Cleaning robot and wiping component

Abstract

Cleaning robot, comprising: a body, the body having the shape of a circular cake and having a transverse central axis; a drive wheel component connected to the body to set the body in motion; and a wiping component, the wiping component being flexibly connected to the body and arranged on a rear side of the transverse central axis; the wiping component being extendable outwardly from one side of the body relative to the body, wherein a shape of a region on a rear side of an outwardly extending end of the wiping component conforms to the shape of the body behind the wiping component.

Description

[0001] The present disclosure claims priority to Chinese Patent Application No. 202411068173.7 entitled “CLEANING ROBOT,” filed with the Chinese Patent Office on August 5, 2024, which is incorporated herein by reference in its entirety. TECHNICAL FIELD OF THE INVENTION

[0002] The present disclosure relates to the technical field of cleaning devices and, more particularly, to a cleaning robot and a mopping component. STATE OF THE ART

[0003] A cleaning robot body usually has two sets of cleaning devices, one of which is a suction device mainly composed of a suction fan, and the other of which is a mopping device mainly composed of a cleaning roller. When the cleaning robot is working, dust and dirt on the floor can be collected first by the suction device, and then the floor can be wet-mopped with the mopping device to thoroughly clean the floor. In the mopping device, a length of a cleaning roller determines a cleanable area and a cleaning efficiency of the mopping device. By installing a longer cleaning roller on a body with limited size, a better cleaning result can be achieved in the cleaning robot.

[0004] However, the length of the cleaning roller on conventional robot cleaners is insufficient, which prevents the cleaning roller from effectively adapting to the body shape. The end of the mop has a flat, straight structure, so the length of the cleaning roller cannot be extended, and the shape of the cleaning roller cannot adapt to the body shape. SUMMARY OF THE INVENTION

[0005] In view of the above-mentioned problems, a cleaning robot and a mopping component according to the present disclosure are provided to solve or at least partially solve the above-mentioned problems.

[0006] In one aspect of the present disclosure, a cleaning robot is provided. The cleaning robot includes: a body, the body having a circular cake shape and a transverse central axis; a drive wheel component connected to the body to drive the body; and a mopping component, the mopping component flexibly connected to the body and disposed on a rear side of the transverse central axis; the mopping component is capable of extending outward from a side of the body relative to the body, wherein a shape of a portion on a rear side of an outwardly extending end of the mopping component conforms to the shape of the body behind the mopping component.

[0007] In one embodiment, one end of the wiping component has an arcuate outer contour.

[0008] In one embodiment, when the wiping module is in a retracted state, a projection of the wiping component onto the body lies entirely within a surface of the body.

[0009] In one embodiment, the body further comprises a chassis and a housing, and the housing is connected to the chassis; one side of the housing has an opening, and the wiping component can extend outwardly from the opening relative to the chassis; and an outer housing of an outwardly extending end of the wiping component conforms to the shape of the housing on one side of the opening.

[0010] In one embodiment, an end cover is provided on one end of the outwardly extending wiping component, and a shape of a portion on a rear side of the end cover of the outwardly extending wiping component is a circular arc shape that matches the shape of the housing behind the opening.

[0011] In one embodiment, the end of the outwardly extending wiper component is provided with a rounded bevel relative to a front surface of the end cover.

[0012] In another aspect of the present disclosure, a cleaning robot is provided. The cleaning robot comprises: a body, the body being in the shape of a circular cake and having a transverse central axis; a drive wheel component connected to the body for driving the body; and a wiping component comprising: a wiping bar, a cleaning roller, a wiper component, and a dirty water collection box, the wiping bar being flexibly connected to the body, and the cleaning roller, a wiper, and the dirty water collection box being disposed on the wiping bar, the wiper component being in contact with the cleaning roller to wipe dirty water on the cleaning roller into the dirty water collection box, the cleaning roller, the wiper, and the dirty water collection box extending outward from a side of the body relative to the wiping bar;and wherein a shape of a region on a rear side of an outwardly extending end of the wiping component conforms to the shape of the body behind the wiping component;

[0013] In one embodiment, the cleaning robot further comprises a dirty water tank, wherein the dirty water tank is provided on the body and the dirty water collection box is connected to the dirty water tank by a dirty water pipe, wherein dirty water in the dirty water collection box can enter the dirty water tank through the dirty water pipe.

[0014] In one embodiment, the cleaning robot further comprises a clean water tank, wherein the clean water tank is arranged on the body and is configured to supply the cleaning roller with cleaning liquid through a liquid supply mechanism.

[0015] In another aspect of the present disclosure, a wiping component is provided. The wiping component includes: a wiping bar; a cleaning roller rotatably connected to the wiping bar; a wiper component disposed on the wiping bar, the wiper component in contact with the cleaning roller; and a dirty water collection box disposed on the wiping bar, the wiper component in contact with the cleaning roller to wipe dirty water on the cleaning roller into the dirty water collection box, the cleaning roller, the wiper, and the dirty water collection box moving together with the wiping bar; and one end of the wiping component having an arcuate outer contour.

[0016] In the technical solution provided in this embodiment of the application, the shape of the area on the back of the outwardly extending end of the wiping component is adapted to the shape of the body behind the wiping component. When the projection of the inwardly contracted wiping component onto the body lies entirely within the surface of the body, the shape of the wiping component can effectively adapt to the body with the shape of a circular cake. The cleaning drum on the wiping component can also be designed to be longer, providing a larger cleaning area and better cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to clearly describe technical solutions in embodiments of the present disclosure or the conventional art, the drawings required for the embodiments or the conventional art are briefly described. It is obvious that the drawings in the following description are some embodiments of the present disclosure. It is possible for those skilled in the art to obtain additional drawings based on these drawings without creative work. Fig. 1a is a schematic diagram of a structure of a cleaning robot according to an embodiment of the present disclosure; Fig. 1b is a front view of a cleaning robot according to an embodiment of the present disclosure; Fig. 2 is an exploded view of the Fig. 1a shown cleaning robot; Fig. 3 is a perspective view of an internal structure of a cleaning robot according to an embodiment of the present disclosure; Fig. 4 is a plan view of an internal structure of a cleaning robot according to an embodiment of the present disclosure; Fig. 5 is an exploded view of a waterway system according to an embodiment of the present disclosure; Fig. 6 is a schematic diagram of a structure of a waterway system according to an embodiment of the present disclosure; Fig. 7a is a schematic diagram of a position of a vacuum cleaning device on a chassis according to an embodiment of the present disclosure; Fig. 7b is an exploded view of a vacuum cleaning device according to an embodiment of the present disclosure; Fig. 8 is an exploded view of a cleaning module according to an embodiment of the present disclosure; Fig. 9 is an exploded view of a wiper component according to an embodiment of the present disclosure; Fig. 10 is a schematic diagram of a wiper component structure according to an embodiment of the present disclosure; Fig. 11 is a sectional view of a wiping component according to an embodiment of the present disclosure; Fig. 12 is a schematic illustration of a position of an obstacle avoidance sensor component on a chassis according to an embodiment of the present disclosure; Fig. 13 is a schematic illustration of a structure of a pivoting edge brush component according to an embodiment of the present disclosure; Fig. 14 is a schematic diagram of a structure of an obstacle avoidance sensor component according to an embodiment of the present disclosure; Fig. 15 is an exploded view of the Fig. 14 shown obstacle avoidance sensor component; Fig. 16 is an exploded view of an obstacle avoidance sensor component and a collision plate according to an embodiment of the present disclosure; Fig. 17 is a plan view of an obstacle avoidance sensor component on a chassis according to an embodiment of the present disclosure; Fig. 18a is a sectional view of a body of a cleaning robot according to an embodiment of the present disclosure; Fig. 18b is an exploded view of the Fig. 18a shown cleaning robot; Fig. 19a is a schematic illustration of a detection operation of a roller obstacle avoidance component according to an embodiment of the present disclosure; Fig. 19b is a three-dimensional schematic representation of a detection operation of a roller obstacle avoidance component according to an embodiment of the present disclosure; Fig. 20a is a bottom view of a cleaning robot according to another embodiment of the present disclosure; Fig. 20b is a cross-sectional view of a cleaning robot according to another embodiment of the present disclosure; Fig. 21a is a bottom view of a cleaning robot according to yet another embodiment of the present disclosure; Fig. 21b is a cross-sectional view of a cleaning robot according to yet another embodiment of the present disclosure; Fig. 22 is a schematic diagram of a structure of a chassis of a cleaning robot according to an embodiment of the present disclosure; Fig. 23 is a schematic diagram of a structure of a wiping component according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The present disclosure is described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are used only to illustrate the present disclosure and are not limiting of the present disclosure. Furthermore, for ease of description, only parts related to the present disclosure are shown in the drawings, not the entire structure.

