning, it performs a reciprocating offset motion until it leaves the obstacle, and performs an obstacle bypass motion during the next cleaning of the surface to be cleaned.

[0046] In this embodiment, during the initial cleaning process of the wiping robot, the first and second sensors provide real-time feedback on the movement status of the rotating shaft (e.g., forward or backward) and the number of rotations the shaft makes in the corresponding state. Based on this feedback, the controller can more accurately calculate the first coordinate of the wiping robot at the beginning of its reciprocating offset motion, the total distance traveled during the reciprocating offset motion, and the second coordinate at the end of the reciprocating offset motion, thus determining the position and size of the obstacle. During the next cleaning cycle, the robot can then bypass the obstacle based on its position and size. This avoids the wiping robot repeatedly colliding with obstacles and performing reciprocating offset motions during subsequent cleaning cycles, reducing cleaning time, lowering power consumption, and increasing the robot's lifespan. Attached Figure Description

[0047] The above and other features and advantages of this invention will become more apparent from a detailed description of exemplary embodiments with reference to the accompanying drawings.

[0048] Figure 1 This is a schematic diagram of the movement process of a wiping robot on a surface to be cleaned, according to one embodiment of the present invention.

[0049] Figure 2 This is a schematic diagram of a wiping robot facing the surface to be cleaned, according to one embodiment of the present invention.

[0050] Figure 3 This is a schematic diagram of the traveling mechanism according to one embodiment of the present invention.

[0051] Figure 4 This is an exploded view of the motor and detection component according to one embodiment of the present invention.

[0052] Figure 5 This is a longitudinal sectional view of the traveling mechanism according to one embodiment of the present invention.

[0053] Figure 6 This is an exploded view of the traveling mechanism of one embodiment of the present invention.

[0054] Figure 7 This is a schematic diagram illustrating the cooperative relationship between the first and second parties in one embodiment of this utility model.

[0055] Figure 8 This is a schematic diagram showing the mating relationship between the first mating component and the second mating component, which are arranged facing each other, according to one embodiment of the present invention.

[0056] Figure 9 This is a schematic diagram showing the mating relationship between the first mating component and the second mating component, which are arranged in the same direction according to one embodiment of the present invention.

[0057] Figure 10 This is a schematic diagram illustrating the cooperative relationship between the trigger component and the sensing component in one embodiment of the present invention.

[0058] Figure 11 This is a schematic diagram of the state change after the second party rotates according to one embodiment of the present invention.

[0059] Figure 12 This is a schematic diagram of the second party's motion trajectory being elliptical in one embodiment of this utility model.

[0060] Figure 13 This is a waveform diagram of the direction feedback signal output by the trigger component of one embodiment of the present invention.

[0061] Figure 14 This is a schematic diagram of a wiping robot facing the surface to be cleaned, according to another embodiment of the present invention.

[0062] Figure 15 This is a schematic diagram of the motion trajectory of the wiping robot during the first cleaning process according to one embodiment of the present invention.

[0063] Figure 16 This is a schematic diagram of the motion trajectory of the wiping robot in the second cleaning process according to one embodiment of the present invention.

[0064] Explanation of reference numerals in the attached figures: 1. Marching mechanism; 101. First marching mechanism; 102. Second marching mechanism; 11. Motor; 111. Machine body; 112. Rotating shaft; 113. Second limiting part; 114. First gear; 115. Second gear; 12. Detection component; 121. Trigger assembly; 1210. Second base; 1211. Second plate; 12111. Second mating part; 1212. Trigger; 1213. Third limiting part; 12121. First trigger; 12122. Second trigger; 12123. Third trigger; 12124. Fourth trigger; 12125. Fifth trigger; 12126. Sixth trigger; 122. Sensing assembly; 1220. First base; 1221. First sensing element; 1222. Second sensing element; 1223. First limiting part; 1224. First plate; 12241. First mating part; 1225. Through hole; 13. Propulsion components; 131. Drive wheels; 132. Tracks; 2. Main unit; 3. Electrical module; 401. First solenoid valve; 402. Second solenoid valve; 5. Water pump; 6. Fan; 7. Water tank; 100. Wiping robot; 200. Obstacle; 201. First trajectory; 202. Second trajectory. Detailed Implementation

[0065] As described in the background section, related window cleaning robots suffer from low cleaning efficiency. To address this problem, the inventors of this utility model conducted the following research: Figure 1 This is a schematic diagram illustrating the movement of a window cleaning robot on a surface to be cleaned. (Reference) Figure 1 ,like Figure 1 As shown, the surface S to be cleaned has an upper boundary M1 and a lower boundary M2 set opposite to each other, and a left boundary M3 and a right boundary M4 set opposite to each other along the second direction Y. The window cleaning robot has multiple cleaning modes, such as fast cleaning mode, deep cleaning mode, edge cleaning mode, fine cleaning mode, and zone cleaning mode. Each mode can include a cleaning task and a return task. When performing a cleaning task, the window cleaning robot will first perform a boundary detection action to detect the distance between the initial position and the boundary of the surface to be cleaned. When performing a return task, the window cleaning robot can first move from the ending position to the corresponding boundary, and then return to the parking position from the corresponding boundary, so as to facilitate the user to pick up the window cleaning robot. The closer the parking position is to the initial position, the more convenient it is for the user to pick up the robot.

[0066] For example, the window cleaning robot starts from the initial position A1, moves upward to point A2 of the upper boundary M1 to explore the upper edge (and records the distance from the upper edge to the edge H1), then moves left to point A3 of the left boundary M3 to explore the left edge (and records the distance from the left edge to the edge L1), then performs a Z-shaped cleaning action to the end position A4, then moves upward to point A5 of the upper boundary M1, then moves downward H1 to A6, then moves left to point A7 of the left boundary M3, then moves right L1 to the stopping position A8.

[0067] The inventor of this utility model conceived that if the window cleaning robot could directly return from the ending position A4 to the stopping position A8 without having to find the upper and left boundaries to return to the origin, the running time of the window cleaning robot would be greatly reduced and the efficiency of the window cleaning robot would be improved.

[0068] In view of this, the inventors of this utility model reprogrammed the program, using the initial position as the origin of the coordinate system, and recorded the travel distance of the window cleaning robot in real time. Thus, the coordinates of the ending position relative to the initial position were known, allowing the window cleaning robot to directly return to its stopping position from the ending position. However, tests showed that the stopping position differed significantly from the initial position. The inventors investigated the cause and discovered that the window cleaning robot determines its travel distance on the target surface by acquiring the number of motor rotations. When the window cleaning robot encounters obstacles or frameless boundaries during operation, the controller stops or reverses the motor. However, due to the inertia of the motor shaft, it often rotates an additional angle or number of rotations in the original direction, resulting in extra displacement. Since the direction of the window cleaning robot's movement cannot be determined, i.e., it is impossible to distinguish whether this extra displacement is caused by the motor rotating forward or backward, a delay is usually made in calculating the number of motor rotations after issuing the reverse command to avoid interference. However, this method leads to the omission of some effective rotation information, causing the obtained travel distance of the window cleaning robot to be inconsistent with the actual situation. As errors accumulate, the positioning accuracy of the window cleaning robot decreases, resulting in the stopping position being far from the initial position.

[0069] In view of this, the inventors of this utility model conceived of adding the detection of the motor's rotation direction. To simplify control, this utility model integrates the detection of the number of motor shaft rotations with the direction detection. For example, the sensor can detect both the number of motor shaft rotations and the direction of the motor shaft rotation.

[0070] To address all or part of the technical problems in the aforementioned related technologies, this utility model embodiment first provides a wiping robot for wiping surfaces to be cleaned, referring to... Figures 2 to 6As shown, the wiping robot includes a main unit 2 and a traveling mechanism 1 disposed on the main unit 2. The traveling mechanism 1 includes a traveling component 13, a motor 11, and a detection component 12. The traveling component 13 is disposed on the main unit 2. The motor 11 includes a body 111 and a rotating shaft 112. The body is disposed on the main unit 2; the rotating shaft 112 is rotatably disposed on the body 111 and is connected to the traveling component 13, driving the traveling component 13 to travel on the surface to be cleaned. The detection component 12 includes a trigger component 121 and a sensing component 122 that cooperate with each other. The first of the trigger component 121 and the sensing component 122 is fixedly connected to the host 2 or the body 111, and the second of the trigger component 121 and the sensing component 122 is connected to the rotating shaft 112 and moves with the rotation of the rotating shaft 112. When the rotating shaft 112 rotates clockwise, the trigger component 121 and the sensing component 122 form a first cooperation state, and the sensing component 122 outputs a first directional feedback. When the rotating shaft 112 rotates counterclockwise, the trigger component 121 and the sensing component 122 form a second cooperation state, and the sensing component 122 outputs a second directional feedback. The first cooperation state is different from the second cooperation state, and the first directional feedback is different from the second directional feedback.

[0071] In this embodiment, the wiping robot 100 is driven by connecting the rotating shaft 112 of the motor 11 to the traveling component 13. A trigger component 121 or a sensing component 122 is connected to the rotating shaft 112, allowing the trigger component 121 and the sensing component 122 to form different engagement states when the rotating shaft 112 rotates clockwise and counterclockwise. This results in different feedback outputs from the sensing component 122, enabling the controller of the wiping robot 100, which is electrically connected to the sensing component 122, to distinguish whether the traveling component 13 is in a forward or backward state. This allows the controller to determine the accurate stroke of the wiping robot 100, ensuring accurate positioning and allowing it to return directly to its origin without edge probing. This reduces the movement time of the wiping robot 100 and improves its cleaning efficiency. Furthermore, both the first and second directional feedback include the rotation direction and the number of rotations of the rotating shaft 112. This simplifies control.

[0072] The following is a detailed description of the structural components of the aforementioned wiping robot.

[0073] A wiping robot can refer to a device capable of attaching to a surface to be cleaned and performing movement and wiping operations through its own propulsion mechanism 1. It may include a main unit 2 and multiple functional components mounted on the main unit 2. The surface to be cleaned can refer to the target plane or curved surface that the wiping robot directly contacts and performs the cleaning operation during operation, such as a glass surface, wall, floor, or other adherent surface. The main unit 2 can refer to the main structure of the wiping robot, housing functional components such as the motor 11 and detection components 12, and serving as the mounting base for the propulsion mechanism 1 and other components. The propulsion mechanism 1 can refer to the functional module mounted on the main unit 2 that drives the wiping robot to move on the surface to be cleaned. For example, refer to... Figure 2 As shown, the traveling mechanism 1 may include a first traveling mechanism 101 and a second traveling mechanism 102. Both the first traveling mechanism 101 and the second traveling mechanism 102 are disposed on the contact surface of the wiping robot facing the surface to be cleaned. The first traveling mechanism 101 is disposed in the region adjacent to a first edge of the contact surface along a first direction, and the second traveling mechanism 102 is disposed in the region adjacent to a second edge of the contact surface along the first direction. The first direction is a reference direction within the contact surface; for example, the reference direction is perpendicular to the direction of movement of the wiping robot on the surface to be cleaned. Of course, in other embodiments of this invention, other numbers of traveling mechanisms 1 may be provided in the wiping robot.

[0074] The traveling component 13 can refer to a part driven by the motor 11 to move across the surface to be cleaned. The motor 11 can refer to a power source mounted on the main unit 2 and providing driving force to the traveling component 13, which includes a body 111 and a rotating shaft 112 rotatably mounted on the body 111. The body 111 can refer to a fixed housing structure of the motor 11, used to house the internal magnetic field coil, stator, and other components of the motor, and serves as the mounting base for the rotating shaft 112. The rotating shaft 112 can refer to a part rotatably mounted on the body 111 and rotating relative to the body 111, which is driven to rotate when energized and transmits rotational power to the traveling component 13.

[0075] Further, refer to Figure 6As shown, the traveling assembly 13 includes two drive wheels 131 and a track 132 sleeved on the outside of the two drive wheels 131. The two drive wheels 131 are spaced apart along a third direction, and each drive wheel 131 is rotatably mounted on the main unit; the third direction is the direction of movement of the track 132. Specifically, the two drive wheels 131 are respectively supported at both ends of the track 132, and the outer peripheral surface of the drive wheel 131 meshes with the inner peripheral surface of the track 132, enabling the rotational torque of the shaft 112 to be transmitted to the track 132 under the drive of the motor 11. In addition, the extension direction of the shaft 112 is consistent with the direction of movement of the track 132, such that the extension direction of the shaft 112 intersects or is even perpendicular to the rotation axis direction of the drive wheel 131, thereby reducing the width of the shaft 112 in the fourth direction, and thus reducing the width of the traveling assembly 13 in the fourth direction. Specifically, when the drive wheel 131 rotates under the drive of the shaft 112, the track 132 circulates along a third direction under the friction and support of the drive wheel 131, ensuring that the outer surface of the track 132 is in close contact with the surface to be cleaned. Through friction with the surface, the track 132 converts the rotational motion of the drive wheel 131 into linear movement along a third direction, enabling the wiping robot to move stably on the glass surface. This transmission relationship forms a continuous power transmission link between the drive wheel 131 and the track 132, ensuring the track 132 moves at a uniform speed in the third direction and enhancing the robot's adhesion and movement capabilities on smooth glass surfaces, thus achieving a reliable cleaning process.

[0076] Furthermore, the motor 11 is disposed on one side of the drive wheel 131 in the fourth direction, and the rotating shaft 112 extends along the third direction and has a head and a tail disposed opposite to each other. The head of the rotating shaft 112 drives at least one of the two drive wheels 131 to rotate; the tail of the rotating shaft is connected to the second drive wheel and causes the second drive wheel to move with the rotation of the tail of the rotating shaft; the fourth direction is the direction of the rotation axis of the drive wheel 131. Specifically, the motor 11 is disposed on one side of the drive wheel 131 in the fourth direction, and the rotating shaft 112 of the motor 11 extends along the third direction and has a head and a tail disposed opposite to each other. The head is fixedly connected to one of the two drive wheels 131, thereby driving the drive wheel 131 to rotate when the rotating shaft 112 rotates, so as to drive the track 132 to move cyclically along the third direction. The tail is connected to the trigger component 121 or the sensing component 122 in the detection component 12, so that the rotating shaft 112 can simultaneously drive the trigger component 121 or the sensing component 122 to form a corresponding engagement state during rotation. Therefore, the motor 11 not only provides power output to the traveling component 13, but also, through the double-ended connection of the rotating shaft 112, enables the rotation of the drive wheel 131 at one end and the detection of the engagement between the trigger component 121 and the sensing component 122 at the other end, thus achieving both traveling drive and motion direction detection within the same power transmission link. The fourth direction is the direction of the rotation axis of the drive wheel 131, used to define the installation orientation of the motor 11 relative to the drive wheel 131, thereby ensuring the stability and accuracy of the transmission structure.

[0077] Furthermore, a transmission connection is established between the rotating shaft 112 and the drive wheel 131 via a reversing assembly, which can be a worm gear, bevel gear, or other reversing mechanism. The reversing assembly allows the rotational torque output by the motor 11 to change direction when transmitted to the drive wheel 131, thus adapting to the installation space of the traveling assembly 13 and the movement direction requirements of the track 132. Specifically, when the reversing assembly is a worm gear, it can achieve large-angle torque transmission within a limited space, ensuring that the wiping robot does not slip unexpectedly when moving on a relatively smooth surface to be cleaned. When the reversing assembly is a bevel gear, it can achieve stable meshing when the rotation axis of the rotating shaft 112 is perpendicular to the rotation axis of the drive wheel 131, thereby ensuring that the drive wheel 131 obtains a stable rotational torque.

[0078] refer to Figure 6 and Figure 14As shown, through the above structural arrangement, the extension direction of the rotating shaft 112 is consistent with the movement direction of the track 132, and the extension direction of the rotating shaft 112 intersects or is even perpendicular to the rotation axis direction of the drive wheel 131, thereby reducing the width of the rotating shaft 112 in the fourth direction, and thus reducing the width of the traveling component 13 in the fourth direction. With the middle of the wiping robot occupied by the fan 6, the narrow arrangement of the traveling component 13 not only maintains a reasonable distance from the fan 6, avoiding noise interference caused by their close contact, but also reduces the width of the wiping robot in the fourth direction, allowing the wiping robot to work on narrower surfaces to be cleaned, making it suitable for more wiping scenarios. Furthermore, since the extension direction of the rotating shaft 112 intersects or is even perpendicular to the rotation axis direction of the drive wheel 131, a direction conversion component (such as a pair of bevel gears, a worm gear, etc.) must be installed between the rotating shaft 112 and the drive wheel 131. In this embodiment, the head of the rotating shaft is connected to the drive wheel 131, and the tail is connected to the trigger component 121 or the sensing component 122. This avoids the situation where the trigger component 121 or the sensing component 122 is located at the head of the rotating shaft 112, which would make the head of the rotating shaft 112 too complex and large, affecting the arrangement of parts on the host 2 (such as the water tank 7, solenoid valve, water pump 5, electrical module 3, etc.). This embodiment has the advantages of small size of the traveling mechanism, small overall size of the wiping robot, and wide applicability.

[0079] In addition, refer to Figure 5 As shown, the motor 11 may further include a first gear 114 and a second gear 115. The first gear 114 is mounted on the rotating shaft 112 and rotates with the shaft 112. The second gear 115 meshes with the first gear 114 and transmits the rotational motion of the first gear 114 to a connected transmission component. Through this gear meshing relationship, when the rotating shaft 112 rotates, the motor 11 can reliably transmit rotational torque to the subsequent traveling assembly 13 through the meshing action between the first gear 114 and the second gear 115, ensuring that the drive wheel 131 and the track 132 receive sufficient driving force for stable movement.