[0019] In the description of the present disclosure, the terms "connected to," "attached to," and "attached to" are to be understood in the broadest sense, unless otherwise specified and limited, such as a fixed connection, a detachable connection, or a one-piece connection. The above-mentioned connection may be a mechanical or electrical connection, and may also be a direct or indirect connection via an intermediate medium, and the connection may be a connection within two components or an interaction relationship between two components. Those skilled in the art may understand the specific meanings of the above-mentioned terms in the present disclosure according to the specific circumstances.Unless otherwise stated and limited, in the present disclosure, the fact that the first feature is "above" or "below" the second feature may encompass direct contact between the first feature and the second feature, or indirect contact between the first feature and the second feature through another feature therebetween. Furthermore, the fact that the first feature is "above" and "on" the second feature includes the first feature being directly above and diagonally above the second feature, or simply indicates that the first feature is horizontally higher than the second feature.The fact that the first feature is located "below" and "under" the second feature implies that the first feature is located directly below and diagonally below the second feature, or simply indicates that the first feature is horizontally lower than the second feature. In the description of the embodiments, the terms "top," "bottom," "right," etc., are based on the orientation or positional relationship shown in the drawings solely for ease of description and ease of operation and are not intended to suggest or imply that the device or element in question must have a particular orientation or be constructed and operated with a particular orientation, and therefore cannot be construed as limiting the present disclosure.Furthermore, the terms “first” and “second” are used only for differentiation in the description and have no special meaning.

[0020] Most conventional integrated sweeping and mopping robot cleaners clean the floor by first vacuuming and then mopping. For example, a mopping plate is provided at the bottom of the robot cleaner for mopping the floor with a rotating mopping plate. However, when mopping the floor with the mopping plate, the problem is that the floor becomes dirty because the mopping plate does not have a self-cleaning function after it gets dirty. Later, cleaning robots that use rollers to mop the floor were developed. The roller of this type of robot cleaner performs cleaning and uses a scraper for self-cleaning, which can counteract the problem of dirt accumulation. Nowadays, many robot cleaners have circular bodies, which are more flexible and easier to get out of trouble.When a cleaning robot is equipped with both a suction roller brush and a floor mopping roller, the suction roller brush is usually arranged in front of the roller so that the cleaning robot can first vacuum and then mop the floor while moving. The circular shape of the cleaning robot is designed to meet the requirements of obstacle avoidance and evasion. The drive wheel is usually arranged at a position of maximum width perpendicular to a forward direction of the device body, and the roller is usually arranged behind the drive wheel without extending beyond the projection of the circular body onto the floor. This results in the roller arranged on the rear of the body being shorter and the end of the roller being farther from the outermost edge in the width direction of the body.When cleaning along the side of a wall or a wardrobe, the cleaning robot, while maintaining a minimum safety distance from the wall or wardrobe, may be unable to reach a large corner of the object. To solve this problem, some cleaning robots are designed with a roller of an extendable construction.

[0021] Compared to a mop plate, a roller structure is more complex and requires self-cleaning components. Due to the limited internal space of the cleaning robot, components such as a driving module, a water tank module, an obstacle avoidance module, and a control module must be arranged in the body, in addition to the cleaning actuators. A roller with a complex structure can occupy more space and thus affect the position and structure of other modules within the body, which may pose further serious challenges to the design of the cleaning robot body. The urgent problem to be solved is how to arrange various functional modules reasonably without compromising the performance of the cleaning robot.

[0022] The structure of the cleaning robot is briefly described below.

[0023] Referring to the Fig. 1a to 3, a cleaning robot according to some embodiments of the present disclosure is provided, including, but not limited to: a chassis 1, a top cover component 02, a collision plate component 3, a back cover component 01, a vacuum cleaner device 6, a mop module 8, a water path system 7, a swing-out edge brush component 5, a drive wheel component 4, an obstacle avoidance sensor component 2, and a main board component 9. The chassis can be considered as the body of the cleaning robot. Referring to Fig. 4, the chassis 1 has a transverse center axis N along a width direction of the chassis 1, and the chassis 1 has a longitudinal center axis M along a length direction of the chassis 1. In the case that the chassis 1 is approximately circular, it can be considered that the transverse center axis N and the longitudinal center axis M are two diameters of the chassis 1.

[0024] When a forward direction of the cleaning robot is set as the front, as indicated by an arrow X in Fig. 3, a direction of the arrow X can be Fig. 3 can also be regarded as a length direction of the cleaning robot body. The chassis 1 is a support that supports the installation of other components on the cleaning robot, and the drive wheel component 4 is arranged on an edge of the underside of the chassis 1 in contact with a surface to be cleaned to move the cleaning robot or to move the cleaning robot toward a designated position, where the designated position may be a starting position of a cleaning base station, a surface to be cleaned, or other positions input by users, and is not limited thereto in the various embodiments of the present disclosure.

[0025] The obstacle avoidance sensor component 2 is arranged at a front end of the chassis 1 for detecting obstacles. In this embodiment, the obstacle avoidance sensor component 2 is arranged at the front end of the chassis 1 instead of on top of the cleaning robot, which can effectively reduce the overall height of the cleaning robot. This allows the cleaning robot to enter some low-height spaces, thereby improving the cleaning range of the cleaning robot. The collision plate component 3 is arranged at the front end of the chassis 1 and can cover at least half of an outer contour of the chassis 1 arranged at the front end.Specifically, the collision plate component 3 may be a side stand plate, and a viewing window or recessed area may be formed at a position of the side stand plate corresponding to the obstacle avoidance sensor component 2, so that the obstacle avoidance sensor 2 can acquire environmental information through the viewing window or recessed area. There is a collision clearance between the collision plate component 3 and the obstacle avoidance sensor component 2, which allows the collision plate component 3 to move in a direction of a collision force. In the event that the cleaning robot inevitably collides with obstacles, the collision plate component 3 can absorb the collision force to protect the cleaning robot, thus preventing the cleaning robot from being damaged.

[0026] The vacuum cleaner 6 is arranged in the center of the drive wheel component 4 and behind the obstacle avoidance sensor 211. The vacuum cleaner 6 can also be arranged at a position on the chassis 1 in front of the center, which is approximately the widest part of the cleaning robot, and thus the vacuum cleaner 6 can clean a larger area of ​​the area it has passed through. The swing-out edge brush component 5 is arranged on the underside of the chassis 1 on the right or left side of the front part, and it is located in an angular range between the vacuum cleaner 6 and the obstacle avoidance sensor component 2. The swing-out edge brush component 5 can be extended outside the edge of the chassis 1 to clean dead zones or retracted into the area of ​​the chassis 1 for storage. As shown in Fig. As shown in Figure 3, the pivoting edge brush component 5 is arranged in front of the vacuum cleaner 6 on the left or right side of the obstacle avoidance sensor component 2. The number of pivoting edge brush components 5 can be one or two.

[0027] A pivoting edge brush component 5 is illustrated as an example in the figures of the present disclosure. If there are two pivoting edge brush components 5, the two pivoting edge brush components 5 can be arranged on the left and right sides of the obstacle avoidance sensor component 2, respectively. The mopping module 8 is arranged behind the vacuum cleaner device 6 and can perform a floor mopping task, thereby realizing the integrated sweeping and mopping function of the cleaning robot.

[0028] Nowadays, many cleaning robots have circular bodies, which are more flexible and easier to get out of trouble. In the case of a cleaning robot equipped with both a suction roller brush and a floor mopping roller, the suction roller brush is usually arranged in front of the roller, so that the cleaning robot can first vacuum and then mop the floor while moving. The circular shape of the cleaning robot results in a shorter roller arranged at the back of the body and a larger distance between the end of the roller and the outermost edge in the width direction of the body. Therefore, when the cleaning robot needs to clean along walls or cabinets, it is difficult for the cleaning robot's rollers to perform edge cleaning, and the cleaning robot has a large dead zone.

[0029] In one embodiment according to the present disclosure, the mopping module 8 includes a cleaning roller 832 that can extend outward from either the left or right side of the body along the width direction of the chassis 1. The end of the extended portion of the cleaning roller 832 protrudes beyond the outermost edge of the cleaning robot. Therefore, in the event that the cleaning robot needs to perform edge cleaning, the cleaning roller 832 can extend outward and then perform edge cleaning.

[0030] It should be noted that the aforementioned mopping module 8 can also be regarded as a cleaning module. The cleaning module can be, but is not limited to, a cleaning roller, a Pedrail-type cleaning component, etc. The cleaning roller can be a cylindrical roller, that is, the surface of the cylindrical roller has cleaning fluff. The Pedrail-type cleaning component, also known as a Pedrail-type roller, includes two spaced-apart Pedrail wheels. A circular Pedrail-type cloth is attached to the two Pedrail wheels, with cleaning fluff located on an outer side of the cloth. One side of the cloth touches the floor, and when the Pedrail wheels rotate, the Pedrail-type cloth moves relative to the floor, thereby realizing floor mopping. In addition, the cleaning unit is driven by a cleaning unit motor.If the cleaning unit is a roller type, the corresponding cleaning unit motor can be referred to as a roller motor, and the cleaning roller is rotated by the roller motor to wipe the floor. If the cleaning unit is a pedrail type roller, the corresponding cleaning unit motor can be referred to as a pulley motor. The pulley motor rotates the pedrail, thus driving the pedrail type cloth to wipe the floor.