[0080] The detection component 12 can represent a component used to detect the rotational state of the shaft 112 of the motor 11 and output directional feedback. It includes a trigger component 121 and a sensing component 122. The first component, the trigger component 121, is fixedly connected to the host 2 or body 111, keeping it stationary during the rotation of the shaft 112. The second component is connected to the shaft 112 and moves with its rotation, allowing it to move synchronously with the shaft 112. Through this relative motion relationship, when the shaft 112 rotates clockwise, the trigger component 121 enters the working area of ​​the sensing component 122, forming a first engagement state, in which the sensing component 122 outputs first directional feedback. Correspondingly, when the shaft 112 rotates counterclockwise, the trigger component 121 enters a different working area, forming a second engagement state, in which the sensing component 122 outputs second directional feedback. The first and second engagement states differ in their relative positional relationship between the triggering component 121 and the sensing component 122, enabling the sensing component 122 to output differentiated feedback signals based on different engagement states, thus ensuring the distinguishability of the first-direction feedback and the second-direction feedback in terms of signal characteristics. The aforementioned engagement relationship between the first and second components can be described as follows: Figure 7 As shown, the second component is connected to the rotating shaft 112, while the first component can be connected to either the body 111 or the host 2. Specifically, when the first component is connected to the body 111, it can be fixedly installed at the end or side wall of the body 111, so that during the rotation of the rotating shaft 112, the first and second components form a stable mating state in their relative positions on the body 111. On the other hand, when the first component is connected to the host 2, it can be fixedly installed on the frame or shell structure of the host 2, so that the first and second components can establish a mating relationship within a larger installation space.

[0081] The first engagement state can represent the engagement relationship formed between the trigger component 121 and the sensing component 122 when the rotating shaft 112 rotates clockwise. In this state, one component connected to the rotating shaft 112 enters and passes through the sensing or action area of ​​the other component during its movement with the rotating shaft 112, causing the sensing elements within that area to be activated according to a first triggering sequence. The second engagement state can represent the engagement relationship formed between the trigger component 121 and the sensing component 122 when the rotating shaft 112 rotates counterclockwise. In this state, one component connected to the rotating shaft 112 enters and passes through the sensing or action area of ​​the other component during its movement with the rotating shaft, causing the sensing elements within that area to be activated according to a second triggering sequence. The first direction feedback can represent the feedback signal output by the sensing component 122 based on the first engagement state formed between the trigger component 121 and the sensing component 122 when the rotating shaft 112 rotates clockwise. This feedback signal can characterize the movement direction corresponding to the traveling mechanism 1 as the first movement direction. The second directional feedback can represent the feedback signal output by the sensing component 122 when the rotating shaft 112 rotates counterclockwise, based on the second engagement state formed by the trigger component 121 and the sensing component 122. This feedback signal can characterize the movement direction of the traveling mechanism 1 as the second movement direction. Preferably, the first and second directional feedbacks are level signals. Of course, in other embodiments of this utility model, the first and second directional feedbacks can also be other suitable output signals such as pulse signals, current signals, voltage signals, frequency signals, optical signals, or magnetic induction signals to adapt to different types of sensing components 122.

[0082] In some embodiments, reference Figures 3 to 5 As shown, the trigger component 121 is connected to the rotating shaft 112, and the sensing component 122 is connected to the host 2 or the body 111. When the rotating shaft 112 rotates clockwise, the trigger component 121 is in a first state and forms a first cooperative state with the sensing component 122. When the sensing component 122 is triggered by the trigger component 121 in the first state, it outputs a first directional feedback. When the rotating shaft 112 rotates counterclockwise, the trigger component 121 is in a second state and forms a second cooperative state with the sensing component 122. When the sensing component 122 is triggered by the trigger component 121 in the second state, it outputs a second directional feedback. The first state is different from the second state.

[0083] The first state can represent the motion state of the trigger component 121 when it is connected to the rotating shaft 112 and rotates clockwise with the rotating shaft 112. In this state, the trigger component 121 enters the sensing area corresponding to the sensing component 122 and forms a first engagement state with the sensing component 122. The second state can represent the motion state of the trigger component 121 when it is connected to the rotating shaft 112 and rotates counterclockwise with the rotating shaft 112. In this state, the trigger component 121 enters the sensing area corresponding to the sensing component 122 in the opposite direction of motion to the first state and forms a second engagement state with the sensing component 122.

[0084] Specifically, the trigger component 121 is fixedly connected to the rotating shaft 112 so that it rotates synchronously with the rotating shaft 112; the sensing component 122 is fixedly connected to the main unit 2 or the body 111 and remains relatively stationary during the rotation of the rotating shaft 112. Thus, when the rotating shaft 112 rotates clockwise, the trigger component 121 enters a first state and forms a first engagement state with the sensing component 122. In this state, the triggering part of the trigger component 121 passes sequentially through the sensing area of ​​the sensing component 122, thereby triggering the sensing component 122 to output first directional feedback. Correspondingly, when the rotating shaft 112 rotates counterclockwise, the trigger component 121 enters a second state and forms a second engagement state with the sensing component 122. In this state, the triggering part of the trigger component 121 passes through the sensing area of ​​the sensing component 122 along a path opposite to the aforementioned clockwise direction, thereby triggering the sensing component 122 to output second directional feedback. The difference between the first and second states lies in the fact that when the rotation direction of the rotating shaft 112 is different, the trigger component 121 enters the sensing area corresponding to the sensing component 122 with different movement directions, thus forming the first and second states, thereby enabling the trigger component 121 and the sensing component 122 to form different engagement states. Based on the formed engagement states, the sensing component 122 outputs differentiated directional feedback, so that clockwise rotation of the rotating shaft 112 corresponds to the first directional feedback, and counterclockwise rotation of the rotating shaft 112 corresponds to the second directional feedback.

[0085] Of course, in other embodiments of this utility model, the trigger component 121 may be connected to the host 2 or the body 111, and the sensing component 122 may be connected to the rotating shaft 112; when the rotating shaft 112 rotates clockwise, the sensing component 122 is in a third state and forms a first cooperative state with the trigger component 121, and the sensing component 122 in the third state outputs a first directional feedback when triggered by the trigger component 121; when the rotating shaft 112 rotates counterclockwise, the sensing component 122 is in a fourth state and forms a second cooperative state with the trigger component 121, and the sensing component 122 in the fourth state outputs a second directional feedback when triggered by the trigger component 121; the third state is different from the fourth state.

[0086] The third state can represent the motion state of the sensing component 122 when it is connected to the rotating shaft 112 and rotates clockwise with the rotating shaft 112. In this state, the sensing component 122 enters the working area corresponding to the trigger component 121 and forms a first engagement state with the trigger component 121. The fourth state can represent the motion state of the sensing component 122 when it is connected to the rotating shaft 112 and rotates counterclockwise with the rotating shaft 112. In this state, the sensing component 122 enters the working area corresponding to the trigger component 121 in the opposite direction of motion to the third state and forms a second engagement state with the trigger component 121.

[0087] Specifically, the trigger component 121 is fixedly connected to the host 2 or the body 111 to remain relatively stationary during the rotation of the shaft 112; the sensing component 122 is connected to the shaft 112 and moves with the rotation of the shaft 112. Thus, when the shaft 112 rotates clockwise, the sensing component 122 enters a third state and forms a first engagement state with the trigger component 121. In this engagement state, the sensing part of the sensing component 122 sequentially passes through the corresponding operating position of the trigger component 121, thereby outputting first directional feedback when triggered by the triggered component 121. Correspondingly, when the shaft 112 rotates counterclockwise, the sensing component 122 enters a fourth state and forms a second engagement state with the trigger component 121. In this engagement state, the sensing part of the sensing component 122 passes through the corresponding operating position of the trigger component 121 along a path opposite to the aforementioned clockwise direction, thereby outputting second directional feedback when triggered by the triggered component 121. The difference between the third and fourth states lies in the fact that when the rotation direction of the rotating shaft 112 is different, the sensing component 122 enters the working area corresponding to the trigger component 121 with different movement directions, thus forming the third and fourth states, thereby enabling the sensing component 122 and the trigger component 121 to form different engagement states. Based on the formed engagement states, the sensing component 122 outputs differentiated directional feedback, so that clockwise rotation of the rotating shaft 112 corresponds to the first directional feedback, and counterclockwise rotation of the rotating shaft 112 corresponds to the second directional feedback.

[0088] In some embodiments, the motion trajectory of the second component is circular and perpendicular to the rotation axis of the rotating shaft 112. That is, the motion trajectory of the second component connected to the rotating shaft 112 in the triggering component 121 and the sensing component 122 is circular and perpendicular to the rotation axis of the rotating shaft 112. (Reference) Figure 4 and Figure 5 As shown, the tail of the rotating shaft 112 forms a cantilever, one end of the tail of the rotating shaft 112 is rotatably connected to the body 111, and the other end of the tail of the rotating shaft 112 is connected to a second body.

[0089] In this embodiment, the rotating shaft 112 rotates around its own axis, and its motion trajectory is circular. Setting the motion trajectory of the second component as a ring allows for more direct feedback on the motion direction of the rotating shaft 112, thereby making the output of the first direction feedback and the second direction feedback more accurate. The center line of the ring motion trajectory of the second component can be the rotation axis of the rotating shaft 112 or a non-rotating shaft rotation axis. In addition, one end of the tail of the rotating shaft 112 is constrained by the body 111, and the other end of the tail of the rotating shaft 112 is a free end connected to the trigger component 121 or the sensing component 122. This avoids setting additional limiting parts (such as setting a bracket on the host 2 or the body 111, with the other end of the tail of the rotating shaft 112 rotatably mounted on the bracket) to restrict the tail of the rotating shaft 112, which would result in a long tail of the rotating shaft 112, a large volume of the traveling mechanism 1, a large number of components, and high assembly difficulty.

[0090] Furthermore, when the first component is fixedly connected to the body 111 and the second component is connected to the body 111 via the rotating shaft 112, the traveling mechanism 1 can form a module. The traveling mechanism can be modularly assembled into the main unit, which has the advantage of improving the assembly efficiency of the whole machine.

[0091] Specifically, in some embodiments, references Figure 4 and Figure 5 As shown, when the first component is fixedly connected to the body 111, the first component is provided with a first limiting part 1223, and the end of the body 111 is provided with a second limiting part 113. The second limiting part 113 can limit the position of the first limiting part 1223 in the direction of the movement trajectory of the second component. Furthermore, the second component is provided with a third limiting part 1213, which can limit the position of the rotating shaft 112 in the direction of the movement trajectory of the second component.

[0092] In this embodiment, the first component is the one of the triggering component 121 and the sensing component 122 that is fixedly connected to the host 2 or the body 111. The first component is also the one of the triggering component 121 and the sensing component 122 that is connected to the rotating shaft 112 and moves with the rotation of the rotating shaft 112. In the direction of the second component's movement trajectory, since one end of the rotating shaft 112 is rotatably connected to the body 111, the position of the rotating shaft 112 relative to the body is determined. Since the second component and the rotating shaft 112 are positioned by the third limiting part 1213, the position of the second component relative to the body 111 is determined by the rotating shaft 112. Because the first component and the body 111 are positioned by the first limiting part 1223 and the second limiting part 113, the relative positions of the body 111 and the first component are determined, thus the position of the first component relative to the second component is determined by the body. In this way, the first component and the second component can form a first cooperative state and a second cooperative state according to the set movement trajectory direction.

[0093] In some embodiments, reference Figure 4 As shown, when the first part is provided with a first limiting part 1223 and the end of the body 111 is provided with a second limiting part 113, the first limiting part 1223 is one of the plug-in and the socket, and the second limiting part 113 is the other of the plug-in and the socket.

[0094] In this embodiment, the plug and the socket form a positioning assembly to determine the relative position of the first component and the body 111, thereby enabling the first and second components to form a first mating state and a second mating state according to a preset configuration. Furthermore, the first limiting part 1223 can be disposed on the outer periphery of the first component to avoid affecting the mating between the first and second components. The second limiting part 113 can be disposed on the outer periphery of the body 111 to connect with the outer shell of the body 111 without affecting internal components. Additionally, the cross-section of the plug can be a narrow rectangle, and the cross-section of the socket can also be correspondingly set to a narrow rectangle; the cross-section of the plug can be a circle with a smaller diameter, and the cross-section of the socket can also be correspondingly set to a circle with a smaller diameter, to reduce the area occupied by the plug and the socket and avoid affecting the mating between the first and second components. Moreover, when the first component is a sensing component 122, the sensing component 122 can include a circuit board and multiple electronic components disposed on the circuit board. Using the combination of the plug and the socket can reduce the area occupied by the circuit board, allowing more electronic components to be placed on a limited circuit board, improving the integration and functional expansion capabilities of the circuit board.

[0095] Further, refer to Figures 4 to 9 As shown, when the second part is provided with a third limiting part 1213, the second part includes a second base 1210 and a second mating part 12111 that forms a different mating state with the first part. The second base 1210 includes a second plate 1211 and a third limiting part 1213 connected to the second plate 1211. The second plate 1211 is provided with the second mating part 12111. The third limiting part 1213 protrudes from the plate surface of the second plate 1211 along the rotation axis direction of the rotating shaft 112, and the third limiting part 1213 is in concave-convex mating with the rotating shaft 112.

[0096] In this embodiment, the third limiting part 1213 is thicker in the axial direction of the rotating shaft 112 (compared to the second plate 1211). Therefore, the connection length between the third limiting part 1213 and the rotating shaft 112 is longer in the rotation axis direction of the rotating shaft 112, and the connection between the two is more stable. It also makes the distance between the first connection point of the third limiting part 1213 and the rotating shaft 112 and the second connection point of the body 111 and the rotating shaft 112 closer. The length of the rotating shaft 112 between the first connection point and the second connection point is shorter. The tail of the rotating shaft 112 is less likely to bend or shake. As a result, the second plate 1211 will not shake in the up-down or left-right direction, and the second mating part 12111 will not shake. This ensures that a stable first mating state and a stable second mating state are formed with the first part. Furthermore, the third limiting part 1213 protrudes from the second plate 1211, which can prevent the second base 1210 from being too thick in the direction of the rotation axis of the rotating shaft 112, thereby preventing the second base 1210 from being too heavy and causing it to wobble and affect the fit. In addition, there can be multiple second mating parts 12111, such as 2, 4, 6, or other suitable numbers. Multiple second mating parts 12111 can be evenly distributed on the second plate 1211 to prevent the rotating shaft 112 from tilting to one side due to uneven distribution of the second mating parts 12111, thus affecting the fit.

[0097] In some embodiments, reference Figure 7 As shown, the main body 111, the second component, and the first component are arranged sequentially along a third direction, with the tail of the rotating shaft 112 extending out of the main body 111 and connecting to the second component. In this embodiment, the main body 111, the second component, and the first component are arranged sequentially along a third direction to utilize the third direction for positional layout, avoiding increasing the width of the traveling component 13 in the fourth direction. Furthermore, the tail of the rotating shaft 112 extending from the main body 111 is directly connected to the second component and drives the second component to rotate, resulting in a shorter distance between the point where the rotating shaft 112 is limited by the main body 111 and the second component. This prevents the rotating shaft 112 from extending too far out of the main body 111, causing it to sway up and down or left and right, which could lead to the second component swaying and potentially causing accidental activation.

[0098] Furthermore, in some embodiments, references Figure 4As shown, the body 111, the first component, and the second component are arranged sequentially along a third direction; the first component has a through hole 1225; the tail of the rotating shaft 112 extends through the body 111 and the through hole 1225 and connects to the second component. In this embodiment, the body 111, the first component, and the second component are arranged sequentially along a third direction to utilize the third direction for positional layout, avoiding increasing the width of the traveling component 13 in the fourth direction. In addition, the through hole 1225 formed in the first component assists in assembling the first component and the second component. Specifically, the through hole 1225 has a positioning function. When the rotating shaft 112 passes through the through hole 1225, the relative position between the first component and the rotating shaft 112 (in the radial direction of the rotating shaft 112) is determined. When the rotating shaft 112 is then connected to the second component, the relative position between the rotating shaft 112 and the second component (in the radial direction of the rotating shaft 112) is determined. Thus, the position between the first component and the second component (in the radial direction of the rotating shaft 112) is determined through the rotating shaft 112.

[0099] Since the second component is driven to rotate by the shaft 112, to prevent the tail of the shaft 112 from wobbling due to excessive weight or area relative to the shaft 112, the size of the second component can be set to be no larger than the size of the first component. This ensures that the first and second components can cooperate while also ensuring a relatively stable fit. Therefore, in some embodiments, along the axial direction of the shaft 112, the orthographic projection of the second component onto the end face of the body 111 is located inside or coincides with the orthographic projection of the first component onto the end face of the body 111.

[0100] Specifically, refer to Figure 8 and Figure 9 As shown, the first component includes a first base 1220 and a first mating member 12241 disposed on the first base 1220. The second component includes a second base 1210 and a second mating member 12111 disposed on the second base 1210. The first base 1220 and the second base 1210 are spaced apart along the rotation axis of the rotating shaft 112. In the direction perpendicular to the rotation axis of the rotating shaft 112, the outer edge of the second mating member 12111 is closer to the rotation axis of the rotating shaft 112 than the outer edge of the first mating member 12241. In this embodiment, the closer the second mating member 12111 is to the rotation axis of the rotating shaft 112, the more stably the second mating member 12111 can be driven by the rotating shaft 112, so that the second mating member 12111 and the first mating member 12241 are mated in a preset manner. In addition, the closer the second mating member 12111 is to the rotation axis of the rotating shaft 112, the smaller the overall size of the second component, and the smaller the size of the first component mating with the second component, thus occupying a smaller area.

[0101] Furthermore, the first component includes a first base 1220 and a first mating member 12241, and the second component includes a second base 1210 and a second mating member 12111. The first base 1220 and the second base 1210 are spaced apart along the rotation axis of the shaft 112. Along the rotation axis of the shaft 112, the first mating member 12241 and the second mating member 12111 are arranged facing each other or in the same direction. The mating relationship where the first mating member 12241 and the second mating member 12111 face each other can be as follows: Figure 8 As shown; the mating relationship between the first mating part 12241 and the second mating part 12111, which are arranged in the same direction, can be as follows: Figure 9 As shown.