[0031] During the cleaning operation, the cleaning robot must face various cleaning environments. For example, a ceramic tile floor, a wooden floor, and a carpet, etc. When cleaning a carpet, to prevent the wet cleaning roller 832 from wetting the carpet, the cleaning roller 832 must be raised to avoid contact between the cleaning roller and the carpet. The wet cleaning roller 832 may cause secondary pollution. To prevent secondary pollution caused by a cleaning robot when cleaning the carpet, the cleaning roller 832 on the mopping module 8 may also be raised relative to the floor in one embodiment of the present disclosure. When the cleaning robot cleans ordinary floors, the cleaning roller 832 is lowered and wet cleans the floor.When the cleaning robot needs to clean the carpet, the cleaning robot raises the cleaning roller 832 relative to the floor before moving onto the carpet, so that the cleaning roller 832 is raised from the floor, and then the cleaning robot moves onto the carpet. The cleaning robot cleans the floor by using the vacuum cleaner 6, while the cleaning roller 832 does not come into contact with the carpet, effectively avoiding soiling problems. Furthermore, with the technical solution according to the embodiments of the present disclosure, the extension and elevation of the cleaning roller 832 can be realized, which makes it possible for the cleaning robot to cover various types of work areas and realize self-extending edge cleaning, thereby achieving a high cleaning coverage rate.

[0032] As mentioned above, to avoid the problem of soiling, the cleaning roller 832 has a self-cleaning function that allows the floor to be cleaned while performing self-cleaning. In one embodiment according to the present disclosure, the mopping module 8 also includes a decontamination mechanism 833 and a liquid supply mechanism. The decontamination mechanism 833 can wipe off dirt (dirty water and stains) on the cleaning roller 832, and the liquid supply mechanism can continuously supply the cleaning roller 832 with cleaning liquid, which can wet the cleaning roller 832 to improve the cleaning ability of the cleaning roller 832 and loosen the stains on the cleaning roller 832 to facilitate the decontamination mechanism in wiping off the stains.

[0033] In order to realize the continuous supply of the liquid supply mechanism with cleaning liquid and the continuous collection of the dirt stripped off by the decontamination mechanism 833, the waterway system 7 comprises, with reference to Fig. 3, in one embodiment according to the present disclosure, a clean water tank 71 and a dirty water tank 72. The clean water tank 71 is used to store the cleaning liquid required for the cleaning roller 832, and the dirty water tank 72 is used to store dirty water generated and collected by the cleaning roller 832.

[0034] Structures and positions of modules on the chassis 1 of the cleaning robot are described in detail below by means of detailed embodiments.

[0035] Before implementing the technical solution in the embodiments of the present disclosure, studies were conducted on some conventional cleaning robots, and it was found that, in the conventional technology, the clean water tanks and dirty water tanks of some cleaning robots are both arranged on the rear of the body, resulting in the clean water tank and dirty water tank being relatively small. For example, the dirty water tanks and clean water tanks of some devices may be arranged in parallel on the rear of the body, with a clean water tank on the left side and a dirty water tank on the right side at the rear of the body, or a dirty water tank on the left side and a clean water tank on the right side. After conducting several tests, it was found that the robot actually requires a relatively large amount of clean water when performing cleaning tasks.The water in the clean water tank is lost during the cleaning process, so the amount of wastewater recovered is relatively small. In conventional technology, the clean water tanks and dirty water tanks of many devices have equal volumes. To simplify the layout, the clean water tanks and dirty water tanks are arranged in parallel at the rear of the body. This design results in a small clean water tank volume, which may require the robot to refill water for a small area, resulting in frequent interruptions in the cleaning task and reduced cleaning efficiency.

[0036] In addition, in conventional technology, there are also some cleaning robots in which the clean water tank is located inside the body casing. For example, some rollers are designed to be extendable, and the roller can be extended to clean along walls or around obstacles. To avoid hindering the movement of the roller, the clean water tank is mounted above the roller in a non-removable manner. However, due to the height of the roller relative to the flat cloth and the rotating circular wiper plate, placing the clean water tank above the roller in the body casing can increase the height of the body, affecting the robot's ability to navigate low-level areas.

[0037] Therefore, the Fig. 2 and Fig. 3 is used in the embodiment of the present disclosure, in which the clean water tank 71 spans the drive wheel component 4 in a front-to-rear direction. It can be considered that an extended roller side refers to a side of the outwardly extended cleaning roller 832, and that the clean water tank 71 is arranged on a side opposite to the roller extension side. In order to facilitate the extension and retraction of the cleaning roller 832, an extension opening for extending and retracting the cleaning roller 832 should be provided on the body of the cleaning robot. Therefore, more space needs to be reserved for the extending side of the roller, and by disposing the clean water tank 71 on the side opposite to the telescopic side of the roller, the outward extension movement of the cleaning roller 832 is not blocked, and the space on that side can be fully utilized.The capacity of the clean water tank 71 can also be set larger, allowing the robot cleaner to carry more cleaning fluid during cleaning. The cleaning endurance is longer, so the robot cleaner does not need to frequently return to the base station to refill the cleaning fluid, and the overall height of the device is not increased.

[0038] As in Fig. 4, in an embodiment according to the present disclosure, the clean water tank 71 is arranged at one end of the mopping component 8s and extends from the rear to the front of the chassis 1. The length of the clean water tank 71 spans a connecting axis of two drive wheels 41. Compared with the prior art in which the clean water tank 71 is arranged only on the rear, the clean water tank 71 of this embodiment spans both sides of the wheel axis connecting line of the cleaning robot, that is, the clean water tank 71 is arranged over the front and the rear of the cleaning robot at the same time.It is understood that the clean water tank 71 is arranged along the length direction of the body of the cleaning robot, and the length direction of the clean water tank 71 extends in the same length direction of the cleaning robot, and the shape of the lower part of the clean water tank 71 matches the shape of the edge of the chassis 1. Furthermore, the vacuum cleaning device 6 includes a dust box component 61 and a floating roller brush component 64, which are arranged sequentially from the rear to the front of the chassis 1. The clean water tank 71 extends from the rear of the chassis 1 through one side of the dust box component 61 (the left side as shown in FIG. Fig. 4) to the floating roller brush component 64. It can be seen that in this embodiment, the volume of the clean water tank 71 is significantly increased, whereby the frequency of replenishing water during a cleaning task of the robot can be effectively reduced and even the effect of not replenishing water for a cleaning task can be achieved.

[0039] In addition, the vacuum blower component 62 and the clean water tank 71, as shown in Fig. 4, are arranged on the left and right sides of the dust box component 61, respectively. The vacuum blower component 62 and the clean water tank 71, which have a certain weight, are arranged on both sides of the cleaning robot in the width direction, and the clean water tank 71 is arranged on the side opposite the telescopic side of the roller. That is, the clean water tank 71 and the mop module 8 are arranged on the left and right sides of the body, so that the center of gravity of the cleaning roller 832 is balanced in the width direction.

[0040] The dirty water generated and collected by the cleaning robot during cleaning can be stored in the dirty water tank 72. When the cleaning robot returns to a supporting base station for maintenance, the dirty water in the dirty water tank 72 must be emptied. Since the mopping module 8 is located at the rear of the body of the cleaning robot, the cleaning robot typically enters the base station backward to facilitate cleaning of the mopping module by the base station, and the rear body of the cleaning robot is docked to the base station.

[0041] In a technical solution according to the present disclosure, the dirty water tank 72 is arranged on the rear of the chassis 1. In particular, the dirty water tank 72 is arranged on the rear cover component 01, which is arranged behind the wiping module 8 and on the rear of the chassis 1. As shown in Fig. As shown in Figure 3, the dirty water tank 72 can be arranged directly behind the chassis 1, and it is lower than the height of the clean water tank 71 in the height direction. The mopping module 8 is connected to the dirty water tank 72 by a pipe, and the dirty water scraped by the decontamination mechanism can be transported to the dirty water tank 72 through the pipe. The clean water tank 71 is connected to the mopping module 8 by a pipe. The clean water tank 71 can supply clean water to the mopping module 8, while the dirty water tank 72 can store the dirty water generated when the mopping module 8 mops the floor. The rear cover component 01, the collision plate component 3, and the chassis 1 enclose an installation space with an upward opening. The upper cover component 02 is attached to the opening and can seal the opening.

[0042] By disposing the dirty water tank 72 at the rear of the chassis 1, not only is the space at the rear of the chassis 1 fully utilized, but also the mopping module 8 is brought closer to the dirty water tank 72. The dirty water generated by the mopping module 8 is more easily transported to the dirty water tank 72 by reducing the length of the piping. Furthermore, when the cleaning robot enters the base station, the dirty water tank 72 disposed at the rear of the chassis 1 can be more conveniently docked with a corresponding dirty water component on the base station, thereby facilitating the emptying of the dirty water tank 72, and the drained dirty water is appropriately collected by the base station.

[0043] Compared to the clean water tank 71, the dirty water tank 72 is used to store dirty water and is more prone to contamination. Although the dirty water tank 72 is emptied and rinsed after each cleaning, it is still difficult to prevent stains from contaminating the dirty water tank 72 after prolonged use. If the dirty water tank is not cleaned in a timely manner, it is likely to release odors and impair the user experience.