[0102] In this embodiment, when the sensing component 122 includes a circuit board and electronic components disposed on the circuit board, the electronic components can be disposed between the first base 1220 and the second base 1210 (one of the first base 1220 and the second base 1210 is a circuit board). Sufficient space needs to be left between the first base 1220 and the second base 1210 for the placement of the electronic components. At this time, by disposing the first mating member 12241 and the second mating member 12111 between the first base 1220 and the second base 1210 (one of the first mating member 12241 and the second mating member 12111 is a sensing electronic component), the space can be utilized to achieve the mating of the two components, so as to effectively utilize the space. Alternatively, when the sensing component 122 includes a circuit board and electronic components disposed on the circuit board, the electronic components can be disposed on the side of the first base 1220 away from the second base 1210, or on the side of the second base 1210 away from the first base 1220 (where one of the first base 1220 and the second base 1210 is a circuit board), with sufficient space left on the away side for the placement of the electronic components. In this way, the distance between the first base 1220 and the second base 1210 is closer, which facilitates the connection between the rotating shaft 112 and the second base 1210 and prevents the second base 1210 from wobbling.

[0103] In some embodiments, when the first component is a triggering component 121 and the second component is a sensing component 122, the second base 1210 is a circuit board, and the first mating component 12241 is a sensor capable of outputting first directional feedback and second directional feedback. In this embodiment, by designing the second base 1210 as a circuit board and setting the first mating component 12241 as a sensor capable of outputting first directional feedback and second directional feedback, the sensing component 122 can directly complete the detection and output of feedback signals on the circuit board, reducing additional connection structures and ensuring the transmission accuracy and response speed of the feedback signals. Furthermore, the circuit board, as the second base 1210, can simultaneously support multiple electronic components, achieving a high degree of integration. This facilitates the realization of feedback detection functions within a limited space, avoiding wobbling at the tail of the rotating shaft 112 due to complex structure or excessive size, thereby ensuring the stability of the mating state between the triggering component 121 and the sensing component 122.

[0104] In some embodiments, the second is a sensing component 122, whose movement trajectory is circular, and the movement trajectory of the sensing component 122 is perpendicular to the rotation axis of the rotating shaft 112. Furthermore, refer to... Figure 4 As shown, the sensing component 122 includes a first sensing element 1221 and a second sensing element 1222, which are spaced apart along the movement trajectory of the sensing component 122; the triggering component 121 includes a triggering element 1212. Further, when the rotating shaft 112 rotates clockwise, the triggering element 1212 triggers the first sensing element 1221 and the second sensing element 1222 sequentially; when the rotating shaft 112 rotates counterclockwise, the triggering element 1212 triggers the second sensing element 1222 and the first sensing element 1221 sequentially.

[0105] In this embodiment, the rotating shaft 112 rotates around its own axis, and its motion trajectory is circular. The motion trajectory of the second sensing component 122 is set to be circular to provide more direct feedback on the motion direction of the rotating shaft 112, thereby making the output of the first and second direction feedback more accurate. By setting the first and second sensors 1221 alternately and using the triggering order of the triggering component 121 under different rotational directions of the rotating shaft 112, the triggering order is as follows: clockwise rotation, the first sensor 1221 first, then the second sensor 1222; counterclockwise rotation, the order is reversed. Through this structural arrangement, the sensing component 122 can clearly determine the rotational direction of the rotating shaft 112 based on the difference in the triggering order, thus avoiding errors caused by relying solely on the number of rotations to identify the rotational direction of the motor 11. Therefore, the uniqueness of the motor 11's motion direction during the detection process is ensured, and the cumulative displacement accurately corresponds to the actual direction of travel.

[0106] In addition, refer to Figure 12As shown, the second component's trajectory can also be elliptical, and its trajectory is perpendicular to the rotation axis of the rotating shaft 112. Specifically, the second component may include a second base 1210 and a second mating component 12111. The second base 1210 is fixedly connected to the rotating shaft 112 and rotates with it. By forming an eccentric mounting relationship between the rotating shaft 112 and the second base 1210, during the rotation of the second component with the rotating shaft 112, its second mating component 12111 forms an elliptical trajectory in a plane perpendicular to the rotating shaft 112. This structure can achieve elliptic trajectory without adding additional complex mechanisms.

[0107] In some embodiments, when the first component is a sensing component 122 and the second component is a triggering component 121, the first sensing element 1221 and the second sensing element 1222 are arranged at intervals along the movement trajectory direction of the triggering component 121; alternatively, when the first component is a triggering component 121 and the second component is a sensing component 122, the first sensing element 1221 and the second sensing element 122 are arranged at intervals along the movement trajectory direction of the sensing component 122.

[0108] In this configuration, when the first component is a sensing component 122 and the second component is a triggering component 121, the first sensing element 1221 and the second sensing element 1222 are arranged at intervals along the movement trajectory of the triggering component 121, allowing the sensing component 122 to determine the rotation direction of the rotating shaft 112 based on the triggering sequence. Furthermore, when the first component is a triggering component 121 and the second component is a sensing component 122, and the first sensing element 1221 and the second sensing element 1222 are arranged at intervals along the movement trajectory of the sensing component 122, the triggering component 121 can sequentially act on the first sensing element 1221 and the second sensing element 1222 in different movement directions, thereby reliably distinguishing between clockwise and counterclockwise rotation directions.

[0109] In some embodiments, reference Figure 10 As shown, in the direction of the second's movement trajectory, the first sensor 1221 has a first length, the second sensor 1222 has a second length, and the trigger 1212 has a third length; the duration for which the trigger 1212 triggers the first sensor 1221 is related to the first length and the third length; the duration for which the trigger 1212 triggers the second sensor 1222 is related to the second length and the third length.

[0110] In this embodiment, the duration of the sensor's activation is controlled by utilizing the lengths of the sensor and the trigger 1212 along the second's trajectory. This approach offers advantages such as simple structure, convenient control, and high accuracy. For example, when the sensor and trigger 1212 are triggered by signal blocking (e.g., by an optocoupler sensor or a photosensitive sensor), the signal wave emitted by the sensor is at the leading edge when the front end of the trigger 1212 just blocks the sensor; the signal wave emitted by the sensor is at the trailing edge when the end of the trigger 1212 detaches from the sensor; and the signal wave emitted by the sensor is at a high level throughout the process from when the trigger 1212 just blocks the sensor to when it completely detaches from the sensor. Similarly, when the sensor and trigger 1212 are triggered by magnetic induction (e.g., by a magnetic sensor), the signal wave emitted by the sensor is at the leading edge when the trigger 1212 just approaches the sensor; the signal wave emitted by the sensor is at the trailing edge when the end of the trigger 1212 leaves the sensor; and the signal wave emitted by the sensor is at a high level throughout the process from when the trigger 1212 just approaches the sensor to when it completely leaves the sensor.

[0111] Furthermore, in some embodiments, the aforementioned third length is not less than half the first length and half the second length. Specifically, the longer the trigger 1212 is, the longer it takes to pass the sensor, and the longer the sensor is triggered. This makes it easier for the controller of the wiping robot 100 to make a judgment based on the signal wave emitted by the sensor, thereby improving calculation accuracy. Setting the length of the trigger 1212 to be no less than half the length of the sensor ensures that the trigger 1212 travels at least half the length of the sensor before passing it, thus allowing sufficient reaction time for the controller of the wiping robot 100 and improving calculation accuracy.

[0112] Furthermore, in some embodiments, the first length and the second length are equal. Specifically, having equal lengths for the two sensors ensures that the triggering time for both sensors is equal, facilitating the design of the phase difference between the signal waves emitted by the two sensors. This design offers advantages such as simple structure and easy control. The phase difference between the two signal waves allows the rotation direction of the shaft 112 to be determined by comparing their temporal sequence during rotation, thereby determining whether the wiping robot 100 is in a forward or backward state.

[0113] In some embodiments, reference Figure 10 As shown, the triggering component 121 includes multiple trigger elements 1212, which are spaced apart along the movement trajectory of the second party. Each trigger element 1212 can trigger either the first sensing element 1221 or the second sensing element 1222.

[0114] Specifically, by setting multiple triggers 1212, the second device can trigger the first sensor 1221 or the second sensor 1222 multiple times after completing a complete circular trajectory, so as to provide timely feedback on the rotation direction of the rotating shaft 112, thereby improving the accuracy of the calculation of the travel distance of the wiping robot 100. Furthermore, the third length is not shorter than the first length and the second length, and the first length and the second length are equal; when there are multiple triggers 1212, if one of the multiple triggers 1212 triggers the entire first sensor 1221, the other of the multiple triggers 1212 triggers the first half of the second sensor 1222; or, if one of the multiple triggers 1212 triggers the entire second sensor 1222, the other of the multiple triggers 1212 triggers the first half of the first sensor 1221.

[0115] In this embodiment, the phase difference of the signal wave emitted by the sensor is designed using half the length of the sensor, so that the phase difference between the signal wave generated by the first sensor 1221 and the signal wave generated by the second sensor 1222 is +90 degrees or -90 degrees. This ensures that regardless of which of the two sensors is triggered first, the reaction time left for the controller of the wiping robot 100 is the same, so as to avoid the controller from having different reaction times and affecting the accuracy of the distance calculation.