[0044] Referring to the Fig. 5 and Fig. 6, in some embodiments of the present disclosure, the back of the rear cover component 01 is provided with a receiving recess for receiving a dirty water tank 72. The dirty water tank 72 is removably arranged in the receiving recess. When the dirty water tank 72 is completely filled with dirty water, the user can conveniently remove the dirty water tank directly from the rear cover component 01 for disposal. Furthermore, when the dirty water tank 72 is relatively dirty, the dirty water tank 72 can be disassembled for thorough cleaning.

[0045] Referring to the Fig. 5 and Fig. 6, in some embodiments of the present disclosure, the clean water tank 71 is arranged above the drive wheel 41 on one side of the chassis 1 in the left-to-right direction and extends over both sides of the axle connection line of the drive wheels 41 in order to maximize the volume of the clean water tank 71 and increase the water capacity, so that the volume of the clean water tank 71 is half that of the dirty water tank 72.It should be noted that, in order to avoid interference between the clean water tank 71 and the cleaning roller 832, the clean water tank 71 is arranged on the opposite side of the cleaning roller 832 in the left-to-right direction of the body of the cleaning robot, which not only ensures the volume of the clean water tank 71 but also allows the cleaning roller 832 to be removed or installed from the side of the chassis 1 remote from the clean water tank 71, thus facilitating operation by the user.

[0046] As in Fig. 3, the clean water tank 71 and the vacuum blower component 62 are arranged in the vacuum cleaner device 6 on the left and right sides of the dust box component 61, respectively. The air outlet of the dust box component 61 extends through the dust box component to the dust collection port. The dust collection port is connected to the suction nozzle on the chassis 1 of the cleaning robot, and the air outlet of the dust box component 61 is connected to the vacuum blower component 62.

[0047] The water path system 7 further includes a clean water pump 73, an air pump 74, and a water inlet component 75. The clean water pump 73 is arranged on a path of the cleaning liquid in the clean water tank 71 flowing to the mop module 8, and can provide driving force for the clean water in the clean water tank 71 to flow to the cleaning roller 832. The dirty water tank 72 is provided with a dirty water inlet and an air outlet for the dirty water to enter. The rear cover component 01 is provided with a dirty water inlet hole and an air outlet opening corresponding to the dirty water inlet and the air outlet, so that the dirty water pipe that carries the dirty water into the dirty water tank 72 can be connected to the dirty water inlet through the dirty water inlet hole. An air pipe is connected between the air pump 74 and the air outlet.The air pipe passes through the air outlet port to connect the air outlet to the air pump 74. The air pump 74 can exhaust the air in the dirty water tank 72, thus creating a negative pressure in the dirty water tank 72. Under the action of negative pressure, a suction force is formed to suck the dirty water in the dirty water pipe, so that all the dirty water scraped by the cleaning roller 832 can enter the dirty water pipe as far as possible and enter the dirty water tank 72, thereby preventing the dirty water that cannot be sucked out in time and flows to the cleaned area during the cleaning robot's travel, thus ensuring a good cleaning effect.

[0048] When the cleaning robot needs to refill the cleaning fluid in the clean water tank 71, the cleaning robot typically moves to the base station, and then connects the clean water tank 71 to the refilling device on the base station, and the cleaning fluid is refilled into the clean water tank 71. When the refilling device on the base station is connected to the clean water tank 71, a certain force is usually generated. Since the cleaning robot enters the base station backward, the force direction of the cleaning robot when reversing is along the center axis of the body.If the force generated by the refill device on the cleaning robot is not aligned with the force of the cleaning robot when reversing, the cleaning robot is likely to rotate, resulting in a position deviation that is unfavorable for the docking of the various interfaces on the cleaning robot to the base station.

[0049] To facilitate the docking of the refilling device on the base station to the clean water tank 71, the water inlet component 75 is arranged on the back cover component 01, and the water inlet component 75 is arranged on the central axis of the cleaning robot body. The water inlet component 75 is connected to the water inlet on the clean water tank 71, and the refilling device can refill the cleaning liquid into the clean water tank 71 through the water inlet component. Therefore, when the refilling device on the base station is docked to the water inlet component 75 on the clean water tank 71, the generated force is also located on the central axis of the body. This force is aligned with the driving force of the cleaning robot when the cleaning robot reversing, and the cleaning robot will not rotate or slip.

[0050] The water inlet component 75 can be directly connected to the clean water tank 71, or it can be connected to the clean water tank 71 through a pipe. The water inlet component 75 can not only be used for the refilling device to refill water into the clean water tank 71 when the cleaning robot is on the base station, but it can also be used by users to directly connect external tap water to the water inlet component 75 to feed clean water into the clean water tank 71. Due to the presence of a dirty water tank 72 behind the rear cover component 01, a recess can be formed in front of the dirty water tank 72 at a lower part to accommodate the water inlet component 75.The water inlet component 75 is arranged at the recess, and a clean water refill port is arranged on the side of the water inlet component 75 remote from the piping on the front side of the dirty water tank 72 to facilitate clean water refilling. However, the water inlet component 75 can also be arranged in any position along the center axis of the rear cover component 01 as long as it does not interfere with other components.

[0051] Referring to Fig. 3, the position of the clean water tank 71 and the position of the swing-out edge brush component 5 in an embodiment according to the present disclosure are not on the same side of the chassis 1. For example, the clean water tank 71 is arranged along the width direction of the chassis 1 (as indicated by an arrow Y in Fig. 3) is arranged on the left side of the chassis 1, and the swing-out edge brush component 5 is arranged on the right side of the chassis 1. The body of the clean water tank 71 has an arcuate structure, and an outward side of the clean water tank 71 has an arcuate wall to conform to the arcuate edge of the cleaning robot body. The inward side of the clean water tank 71 has a rectilinear box wall, and the dust box component 61 and the vacuum blower component 62 are arranged on the rectilinear box wall side. The inward side of the clean water tank 71 has an irregular wall at a lower part, and the mopping component 83 is arranged on the irregular wall side.

[0052] A length direction of the clean water tank 71 is the same as a length direction of the chassis 1 (a direction indicated by the arrow X in Fig. 3). Along the length direction of the clean water tank 71, the front end of the clean water tank 71 is located below the sensor bracket 22, and the rear end of the clean water tank 71 extends to be below the mopping component 83. The dirty water tank 72 is located in the center of the rear of the cleaning robot body. It can be considered that the dirty water tank 72 is located on the central axis of the cleaning robot body and can be distributed symmetrically along the central axis.

[0053] Typically, the cleaning liquid in the clean water tank 71 is supplied to the cleaning roller 832. After the cleaning roller 832 finishes cleaning the floor, the dirty water is returned to the dirty water tank 72 through the decontamination mechanism 833. During this cleaning process, the cleaning liquid supplied by the clean water tank 71 is inevitably not fully recovered, and some cleaning liquid may evaporate or remain on the floor. Therefore, in the technical solution according to the present disclosure, the volume of the clean water tank 71 is larger than that of the dirty water tank 72, and the volume of the clean water tank 71 is 1.2 to 2 times the volume of the dirty water tank 72.In a specific embodiment, the volume of the clean water tank 71 ranges from 110 ml to 120 ml, for example, the volume of the clean water tank 71 is 120 ml, and the volume of the dirty water tank 72 ranges from 70 ml to 80 ml, for example, the volume of the dirty water tank 72 is 80 ml. In the technical solution according to the present disclosure, the clean water tank 71 and the dirty water tank 72 include, but are not limited to, plastic tanks, metal tanks, and soft tanks. For example, the dirty water tank 72 is a removable plastic tank, while a soft tank similar to a water storage bag can be used for the clean water tank 71 because the clean water tank 71 is arranged in the body and does not need to be removed.The clean water tank 71 may be designed with an irregular shape according to the free space within the body in order to completely fill the free space within the body and maximize the volume of the clean water tank 71.

[0054] In summary, the layout described above allows the installation and accommodation of various components of the cleaning robot, thus realizing the integration of washing and wiping and thus the cleaning of dead zones.Furthermore, the volume of the clean water tank 71 and the dirty water tank 72 can be increased as much as possible without impairing the functions of swing-out cleaning and edge cleaning around a target obstacle of the cleaning roller 832 and without increasing the height of the cleaning robot, so as to increase the clean water and dirty water capacity, thereby reducing the frequency with which users need to replenish clean water in the clean water tank 71 or dispose of dirty water from the dirty water tank 72 by removing the dirty water tank 72, thus improving the user's use experience and taking into account the balance of the center of gravity of the cleaning robot in the width direction.

[0055] The general shape of the cleaning robot may be circular, rectangular, or polygonal, which is not limited to the various embodiments of the present disclosure. Regardless of the shape of the cleaning robot, various components within the cleaning robot may be arranged according to the above arrangement.

[0056] Referring to Fig. 2, a feasible structure of the drive wheel component 4 in some embodiments of the present disclosure includes a plurality of drive wheels 41 spaced along a circumference of the underside of the chassis 1, and a plurality of spaced-apart auxiliary wheels. The drive wheel 41 is provided with a drive component that can be self-propelled to move under a driving force of a drive component. The auxiliary wheel, in conjunction with the drive wheel 41, supports the chassis 1 and can move in conjunction with the movement of the drive wheel 41. In some embodiments of the present disclosure, there are two drive wheels 41 arranged on the left and right sides of the center of the underside of the chassis 1, and one auxiliary wheel arranged on the front side of the underside of the chassis 1.The drive wheels 41 not only cooperate with the auxiliary wheel in a triangular support shape to provide stable support for the chassis 1, but also do not hinder the vacuuming and wiping functions of the cleaning robot.

[0057] The collision plate component 3 serves as a final safety device for the cleaning robot to avoid serious collisions. The collision plate component 3 can collide with obstacles if other obstacle avoidance modules fail to assist the cleaning robot in avoiding these obstacles. Once a collision is detected, the collision plate component 3 can provide immediate feedback to the cleaning robot, and the cleaning robot can brake in time to prevent the chassis 1 of the cleaning robot from colliding with these obstacles and causing more serious consequences.

[0058] Referring to Fig. 2, in some embodiments of the present disclosure, a feasible structure of the collision plate component 3 is that the collision plate component 3 includes a collision plate 31 that encloses the front half of the chassis 1. Since the cleaning robot may not only collide with obstacles in front while traveling, but may also be obstructed by obstacles on both sides in the left and right directions, by configuring the collision plate 31 as a semi-enclosed structure, the collision area can be covered as much as possible, thereby ensuring that the cleaning robot is not damaged in the event of a collision.

[0059] As mentioned above, during the cleaning operation of the cleaning robot, in order to enable the wiping module 8 to realize the edge cleaning, the wiping module 8 can extend outward relative to the body of the cleaning robot, so that the wiping module 8 can perform the edge cleaning on a wall or an object without the body of the cleaning robot being close to the wall side or an edge of the object.

[0060] In some embodiments of the present disclosure, a feasible structure for the wiper module 8 is Fig. 8, which includes a wiping component 83, a cavity housing 82, and a drive device 81. The drive device 81 is arranged on the cavity housing 82, and the drive device 81 is dynamically connected to the wiping component 83, whereby a driving force can be provided for the wiping component 83. The wiping component 83 is arranged in the roller accommodation space of the cavity housing 82. Under the driving force of the drive device 81, the wiping component 83 can move upward to detach from the cleaning surface to be cleaned, move downward to contact the cleaning surface to be cleaned, swing out from the chassis 1, retract into the area of ​​the chassis 1, and the like, so that the extended wiping component 83 can clean the hygiene dead zones and wall sides as the cleaning robot travels along the edge.When the cleaning robot performs cleaning tasks, the mopping component 83 can be extended and retracted when obstacle avoidance is required. Alternatively, the mopping component 83 is in a retracted state during the cleaning task and extends when edge cleaning is required. When the cleaning robot drives onto the carpet, the mopping component 83 can move upward to detach from the carpet, thus avoiding wetting the carpet or increasing driving resistance. When the cleaning robot leaves the carpet area, the mopping component 83 moves downward into contact with the surface to be cleaned and continues the mopping task on the surface to be cleaned.

[0061] If the cleaning robot is circular, as in Fig. 3, the outer contour of the end of the wiping component 83 is curved, and when the wiping module 8 is in the retracted state, this curved shape is adapted to the outer curved surface of the cleaning robot and fits the circular body.

[0062] Furthermore, the mopping component 83 is arranged behind the dust box component 61 and the vacuum blower component 62 along the length direction of the cleaning robot body, and the mopping component 83 is arranged on the clean water tank 71 side, while the dirty water tank 72 is arranged in front of the mopping component 83. In addition, the mopping component 83 is also arranged behind the drive wheel component 4. As mentioned above, in one embodiment, the cleaning robot body is circular, and the mopping component 83 is rectilinear. Along the width direction of the cleaning robot body, the mopping component 83 is arranged horizontally on the rear of the cleaning robot body. Therefore, the body behind the mopping component 83 is arc-shaped, and the dirty water tank 72 is arranged in the arc-shaped body.

[0063] Referring to the Fig. 3 and Fig. 4, in one embodiment of the present disclosure, a cleaning robot is provided with a mopping component 83. The length of the mopping component 83 is approximately equal to the length of the roller brush 641. When the mopping component 83 is not extended, the cleaning area of ​​the mopping component 83 is approximately the same as that of the roller brush 641. During the cleaning operation, the roller brush 641 cleans the floor, and then the mopping component 83 mops the floor.

[0064] Referring to the Fig. 7a and Fig. 7b, the vacuum cleaning device 6 in one embodiment according to the present disclosure further comprises a floating roller brush component 64, a dust box component 61, and a vacuum blower component 62. The floating roller brush component 64 comprises a roller brush 641, a roller brush drive gear component 4, and a roller brush cover component. The dust box component 61 is arranged behind the roller brush component 64, and the roller brush component 64 is provided with at least one suction opening connected to the dust box component 61.

[0065] Referring to Fig. 7a, in some embodiments of the present disclosure, the cleaning roller 832 is offset toward one side of the chassis 1 along a lateral direction of the chassis 1. A dust discharge duct component 63 in the vacuum cleaning device 6 is arranged on the other side of the lateral direction (a side opposite the position of the cleaning roller 832).The dust discharge channel component 63 is arranged at a circumferential angle formed by the cleaning roller 832 and the drive gear 41; in other words, the dust discharge channel component 63 is arranged and inclined in an angular range between the wiping module 8 and the corresponding drive gear 41, with the Y-axis as the forward direction of the cleaning robot and the Z-axis as the direction perpendicular to the paper surface, wherein the projection of the cleaning roller 832 in the YZ plane at least partially overlaps the projection of the dust discharge channel component 63 in the YZ plane, and the projection of the cleaning roller 832 in the YZ plane partially overlaps the projection of the drive gear 41 in the YZ plane. One end of the dust discharge channel component 63 is connected to the dust box component 61, and the other end may be connected to the outside.The dust in the dust box component 61 can be sucked out of the dust box through the dust discharge duct component 63, thereby avoiding the need for users to remove the dust box.

[0066] For example, when the cleaning robot returns to the base station, if the cleaning robot docks to the base station, the dust discharge duct component 63 can dock to the dust collection port on the base station, and the base station can suck the dirt in the dust box component 61 through the dust discharge duct component 63 into the base station, thereby emptying the dust box component 61.

[0067] In the technical solution according to the present disclosure, the vacuum blower component 62 is arranged on one side of the dust box component 61 along the width direction of the cleaning robot body, while the dust discharge duct component 63 is arranged on the other side of the dust box component 61. It can be considered that the vacuum blower component 62 and the dust discharge duct component 63 are arranged on the left and right sides of the dust box component 61, respectively. Thus, the space on the left and right sides of the chassis 1 can be fully utilized, thereby avoiding excessive occupation of the space at the rear of the chassis 1 and affecting the volume of the dirty water tank 72. Furthermore, a suction port is connected between the vacuum blower component 62 and the dust box component 61.The suction force generated by the vacuum blower component 62 creates a negative pressure within the dust box component 61. Under the effect of the negative pressure, dust is sucked from the suction opening into the dust box component 61 to remove dust from the surface to be cleaned and achieve dust containment. When the cleaning robot sucks and collects dust, the vacuum blower component 62 rotates forward to suck the dirt into the dust box component 61. When the cleaning robot is docked to the base station and needs to discharge the dirt in the dust box component 61, the vacuum blower component 62 can rotate in the opposite direction, thereby blowing the dirt in the dust box component 61 out through the dust discharge duct component 63 into the base station.The air flow blown out by the vacuum blower component 62 flows along the transverse direction of the dust box component 61 and through the entire dust box, so that all the dirt in the dust box component 61 can be easily discharged.

[0068] As mentioned above, in order to avoid the problem of soiling of the cleaning roller 832 during the floor cleaning operation, the wiping component 83 can perform self-cleaning while cleaning the floor.

[0069] Referring to the Fig. 9 and Fig. 11, in one embodiment according to the present disclosure, the wiping component 83 includes a wiping bracket 831, a cleaning roller 832, and a decontamination mechanism 833. The wiping bracket 831 is connected to a lower portion of a power source 81. The wiping bracket 831 is connected to a roller motor that rotates the cleaning roller 832. One end of the cleaning roller 832 has an operating handle, and the other end is detachably mounted on the roller motor. The roller motor can rotate the cleaning roller 832. By pulling the operating handle, the cleaning roller 832 can be removed from the wiping bracket 831 for maintenance and cleaning of the cleaning roller 832.

[0070] Compared with a cleaning robot equipped with a cloth or rotary plate, the cleaning robot with the mopping component 83 according to this embodiment has better cleaning performance and higher cleaning efficiency. During the floor cleaning operation, the cleaning roller 832 can also perform self-cleaning simultaneously. The decontamination mechanism 833 can wipe off the dirty water on the cleaning roller 832, and the liquid supply mechanism can supply cleaning liquid to the cleaning roller 832. Then, the cleaning roller 832 can mop the floor. This cleaning method not only achieves better cleaning results but also extends the cleaning time of the mopping component 83. When performing a single cleaning task, the cleaning robot does not need to frequently return to the base station for self-cleaning maintenance.

[0071] In one embodiment according to the present disclosure, the mop bar 831 for providing cleaning fluid to wet the cleaning roller 832 has a water outlet connected to the piping of the clean water tank 71. The water outlet is elongated to cover the entire length of the cleaning roller 832. After flowing out of the water outlet, the cleaning water in the clean water tank 71 can wet the rotating cleaning roller 832, so that the floor is always mopped with clean water, thereby achieving a good cleaning effect on the surface to be cleaned.