[0116] In some embodiments, reference Figure 10 and Figure 11 As shown, the first sensor 1221 and the second sensor 1222 are symmetrical about the center line of the motion trajectory, while the plurality of trigger elements 1212 are not symmetrical about the center line of the motion trajectory. Alternatively, the first sensor 1221 and the second sensor 1222 may not be symmetrical about the center line of the motion trajectory, but the plurality of trigger elements 1212 may be symmetrical about the center line of the motion trajectory. Furthermore, the first sensor 1221 and the second sensor 1222 may not be symmetrical about the center line of the motion trajectory, and the plurality of trigger elements 1212 may not be symmetrical about the center line of the motion trajectory either. In this embodiment, the asymmetry is utilized to achieve the sequential triggering design of the two sensors, which has the advantages of simple structure and convenient control.

[0117] For example, the number of triggers 1212 can be 2, 3, 4, 5, 6, or 8, or other suitable numbers. For example, refer to... Figure 10As shown, the number of trigger elements 1212 can be six, specifically including a first trigger element 12121, a second trigger element 12122, a third trigger element 12123, a fourth trigger element 12124, a fifth trigger element 12125, and a sixth trigger element 12126. These six components are arranged at equal angular intervals along the end face of the second plate 1211 in a circumferential direction, and sequentially enter the sensing positions of the first sensor element 1221 and the second sensor element 1222 when the rotating shaft 112 drives the second plate 1211 to rotate. This arrangement allows the first sensor element 1221 and the second sensor element 1222 to be triggered multiple times within the same rotation cycle, thereby improving the real-time performance and accuracy of detecting the rotation direction of the rotating shaft 112. Because the intervals between each trigger element 1212 are uniform, the direction feedback signal generated by the sensing component 122 remains stable and consistent in terms of periodicity and phase difference, thereby ensuring high-precision identification of the rotation direction of the rotating shaft 112, avoiding signal sparsity or identification delay caused by a single trigger element, and improving the reliability of detection.

[0118] The second component of the trigger assembly 121 and the sensing assembly 122, which is connected to the rotating shaft 112, moves with the rotation of the rotating shaft 112. When the second component is the trigger assembly 121 and the first component is the sensing assembly 122, and the sensing assembly 122 includes a first sensing element 1221 and a second sensing element 1222, the state change of the second component after rotation can be as follows: Figure 11 As shown.

[0119] As can be seen, when the second component is the trigger component 121, it moves along a circular trajectory as the shaft 112 rotates, and during the movement, it sequentially approaches and triggers the first sensor 1221 and the second sensor 1222. Specifically, when the shaft 112 rotates clockwise, the trigger component 121 first passes the position of the first sensor 1221 along the circumferential direction and forms a trigger relationship with it, and then continues to rotate to the position of the second sensor 1222 and forms a trigger relationship; when the shaft 112 rotates counterclockwise, the trigger component 121 moves in the opposite direction, first triggering the second sensor 1222, and then triggering the first sensor 1221. Thus, the trigger component 121 and the sensor component 122 form opposite trigger sequences under different rotation directions, enabling the sensor component 122 to accurately determine the rotation direction of the shaft 112 based on the difference in the trigger sequence, ensuring the stability and reliability of the wiping robot 100's travel direction recognition and displacement accumulation calculation.

[0120] In some embodiments, the first sensing element 1221 and the second sensing element 1222 are arranged symmetrically along the radial direction perpendicular to the axis of rotation 112; the trigger element 1212 is arranged at equal angular intervals along the circumferential direction of rotation 112.

[0121] Specifically, the first sensor 1221 and the second sensor 1222 are symmetrically arranged in a radial direction perpendicular to the axis of rotation 112, such that the first sensor 1221 and the second sensor 1222 are located on opposite sides of the rotation shaft 112, and can be triggered by the trigger assembly 121 under the same angular conditions during the rotation of the rotation shaft 112. The trigger assembly 121 includes trigger elements 1212 arranged at equal angular intervals along the circumference of the rotation shaft 112, and when the rotation shaft 112 rotates, multiple trigger elements 1212 sequentially enter the sensing areas corresponding to the first sensor 1221 and the second sensor 1222. This arrangement ensures that the first sensor 1221 and the second sensor 1222 are triggered under the same angular conditions, avoiding recognition errors caused by signal imbalance; on the other hand, the equally spaced trigger elements 1212 enable the sensors to periodically obtain uniform signal output within the rotation cycle, improving the stability and accuracy of direction discrimination and displacement detection.

[0122] In some embodiments, when the triggering component 121 triggers the first sensor 1221 and the second sensor 1222, the first sensor 1221 and the second sensor 1222 output a first-level signal; when the triggering component 121 does not trigger the first sensor 1221 and the second sensor 1222, the first sensor 1221 and the second sensor 1222 output a second-level signal; one of the first-level signal and the second-level signal is a high-level signal, and the other is a low-level signal; wherein, the first-level signal and the second-level signal form a first sensing signal sequence corresponding to the first sensor 1221 and a second sensing signal sequence corresponding to the second sensor 1222; the first sensing signal sequence and the second sensing signal sequence have a phase difference. For example, refer to... Figure 13 As shown, the waveform corresponding to line A can be the level signal sequence output by the first sensor 1221, and the waveform corresponding to line B can be the level signal sequence output by the first sensor 1221. The two have a certain phase difference.

[0123] Through the above configuration, the first sensor 1221 and the second sensor 1222 generate non-overlapping trigger timing signals within the same rotation cycle, and the rotation direction of the shaft 112 can be accurately distinguished by the phase difference. When the shaft 112 rotates along the first direction, the signal sequence corresponding to the first sensor 1221 has a fixed phase lead relationship with the signal sequence of the second sensor 1222; when the shaft 112 rotates along the second direction, the signal sequence corresponding to the first sensor 1221 has a fixed phase lag relationship with the signal sequence of the second sensor 1222. Therefore, the phase difference configuration establishes a fixed sequential relationship between the level signal sequences output by the first sensor 1221 and the second sensor 1222 when the shaft 112 rotates. This sequential relationship changes with the rotation direction of the shaft 112; that is, when rotating in the first direction, the signal sequence output by the first sensor 1221 is phase-leading with the signal sequence output by the second sensor 1222, while when rotating in the second direction, it is phase-lagging. Therefore, the sensing component 122 can not only obtain the periodic information of rotation through the change of level signal, but also distinguish the rotation direction of the rotating shaft 112 based on the phase relationship, thereby avoiding the omission of the number of revolutions caused by inertial rotation, improving the accuracy of the motion displacement calculation of the wiping robot, and effectively reducing the deviation when returning to the cleaning path.

[0124] Preferably, the phase difference between the first and second sensing signal sequences is 90 degrees. By setting the phase difference between the first and second sensing signal sequences to 90 degrees, the rotating shaft 112 generates four equally spaced effective edge events within one rotation cycle, thus dividing the mechanical rotation cycle of the shaft 112 into four equal parts and improving the resolution of displacement detection. Since the two signals always have a fixed lead and lag relationship, the rotation direction can be determined based on the order of the signals, achieving stable identification of clockwise and counterclockwise states. This setting avoids errors in direction determination and ensures the continuity and accuracy of displacement calculation.

[0125] For example, to achieve inductive triggering, the sensing component 122 may include a phototransistor. When the triggering component 121 blocks the optical path of the phototransistor, the sensing component 122 outputs a first-level signal; when the optical path of the phototransistor is normal, the sensing component 122 outputs a second-level signal. Specifically, the first-level signal is output when the triggering component 121 blocks the optical path of the phototransistor, and the second-level signal is output when the optical path is normal. This structure allows the phototransistor to correspond to different level changes in the triggered and untriggered states, thereby forming clear signal boundaries and ensuring the reliability of the detection results.

[0126] Furthermore, a Hall sensor can be installed in the sensing component 122, and the triggering component 121 is equipped with a magnetic conductor. When the magnetic conductor triggers the Hall sensor, the sensing component 122 outputs a first-level signal; when the Hall sensor is not triggered, the sensing component 122 outputs a second-level signal. This structure enables the Hall sensor to generate a stable level output based on changes in the magnetic field, avoiding the shortcomings of optical elements that are susceptible to dust or light interference, thereby improving the reliability and stability of direction determination and displacement calculation in complex environments.

[0127] In some embodiments, one of the triggering component 121 and the sensing component 122 is connected to the rotating shaft 112 via a first transmission member, which converts the rotational motion of the rotating shaft 112 into the reciprocating translational motion of one of the triggering component 121 and the sensing component 122 connected to the rotating shaft 112.