[0072] Along a width direction of the wiping component 83 (which can be regarded as the length direction of the cleaning robot body), the decontamination mechanism 833 can be arranged in front of the cleaning roller 832 or behind the cleaning roller 832. The decontamination mechanism 833 is provided with a scraper component 8331 and a dirty water collection box 8332. The scraper component 8331 is arranged above the collection box 8332 and contacts the cleaning roller 832, thereby scraping the dirty water on the cleaning roller 832 into the dirty water collection box 8332.The dirty water collection box 8332 is connected to the dirty water tank 72 through a dirty water pipe, and the dirty water in the dirty water collection box 8332 can enter the dirty water tank 72 through the dirty water pipe to prevent the dirty water on the cleaning roller 832 from adhering to the surface to be cleaned during the rolling operation of the cleaning roller 832, which is also the operation for cleaning the cleaning roller 832.

[0073] It should be noted that the decontamination mechanism 833 is arranged upstream of the water outlet in a rotation direction of the cleaning roller 832. That is, the cleaning roller 832 is first subjected to water wiping by the decontamination mechanism 833 before passing through the water outlet. The cleaning liquid is sprayed onto the cleaning roller 832, so that the cleaning roller 832 remains wet and has enough cleaning water to clean the surface to be cleaned of dirt, thereby achieving a better cleaning effect. After cleaning the surface to be cleaned of dirt, the cleaning water on the cleaning roller 832 becomes dirty water. As the cleaning roller 832 passes through the decontamination mechanism 833, the dirty water is scraped down by the scraper component 8331 to the dirty water collection box 8332.The relatively dry cleaning roller 832 is then wetted with the cleaning water and continues to repeat the above steps to mop the floor.

[0074] As in Fig. 10, a feasible structure of the wiper component 8331 specifically includes a water guide plate 83311 and a wiper 83312. The water guide plate 83311 is in the shape of an arcuate plate extending along the left-to-right direction of the chassis, and the lower surface of the water guide plate 83311 is an arcuate surface with a plurality of water guide grooves. The wiper 83312 may be detachably connected above the water guide plate 83311. The end of the wiper 83312 is in contact with the surface of the cleaning roller 832, and the wiper 83312 may be perpendicular to the surface of the cleaning roller 832 to ensure a good wiping effect. The back of the water guide plate 83311 is disposed above the opening of the dirty water collection box 8332.The water guide plate 83311 has an arcuate bottom surface, which can not only prevent the scraped dirty water from splashing out of the washing component 83, but also guide the scraped dirty water to flow along the arcuate scraper component 8331 into the dirty water collection box 8332. The scraper 83312 has a downwardly inclined angle on the side remote from the water guide plate 83311, so that both sides of the scraper component 8331 have downwardly curved surfaces in the front-to-rear direction, which enables the scraper 83312 to better scrape the dirty water on the cleaning roller 832 when it comes into contact with the cleaning roller 832 on the side remote from the water guide plate 83311. The 83312 wiper includes, but is not limited to, a metal wiper, a rubber wiper, a plastic wiper, etc.Taking a metal wiper as an example for the wiper 83312, the metal wiper is detachably connected to the water guide plate 83311. If the wiper 83312 becomes worn after prolonged use or has a low water removal capacity, the wiper 83312 can be removed from the water guide plate 83311, and a new wiper 83312 can be installed instead.

[0075] In some embodiments of the present disclosure, the cleaning roller 832 can be rotated clockwise, the water outlet is arranged above the cleaning roller 832, the decontamination mechanism 833 is arranged behind the cleaning roller 832, and the dirty water tank is arranged behind the mopping component, so that the distance between the dirty water collection box 8332 and the dirty water tank is minimized, thereby shortening the length of the dirty water pipe and thus reducing the space occupied by the dirty water pipe on the chassis. In addition, the path for dirty water to flow into the dirty water pipe is shortened, so that the dirty water can be discharged from the dirty water collection box 8332 into the dirty water tank.

[0076] In some embodiments of the present disclosure, the minimum distance between the cleaning roller 832 and the drive wheel 41 is between 5 mm and 15 mm. Since the cleaning roller 832 contacts the surface to be cleaned and rolls along the surface to be cleaned, the frictional force between the cleaning roller 832 and the surface to be cleaned can hinder the travel of the cleaning robot. Therefore, by minimizing the distance between the cleaning roller 832 and the drive wheel 41, the resistance moment exerted by the frictional force on the rotating shaft of the drive wheel 41 can be reduced, thereby making the travel of the cleaning robot smoother and reducing power consumption. The cleaning roller 832 is arranged on one side of the operating handle on the edge of the corresponding chassis 1 to facilitate the user's operation of the operating handle.Furthermore, the shape of the operating handle follows the shape of the chassis 1; for example, if the chassis 1 is circular, the operating handle is curved; and if the chassis 1 is rectangular, the operating handle has a flat rectangular shape, which not only facilitates operation but also provides an overall aesthetic impression.

[0077] Although the clockwise rotation of the cleaning roller 832 (in the same direction as the rotation of the drive wheel 41) can provide assistance, in this case, the cleaning performance of the cleaning roller 832 is not high, and it is difficult for the cleaning roller 832 to remove stubborn stains on the floor. To improve the cleaning performance of the cleaning roller 832, in one embodiment according to the present disclosure, the decontamination mechanism 833 is arranged in front of the cleaning roller 832 along the length direction of the chassis 1, as shown in FIGS. Fig. 20a to 21b. In this case, the rotation direction of the cleaning roller 832 when the cleaning robot moves forward is opposite to that of the drive wheel 41. Therefore, the cleaning force of the cleaning roller 832 on the floor is greater, and the cleaning performance of the cleaning roller 832 is also higher.

[0078] As in the Fig. 2 and Fig. As shown in Figure 12, the chassis 1 is provided with a first space for arranging the drive wheel in a position corresponding to the drive wheel 41. The wall of the first space may be referred to as the drive wheel housing. A second space is provided on the chassis 1 behind the drive wheel 41 for arranging the wiping module 8. Starting from the circular body, the wiping module 8 is generally arranged behind the drive wheel due to the fact that the first space for arranging the drive wheel occupies the position of the greatest width of the body and to prevent the drive wheel from interfering with the roller and forcing the roller to pivot outward.In order to realize a longer roller, the position of the wiping module 8 is as close as possible to the drive wheel housing, that is, the limit position in which the wiping module 8 can be arranged has a distance of two housings from the first space for arranging the drive wheel, and the two housings include a housing of the first space for arranging the drive wheel and a housing of a space for arranging the wiping module 8. For example, the two housings have a distance that is greater than a specified distance of 5 mm and less than 7 mm.

[0079] Referring to Fig. In Figure 7a, the Y-axis is considered a travel direction for the cleaning robot, and the Z-axis is considered a direction perpendicular to the paper surface. As mentioned above, in order to obtain a longer and outwardly oscillating roller, the wiping module 8 is arranged as close as possible to the drive wheel housing in a direction along the Y-axis. On the same horizontal plane, in the direction X perpendicular to the Y-axis, that is, in the width direction of the body, the main factor limiting the length of the roller is the position for docking with the base station for dust collection.In some embodiments of the present disclosure, the cleaning roller 832 is offset along the transverse direction of the chassis 1 toward one side of the chassis 1, and a dust discharge duct component 63 is located on the other side in the transverse direction (opposite the position of the cleaning roller 832) in the vacuum cleaning device 6. That is, the dust discharge duct component 63 and the clean water tank 71 are arranged on the opposite side of the roller's swinging outward, thereby not hindering the roller's extension movement. For example, in the Z-axis direction, the clean water tank 71 and the dust discharge duct component 63 are arranged vertically, with the clean water tank 71 being arranged above the dust discharge duct component 63.

[0080] The dust discharge duct component 63 is arranged at a circumferential angle formed by the cleaning roller 832 and the drive gear 41. In other words, the dust discharge duct component 63 is arranged and inclined in an angular range between the wiping module 8 and the drive gear 41 on the corresponding side. The projection of the cleaning roller 832 in the YZ plane at least partially overlaps the projection of the dust discharge duct component in the YZ plane, and the projection of the cleaning roller 832 in the YZ plane partially overlaps the projection of the drive gear 41 in the YZ plane. One end of the dust discharge duct component 63 is connected to the dust box component 61, and the other end can be connected to the outside. The dust in the dust box component 61 can be sucked out of the dust box through the dust discharge duct component 63, avoiding the need for users to disassemble the dust box.

[0081] It should be noted that the roller brush 641 in the floating roller brush component 64 is used for cleaning dry dirt. The roller brush 641 may include a roller brush shaft and bristles on the roller brush shaft. Dry dirt (such as dust, hair, and small particles) is lifted by the roller brush 641 and then sucked into the dust box component by the suction nozzle in the vacuum cleaner device of the robot cleaner. The cleaning roller 832 is used for wet mopping the floor. The roller may include a roller shaft and a wiping pad on the roller shaft. The wiping pad absorbs water and wet mops the floor to clean the floor.