[0128] The first transmission component can represent a transmission structure for realizing motion conversion. One end of the first transmission component is connected to the rotating shaft 112, and the other end is linked to either the trigger component 121 or the sensing component 122. When the rotating shaft 112 rotates, the first transmission component can convert the rotational motion into a reciprocating translational motion along a straight line, so that the trigger component 121 or the sensing component 122 sequentially passes through a set sensing position during the translation. For example, the first transmission component can be a crank-slider mechanism, an eccentric wheel-connecting rod mechanism, a cam-groove mechanism, or other motion conversion mechanisms capable of realizing rotation to translation. Through the first transmission component, the continuous rotation of the rotating shaft 112 can be converted into the periodic translation of the trigger component 121 or the sensing component 122, thereby achieving precise signal triggering and feedback control within a limited space. The reciprocating translational motion can represent a linear motion that alternates in two opposite directions along the same straight trajectory, with a fixed motion path and periodically reversed directions. In this embodiment, the rotational motion of the rotating shaft 112 is converted into reciprocating translational motion by the first transmission component, so that the trigger component 121 or the sensing component 122 can move linearly within a limited space, reducing the need for arranging complex rotating components.

[0129] Furthermore, when one of the triggering component 121 and the sensing component 122 connected to the rotating shaft 112 reciprocates, the detection component 12 can be disposed on the side wall of the body 111. Specifically, the detection component 12 is arranged along the side wall of the body 111, so that the sensing component 122 can sequentially enter the sensing position and generate the corresponding feedback signal during the reciprocating translation of the triggering component 121. With this arrangement, the detection component 12 does not need to occupy the limited space at the end of the body 111, and the overall height of the traveling mechanism 1 can be reduced while ensuring the detection function, thereby avoiding spatial interference with the motor 11, the traveling component 13 or the electrical module 3, reducing assembly difficulty and improving structural compactness.

[0130] In some embodiments, one of the triggering component 121 and the sensing component 122 is connected to the rotating shaft 112 via a driven shaft and a second transmission member; one of the triggering component 121 and the sensing component 122 is connected to one end of the driven shaft, the second transmission member is connected to the other end of the driven shaft, the second transmission member is connected to the rotating shaft 112 and transmits the rotation of the rotating shaft 112 to the driven shaft.

[0131] The second transmission member can represent a transmission mechanism disposed between the rotating shaft 112 and the driven shaft, used to transmit the rotational motion of the rotating shaft 112 to the driven shaft, enabling the driven shaft to rotate synchronously with the rotation of the rotating shaft 112. Exemplarily, the second transmission member can be a gear pair, a sprocket and chain pair, a pulley and belt pair, a worm gear pair, or other mechanical structures capable of rotational transmission. Specifically, one of the triggering component 121 and the sensing component 122 establishes an indirect transmission relationship with the rotating shaft 112 through the driven shaft. The head of the driven shaft is fixedly connected to the triggering component 121 or the sensing component 122, and the tail of the driven shaft is connected to the second transmission member. The second transmission member simultaneously meshes with or cooperates with the rotating shaft 112 to reliably transmit the rotational motion of the rotating shaft 112 to the driven shaft, enabling the driven shaft to operate stably with the rotation of the rotating shaft 112. This transmission method, achieved through a driven shaft and a second transmission component, avoids the layout limitations caused by directly connecting the trigger component 121 or the sensing component 122 to the rotating shaft 112, thus improving the spatial layout flexibility of the detection component 12. On the other hand, by transmitting rotational force through the second transmission component, the rotating shaft 112 can drive the traveling component 13 at one end while still performing detection actions through the driven shaft at the other end. This allows for both traveling drive and direction detection within a limited installation space, ensuring the compactness of the overall structure of the wiping robot.

[0132] In some embodiments, the wiping robot may also include a controller, which is electrically connected to the sensing component 122 to receive first directional feedback and second directional feedback. (Reference) Figure 15 and Figure 16 As shown, when the cleaning robot encounters an obstacle 200 during the first cleaning of the surface to be cleaned, the controller controls the wiping robot 100 to perform a reciprocating offset motion until it leaves the obstacle 200; during the next cleaning of the surface to be cleaned, the controller controls the wiping robot 100 to perform a motion to bypass the obstacle 200; in addition, the controller controls the wiping robot 100 to return directly from the cleaning end position to the origin position.

[0133] In this embodiment, during the initial cleaning process of the wiping robot 100, the first sensor 1221 and the second sensor 1222 provide real-time feedback on the travel status of the rotating shaft 112 (such as forward or backward) and the number of rotations of the rotating shaft 112 in the corresponding state. Based on this feedback, the controller can more accurately calculate the first coordinate of the wiping robot 100 at the beginning of its reciprocating offset motion, the total distance traveled during the reciprocating offset motion, and the second coordinate at the end of the reciprocating offset motion, thereby determining the position and size of the obstacle 200. During the next cleaning, the robot can then bypass the obstacle 200 based on its position and size. This avoids the wiping robot 100 repeatedly colliding with the obstacle 200 and performing reciprocating offset motions during the next cleaning, resulting in reduced cleaning time, reduced power consumption during the next cleaning, and increased lifespan of the wiping robot 100.

[0134] Furthermore, when the control module receives feedback in the first direction, it determines that the wiping robot is in the first direction of motion; when it receives feedback in the second direction, it determines that the wiping robot is in the second direction of motion. The first direction of motion is different from the second direction of motion. Specifically, one of the first and second directions of motion is a forward direction, and the other is a backward direction.

[0135] Specifically, during the operation of the wiping robot, when the rotating shaft 112 drives the trigger component 121 and the sensing component 122 to form a first engagement state, the sensing component 122 outputs a first direction feedback and transmits it to the control module. After receiving the first direction feedback, the control module determines that the wiping robot is in a first direction of motion. Correspondingly, when the rotating shaft 112 drives the trigger component 121 and the sensing component 122 to form a second engagement state, the sensing component 122 outputs a second direction feedback and transmits it to the control module. After receiving the second direction feedback, the control module determines that the wiping robot is in a second direction of motion. The first and second directions of motion are different in their determination results, thereby ensuring that the control module can accurately identify the direction of motion of the wiping robot based on the differentiated feedback signals of the sensing component 122, and realize real-time judgment and control of the motion state.

[0136] In this embodiment of the invention, the wiping robot can be a wall cleaning robot, window cleaning robot, or pool cleaning robot, etc., capable of cleaning object surfaces. It can include an adsorption system, a movement system, and a cleaning system. Regarding the adsorption system, the wiping robot uses a fan inside the main unit to draw air from an air chamber, creating negative pressure within the chamber, thereby generating adsorption force to firmly attach the device to the surface to be cleaned, ensuring stable operation even on vertical or inclined surfaces. Regarding the movement system, the wiping robot moves along the surface to be cleaned via a traveling mechanism, which includes a combination of drive wheels and tracks. A motor drives the tracks in cyclical motion, allowing the robot to move along a preset path or a real-time planned path on the object surface. This structural layout allows the wiping robot to move flexibly in narrow spaces or on large surfaces, avoiding slippage or failure due to terrain differences. Regarding the cleaning system, the wiping robot can perform wiping or scrubbing operations during movement using cleaning components installed on the main unit. When the cleaning components are in full contact with the surface to be cleaned, the continuous friction of the cleaning cloth or brush removes stains. Simultaneously, the cleaning liquid supplied by the water tank 7 or the liquid jet driven by the water pump 5 significantly improves stain removal efficiency. The coordinated operation of these three systems enables the wiping robot to maintain stable adhesion while moving continuously, completing efficient cleaning during movement and ensuring a thorough cleaning of the surface.

[0137] For example, refer to Figure 14 As shown, the wiping robot of this utility model may include a main unit 2. A first traveling mechanism 101 and a second traveling mechanism 102 are arranged on the contact surface between the main unit 2 and the surface to be cleaned. These two mechanisms are spaced apart along a direction perpendicular to the wiping robot's movement direction, and are used to drive the wiping robot to move on the surface to be cleaned. A fan 6 is installed inside the main unit 2, located in the central area of ​​the main unit 2, to provide suction force so that the wiping robot can adhere to the surface to be cleaned. An electrical module 3 is also installed inside the main unit 2 to provide power and electrical control for various functional components. Furthermore, a first solenoid valve 401 and a second solenoid valve 402 are respectively installed at both ends of the main unit 2 to cooperate with a water tank 7 and a water pump 5 to control the flow of cleaning fluid. The water tank 7 stores the cleaning fluid, and the pump 5 drives the output of the cleaning fluid. Through the above structural arrangement, a reasonable distance is maintained between the first traveling mechanism 101, the second traveling mechanism 102, and the fan 6, avoiding interference between moving parts and the fan, ensuring noise control and structural compactness, thereby achieving stable operation of the wiping robot in relatively confined working environments.

[0138] Furthermore, Figure 2 and Figure 14The wiping robot in the system has a repetitive cleaning mode. The repetitive cleaning mode includes: during the first cleaning process, the wiping robot moves along the surface to be cleaned. When it encounters an obstacle, the wiping robot records the coordinate and size information of the obstacle and determines the obstacle area based on the coordinate and size information; during the second cleaning process, when the wiping robot approaches the obstacle area, it changes its direction of movement to avoid the obstacle.