[0082] In summary, in the technical solution according to the present disclosure, when the cleaning robot needs to clean corners of objects such as walls and furniture, the wiping component 83 on the cleaning robot can extend outward relative to the body of the cleaning robot, thereby facilitating the wiping component 83 to perform an edge cleaning task. When the cleaning robot needs to clean a carpet, the cleaning robot can drive the wiping component 83 through the drive device 81 to move it upward, thereby preventing the wet cleaning roller 832 from coming into contact with the carpet. Furthermore, regardless of whether the wiping component 83 is inside the body of the cleaning robot or in an extended state, the decontamination mechanism 833 on the wiping component 83 can wipe off the dirty water on the cleaning roller 832 as the cleaning roller 832 rotates.The liquid supply mechanism on the wiping component 83 can continuously supply cleaning liquid to the cleaning roller 832, thereby ensuring that the wiping component 83 cleans the floor during self-cleaning and always has a good cleaning effect.

[0083] As mentioned above, the vacuum cleaner 6 is arranged on the chassis 1. During vacuuming, the vacuum cleaner 6 can only clean the floor covered by the chassis 1 at best, and it is difficult to clean other areas outside the chassis 1. Generally, when cleaning the floor in a residential environment, the cleaning robot maintains a safe distance from the edges of objects such as walls and furniture to avoid collisions. However, this may result in a large dead zone for the cleaning robot, and the cleaning robot cannot perform edge cleaning.

[0084] In some embodiments of the present disclosure, the pivoting edge brush component 5 includes, as shown in Fig. 1a, Fig. 2, Fig. 3 and Fig. 13, a pivoting edge brush 51, a mechanical arm 52, and a rotating drive component 53 are used to solve this problem when the cleaning robot travels along an edge such as wall bases and corners or to a dead zone to completely clean the cleaning surface. The rotating drive component 53 is arranged on the chassis 1, and the pivoting edge brush 51 can be rotatably arranged at a free end of the mechanical arm 52. The end of the mechanical arm 52 remote from the pivoting edge brush 51 is connected to an output end of the rotating drive component 53.The rotating drive component 53 can provide a driving force for the mechanical arm 52 to rotate so that the free end of the mechanical arm 52 causes the pivoting edge brush 51 to rotate around the output end of the rotating drive component 53 to pivot the pivoting edge brush 51 out of the chassis 1 or back into the chassis 1. In the event that the pivoting edge brush 51 pivots out of the chassis 1, the mechanical arm 52 can transmit a rotational force of the rotating drive component 53 to the pivoting edge brush 51 so that the pivoting edge brush 51 rotates to lift the dust on the surface to be cleaned in the hard-to-reach corner or at the wall edge, which facilitates the suction of dust into the dust box component 61 and thus clean the edge of the wall side and in dead zones.In order to realize the operation that the cleaning robot continues to clean the floor first and then mop the floor when the mopping component 83 is extended, the swing-out edge brush component 5 is also arranged on the same side as the outward swing direction of the mopping component 83. For example, the swing-out edge brush component 5 and the extension direction of the mopping component 83 are located on the right side of the cleaning robot. When the mopping component 83 extends outward, the swing-out edge brush component 5 also swings outward on the same side, so that the cleaning range of the swing-out edge brush component 5 can coincide with the mopping range of the mopping component 83.

[0085] During the execution of a cleaning task, the cleaning robot moves autonomously. Therefore, appropriate sensors are required to detect the environment and obstacles during the cleaning robot's movement to avoid obstruction of the cleaning robot during movement.

[0086] Referring to the Fig. 1b, 2 to 4, and 14 to 17, in some embodiments of the present disclosure, the obstacle avoidance sensor component 2 includes a sensor module 21 and a sensor bracket 22. The sensor bracket 22 has a semicircular shape that matches the shape of the collision plate component 3. The sensor bracket 22 is arranged on the chassis 1 on the front side, and the sensor module is arranged on the front part of the sensor bracket 22. It can be considered that the sensor module 21 is arranged on the front side of the cleaning robot body, whereby the surroundings of the front space in the forward direction of the cleaning robot can be detected to detect the cleaning area and obstacles ahead, thereby assisting the cleaning robot in moving forward safely.

[0087] The sensor module 21 can detect obstacles and boundary information of the cleaning environment to prevent collision hazards for the cleaning robot and create a three-dimensional map of the cleaning robot's travel area to guide the cleaning robot along a travel path. In some embodiments of the present disclosure, the sensor module 21 specifically includes at least one of, but is not limited to, an obstacle avoidance sensor 211, a mapping sensor 213, and a vision sensor 212. The obstacle avoidance sensor 211 can measure a distance of a nearby object by emitting and receiving infrared or laser light, and detect a forward obstacle based on the measured distance to perform an obstacle avoidance operation.The mapping sensor 213 can emit and receive infrared laser light in the horizontal direction, detect obstacles, and obtain corner position information to create a graphic of the area to be cleaned and guide the cleaning robot along the travel path. The visual sensor 212 can detect obstacles through visual assessment to assist in obstacle avoidance and reduce the risk of the cleaning robot colliding with obstacles while traveling.

[0088] When the cleaning robot performs a cleaning task on a surface to be cleaned, the cleaning robot must not only clean a central area of ​​the surface to be cleaned, but also clean the edge area of ​​the surface to be cleaned. When cleaning the central area of ​​the surface to be cleaned, only the sensor module 21 arranged on the front of the body needs to detect in real time whether there are obstacles ahead. When cleaning the edge area of ​​the surface to be cleaned, also known as edge cleaning, the cleaning robot must not only detect whether there are obstacles ahead, but also check whether the cleaning robot is traveling along the edge. Due to the limited detection range and limited accuracy of the sensor module 21 on the front of the body, the sensor module 21 cannot assist in detecting whether the cleaning robot is traveling along the edge of an object.

[0089] Referring to the Fig. 14 to 16, in some embodiments of the present disclosure, the obstacle avoidance sensor component 2 further includes an edge sensor 24 and a collision plate trigger structure 23. The edge sensors 24 are arranged on the left and right sides of the sensor bracket 22 or on the left and right sides of the chassis 1. The edge sensor 24 can detect whether the cleaning robot is in an edge-departure state. When the cleaning robot is in an edge-departure state, the edge sensor 24 can transmit traveling information of the cleaning robot to the main board component 9. The main board component 9 controls the swing-out edge brush component 5 and the mop module 8 to extend and clean the edge of the surface to be cleaned. The collision plate trigger structure 23 is attached to the sensor bracket 22, and the collision plate trigger structure 23 is arranged on both sides of the sensor module 21.The collision plate trigger structure 23 is elastically connected to the collision plate component 3 such that the elastic element is compressed when the collision plate component 3 collides and returns to its original position when the collision is over.

[0090] The edge sensor 24 is located on the side of the cleaning robot's body. When the cleaning robot travels along the edge, the edge sensor 24 is closer to the object on the cleaning robot's side. The detection range of the edge sensor 24 is directly opposite the side of the cleaning robot (left or right side of the cleaning robot's body). Compared to the sensor module 21, the detection accuracy of the edge sensor 24 is higher.

[0091] The line laser light generated by the mapping sensor 213 in the sensor module 21 includes line laser light in multiple directions, such as horizontal and vertical directions, with a field of view of 120 degrees * 60 degrees. The edge sensor 24 includes, but is not limited to, a line laser sensor, an infrared sensor, an ultrasonic sensor, and so on. Taking an ultrasonic sensor as an example of the edge sensor 24, the edge sensor 24 can measure a distance between the edge sensor 24 and an edge of an object using ultrasonic waves, thereby assisting in path planning with the cleaning robot. The cleaning robot can then plan a path to travel along the edge.

[0092] In existing robot cleaners, the mapping sensor 213 is typically located on top of the robot cleaner's body, and the obstacle avoidance sensor 211 is located directly in front of the robot cleaner's body. However, the mapping sensor 213 extending from the top of the body will increase the overall height of the robot cleaner. In some scenarios, such as the underside of a low sofa or bed, the robot cleaner cannot enter to clean, thereby reducing the overall cleaning range of the home and affecting the user experience, which in turn leads to lower consumer expectations of the product.

[0093] Referring to the Fig. 1a, 1b, 2 to 4 and 14 to 17, in the technical solution according to the present disclosure, the obstacle avoidance sensor component 2 is arranged inside the body of the cleaning robot in order to avoid the problem that the obstacle avoidance sensor component 2 extending from the top of the cleaning robot increases the overall height of the cleaning robot.

[0094] In the technical solution of the present disclosure, the obstacle avoidance sensor component 2 is arranged inside the body of the cleaning robot. To monitor the environment outside the body of the cleaning robot, the obstacle avoidance sensor component 2 requires that a corresponding window be formed or that it be provided with a corresponding structure on the body so that the obstacle avoidance sensor component 2 can monitor the environment outside the body.