[0139] Specifically, during the first cleaning process, the wiping robot moves along the surface to be cleaned. When an obstacle is detected, the robot records its coordinates and dimensions, and determines the obstacle area based on these information. By establishing the obstacle area during the first cleaning, the spatial location and occupied area of ​​the obstacle can be fully modeled. During the second cleaning process, when the wiping robot moves close to the obstacle area, it actively changes its direction of movement based on the obstacle's location, thus avoiding the obstacle area during path generation and preventing collisions or repeated contact with it. This setup allows the robot to effectively skip obstacle areas during repeated cleaning, ensuring full coverage of unobstructed areas while minimizing unnecessary detours and stops. On one hand, it avoids cleaning dead zones or equipment jams caused by obstacles, improving the stability of the cleaning process; on the other hand, since there is no need for repeated attempts or cleaning at obstacles, it shortens cleaning time and improves cleaning efficiency.

[0140] Further, refer to Figures 15 to 16 The repetitive cleaning mode of the wiping robot described above is explained in detail.

[0141] refer to Figure 15This is a schematic diagram of the motion trajectory of a wiping robot during the first cleaning process according to one embodiment. An obstacle 200 is present on the surface to be cleaned. The wiping robot 100 performs the cleaning task along a preset path on the surface, and its motion trajectory is shown as the first trajectory 201. Assuming the initial movement direction of the wiping robot 100 is the fifth direction, when the wiping robot 100 encounters the obstacle 200 during its movement, its control module initiates a detection process and records the obstacle coordinates at the obstruction position. Subsequently, the wiping robot 100 changes its movement direction, retracing in the opposite direction to the fifth direction until the distance to the recorded obstacle coordinates reaches a preset safe distance. After retracing, the wiping robot 100 continues to perform the cleaning task along the fifth direction. When the wiping robot 100 encounters the obstacle 200 again during its continued movement, it repeats the steps of recording the obstacle coordinates and retracing until it can bypass the obstacle 200 and continue to complete the cleaning path. In this process, the wiping robot 100 not only records the coordinate information of multiple obstacles 200 sequentially, but also determines the size information of the obstacles by measuring the maximum lateral movement distance caused by the obstacles blocking its path during lateral offset and retraction. Furthermore, it determines the obstacle area based on the coordinate and size information. Through this method, the wiping robot 100 can dynamically identify and avoid obstacles 200 during the cleaning process, thereby ensuring the continuity of the cleaning path.

[0142] refer to Figure 16 This diagram illustrates the motion trajectory of a wiping robot during the second cleaning process according to one embodiment. In the second cleaning process, the wiping robot 100 performs the cleaning task along the surface to be cleaned following the same preset path as the first cleaning, and its motion trajectory is shown as the second trajectory 202. As the wiping robot 100 gradually approaches the obstacle area while running along the second trajectory 202, the control module performs path planning based on pre-stored obstacle coordinate and size information. This allows the wiping robot 100 to actively change its direction of movement before entering the obstacle area, thereby bypassing the obstacle 200 and avoiding physical contact with it. In this way, the wiping robot 100 can directly avoid the obstacle 200 during the second cleaning process, eliminating the need to repeat the frequent detection and retreat actions of the first cleaning process, thus achieving a smoother cleaning path. Therefore, the wiping robot 100 not only ensures effective cleaning around the obstacle 200 but also effectively shortens the overall cleaning time and reduces unnecessary displacement caused by obstacles.

[0143] It should be understood that this invention is not limited to the detailed structure and arrangement of the components proposed in this invention. This invention can have other embodiments and can be implemented and performed in various ways. The foregoing variations and modifications fall within the scope of this invention. It should be understood that the invention disclosed and defined herein extends to all alternative combinations of two or more individual features mentioned or apparent in the text and / or drawings. All these different combinations constitute multiple alternative aspects of this invention. The embodiments described herein illustrate the best known mode for implementing this invention and will enable those skilled in the art to utilize this invention.

Claims

1. A wiping robot for wiping surfaces to be cleaned, characterized in that, The wiping robot includes a main unit and a traveling mechanism disposed on the main unit, the traveling mechanism including: The traveling component is located in the host unit; The motor includes a body and a shaft, the body being disposed on the main unit; the shaft is rotatably disposed on the body and connected to the traveling component, driving the traveling component to travel on the surface to be cleaned; The detection component includes a matching trigger component and a sensing component. The first of the trigger component and the sensing component is fixedly connected to the host or the body, and the second of the trigger component and the sensing component is connected to the rotating shaft and moves with the rotation of the rotating shaft. When the rotating shaft rotates clockwise, the trigger component and the sensing component form a first engagement state, and the sensing component outputs a first directional feedback; when the rotating shaft rotates counterclockwise, the trigger component and the sensing component form a second engagement state, and the sensing component outputs a second directional feedback; the first engagement state is different from the second engagement state, and the first directional feedback is different from the second directional feedback.

2. The wiping robot according to claim 1, characterized in that, The traveling assembly includes two drive wheels and a track sleeved on the outside of the two drive wheels. The two drive wheels are spaced apart along a third direction, and each drive wheel is rotatably mounted on the main unit; the third direction is the direction of movement of the track. The motor is located on one side of the drive wheel in the fourth direction. The shaft extends along the third direction and has a head and a tail that are oppositely arranged. The head of the shaft drives at least one of the two drive wheels to rotate. The tail of the shaft is connected to the second drive wheel and causes the second drive wheel to move with the rotation of the tail of the shaft. The fourth direction is the direction of the rotation axis of the drive wheel.

3. The wiping robot according to claim 2, characterized in that, The second party's motion trajectory is circular, and the second party's motion trajectory is perpendicular to the rotation axis of the rotating shaft; The tail of the rotating shaft forms a cantilever, one end of the tail of the rotating shaft is rotatably connected to the machine body, and the other end of the tail of the rotating shaft is connected to the second.

4. The wiping robot according to claim 2 or 3, characterized in that, When the first part is fixedly connected to the body, the first part is provided with a first limiting part, and the end of the body is provided with a second limiting part. The second limiting part can limit the position of the first limiting part in the direction of the movement trajectory of the second part. And / or, the second is provided with a third limiting part, which can limit the position of the rotating shaft in the direction of the second's movement trajectory.

5. The wiping robot according to claim 4, characterized in that, When the first part is provided with a first limiting part and the end of the body is provided with a second limiting part, the first limiting part is one of the plug-in and the socket, and the second limiting part is the other of the plug-in and the socket; Alternatively, when the second party is provided with a third limiting part, the second party includes a second base and a second fitting member that forms a different fitting state with the first party. The second base includes a second plate and the third limiting part connected to the second plate. The second plate is provided with the second fitting member. The third limiting part protrudes from the plate surface of the second plate along the rotation axis direction of the rotating shaft, and the third limiting part is in concave-convex fit with the rotating shaft.

6. The wiping robot according to claim 2 or 3, characterized in that, The main body, the second, and the first are arranged sequentially along the third direction, and the tail of the rotating shaft extends out of the main body and connects to the second. Alternatively, the body, the first one, and the second one are arranged sequentially along the third direction; the first one has a through hole; the tail of the rotating shaft extends out of the body and the through hole and connects to the second one.

7. The wiping robot according to claim 2 or 3, characterized in that, Along the axial direction of the rotating shaft, the orthographic projection of the second on the end face of the machine body is located inside or coincides with the orthographic projection of the first on the end face of the machine body. And / or, the first includes a first base and a first mating member disposed on the first base, the second includes a second base and a second mating member disposed on the second base, the first base and the second base are spaced apart along the rotation axis direction of the rotating shaft; in the direction perpendicular to the rotation axis direction of the rotating shaft, the outer edge of the second mating member is closer to the rotation axis of the rotating shaft than the outer edge of the first mating member; And / or, the first includes a first base and a first mating member, the second includes a second base and a second mating member, the first base and the second base are spaced apart along the rotation axis of the shaft; in the rotation axis of the shaft, the first mating member and the second mating member are arranged facing each other or in the same direction.

8. The wiping robot according to any one of claims 1-3, characterized in that, The sensing component includes a first sensor and a second sensor, which are spaced apart along the movement trajectory of the second sensor; the triggering component includes a trigger. When the shaft rotates clockwise, the triggering element triggers the first sensing element and the second sensing element in sequence; when the shaft rotates counterclockwise, the triggering element triggers the second sensing element and the first sensing element in sequence.

9. The wiping robot according to claim 8, characterized in that, In the direction of the second's movement trajectory, the first sensor has a first length, the second sensor has a second length, and the trigger has a third length; the duration for which the trigger activates the first sensor is related to the first length and the third length; the duration for which the trigger activates the second sensor is related to the second length and the third length.

10. The wiping robot according to claim 9, characterized in that, The third length is not less than half of the first length and half of the second length; And / or, the first length is equal to the second length.

11. The wiping robot according to claim 8, characterized in that, The triggering component includes multiple trigger elements, which are spaced apart along the movement trajectory of the second, and each trigger element can trigger either the first sensor or the second sensor.

12. The wiping robot according to claim 11, characterized in that, The first sensor and the second sensor are symmetrical about the center line of the motion trajectory, while the plurality of triggers are not symmetrical about the center line of the motion trajectory. Alternatively, the first sensor and the second sensor are not symmetrical about the center line of the motion trajectory, but the plurality of triggers are symmetrical about the center line of the motion trajectory; Alternatively, the first sensor and the second sensor are not symmetrical about the center line of the motion trajectory, and the plurality of triggers are not symmetrical about the center line of the motion trajectory.

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