[0095] Referring to the Fig. 1b, Fig. 3, Fig. 4, Fig. 16 and Fig. 17, the front end of the cleaning robot in one embodiment according to the present disclosure is provided with a recessed space 100 in a position corresponding to the sensor module 21. Specifically, the sensor mount 22 is arranged on the front side of the chassis 1, and there is a sensor mounting position 210 on the sensor mount 22. The sensor module 21 is arranged at the sensor mounting position 210, and the edge sensor 24 is also arranged on the sensor mount 22. The obstacle avoidance sensor 211 and the visual sensor 212 in the sensor module 21 can be arranged in the recessed space 100. The mapping sensor 213 in the sensor module 21 can be arranged above the recessed space 100 and approximately flush with the front outer side of the body of the cleaning robot. Referring to the Fig. In the example shown in Figure 1b, the recessed space 100 is a concave recess formed rearward from the front end of the body of the self-cleaning robot. The wall of the recess, located on the inside of the concave recess, may be perpendicular to a forward direction of the cleaning robot, or the side wall may be a surface sloping from the sensor module 21 to the rear to increase the field of view of the sensor module 21. A collision plate 31 is also located in front of the sensor bracket 22. To ensure good signal reception of the sensor module 21, an opening 32 is formed on the collision plate 31, and the sensor module 21 is arranged at the opening 32. The opening 32 includes windows distributed asymmetrically along the vertical axis of the base or the symmetrical center line of the body of the cleaning robot.The windows include a first window and a second window, which are arranged on the left and right sides of the symmetrical midline of the body, respectively.

[0096] Along a direction of the symmetrical center line, the body of the cleaning robot is divided into an edge cleaning side and a non-edge cleaning side. The first window and the swing-out edge brush component 5 are both arranged on the edge cleaning side, while the second window is arranged on the non-edge cleaning side. The length of the second window is longer than that of the first window, and the field of view of the second window is larger than that of the first window. In the technical solution of the present disclosure, the edge cleaning side has a swing-out edge brush component 5, which will block part of the viewing angle of the edge cleaning side.The first window arranged on the edge cleaning side is designed to be shorter and have a smaller field of view to prevent the detection angle of the sensor from being blocked by the edge brush component 5, which may result in a loss of the sensor function. When the detection angle of the sensor is offset toward the second window, the detection angle of the sensor is fully utilized. When setting up the sensor, the sensor may be tilted so that the detection angle of the sensor faces the second window, or the sensor may be arranged on the sensor mount corresponding to the second window. Note that the sensor mentioned here can be regarded as the mapping sensor 213 in the above-mentioned sensor module 21.

[0097] The opening of the recessed space 100 corresponds to the position of the window 32. Referring to Fig. 1b, the symmetrical centerline A of the cleaning robot is represented by a dashed line, and the sensor module 21 is arranged on the symmetrical centerline A. Compared to the sensor module 21, the spaces on the left and right sides of the recessed space 100 are asymmetrical. Fig. 1b, the space on the left side of the symmetrical center line A is smaller than the space on the right side of the symmetrical center line A. The left side of the symmetrical center line A can be regarded as a side on which the pivoting edge brush 51 in Fig. 1a. Referring to Fig. 1b, starting from the symmetrical center line A, the left and right sides of the window 32 on the collision plate 31 are also asymmetrical, and the window 32 on the left side of the symmetrical center line A is smaller than the window 32 on the right side of the symmetrical center line A.

[0098] Referring to the Fig. 1b and Fig. 16, the window 32 further includes an upper window 321 and a lower window 322, wherein the length of the upper window 321 is shorter than that of the lower window 322. The upper window 321 is distributed symmetrically along the symmetrical center line A, while the lower window 322 is distributed asymmetrically along the symmetrical center line A, and the length of the left part is shorter than that of the right part. The heat dissipation vent 101 is arranged on the bottom wall of the recessed space 100 in line with the lower window. In addition, to improve the structural strength of the collision plate 31, a connecting pillar 33 is further provided on the window 32. The upper window 321 and the lower window 322 may or may not be provided with dustproof transparent plates or dust covers, allowing users to directly view the internal heat dissipation vent through the upper window 321 and the lower window 322.

[0099] Note that the above-mentioned upper window 321 can be regarded as the above-mentioned window including the first window and the second window. The lower window 322 can be regarded as the sensor window connected to the window. Based on the symmetrical centerline of the cleaning robot body, the sensor window has a symmetrical structure. The obstacle avoidance sensor 211 and the visual sensor 212 in the sensor module 21 are arranged on the sensor mount 22 in accordance with the sensor window.

[0100] As mentioned above, in order for the cleaning robot to perform edge cleaning, it is provided with a swing-out edge brush component 5. The swing-out edge brush component 5 can swing outward relative to the body of the cleaning robot and then clean areas such as wall sides and object corners. Referring to the Fig. 3 and Fig. 4, the swing-out edge brush component 5 is arranged on the front side of the chassis 1 along the central axis of the chassis 1. The swing-out edge brush component 5 is arranged on one side of the front end of the chassis 1. Likewise, the above-mentioned sensor bracket 22 is also arranged at the front end of the chassis 1 to avoid interference between the sensor bracket 22 and the swing-out edge brush component 5. In the technical solution of the present disclosure, the sensor bracket 22 has an asymmetric structure, and the sensor bracket 22 and the swing-out edge brush component 5 are arranged side by side on the front side of the chassis 1.

[0101] Referring to Fig. 17, in particular, the chassis 1 has a longitudinal central axis M and a transverse central axis N. The longitudinal central axis M of the chassis 1 is located on the same longitudinal plane as the symmetrical center line A of the cleaning robot. Starting from the longitudinal axis M, the sensor holder 22 also has an asymmetrical structure, with the sensor holder 22 on the left side of the longitudinal axis M having a larger structure than the sensor holder 22 on the right side of the longitudinal axis M.

[0102] In the technical solution of the present disclosure, the sensor bracket 22 has an asymmetric structure. Along the direction of the longitudinal axis M of the chassis 1, the sensor bracket 22 is arranged asymmetrically on the chassis 1. The asymmetric recessed space 100 on the sensor bracket 22 can effectively prevent the occurrence of dead zones in the sensor. Furthermore, the sensor bracket 22 with the asymmetric arrangement can be arranged on the front side of the chassis 1 together with the swing-out edge brush component 5, thereby avoiding structural interference between them while fully utilizing the space on the front side of the body of the cleaning robot, thus improving the utilization rate of the interior space of the cleaning robot and making the structure of the cleaning robot more compact.

[0103] With the functional expansion of the cleaning robot, the movement algorithms of cleaning robots are becoming increasingly complex, and the obstacle avoidance sensor component 2 is becoming more powerful. The computing power required for cleaning robots is also increasing. Therefore, the core control of the main board component 9 requires higher performance to meet the computing requirements, while the heat generation of the core control system is increasing significantly. However, existing floor sweepers pay little attention to the heat dissipation requirements of the main board and thus lack a heat dissipation design. The existing heat dissipation structures have low cooling performance and long cooling paths, and can only dissipate heat passively, thus cannot fully meet product requirements.In some floor sweepers, the main board components are connected to metal counterweights, but the counterweights do not have heat dissipation vents and can only dissipate some heat through the counterweights, resulting in poor heat dissipation performance.

[0104] An active heat dissipation system for a cleaning robot is provided according to the embodiment shown in the Fig. 1b, Fig. 18a and Fig. 18b. The bottom of the recessed space 100 is provided with a plurality of heat dissipation holes 101 arranged on a bottom wall of the lower window on the right side. It can also be considered that the heat dissipation hole 101 is arranged on the sensor bracket 22, and the heat dissipation hole 101 can connect the inside and outside of the body of the cleaning robot, thereby promoting heat dissipation of the core controller on the main board component 9. Specifically, the main board component 9 includes a core board 110 having a shield cover 111 attached to the downward-facing surface of the core board 110. The shield cover 111 can shield the interference of electronic radiation to the core board 110.A thermally conductive silicone 112 is provided on the lower surface of the shield cover 111, and a heat sink 113 is provided under the thermally conductive silicone 112. When the core board 110 generates heat, the heat can be conducted through the shield cover 111 to the thermally conductive silicone 112 and then through the thermally conductive silicone 112 to the heat sink 113. The heat sink 113 is arranged behind the heat dissipation vent 101 and connected to the chassis 1 by means of fasteners 106.Regardless of whether the cleaning robot is in a moving or stationary state, outside air can enter the interior of the body of the cleaning robot through the heat dissipation port 101 and dissipate heat on the heat sink 113, thereby realizing heat dissipation at the core board 110 to ensure that the temperature of the core board 110 is always kept within an acceptable range and the computing performance of the core board 110 remains stable.

[0105] To prevent dust from entering the interior of the cleaning robot, a dustproof foam 115 is provided on the inward side of the heat dissipation vent 101. The dustproof foam 115 can easily filter the airflow entering the interior of the body through the heat dissipation vent 101, thereby preventing dust from entering the interior of the body. To improve the waterproof performance of the cleaning robot, waterproof materials are also provided around the heat sink 113 to prevent water vapor from penetrating or flowing through the heat sink 113 into the core board 110.

[0106] The arrangement of the heat dissipation opening 101 at the bottom of the recessed space 100 is also advantageous for increasing the air intake volume, as shown in the Fig. 1a and Fig. 1b. The recessed space 100 also has a trumpet shape. As the cleaning robot moves forward, the recessed space 100 has a larger windward side, thereby generating greater wind pressure on the heat dissipation vent located at the bottom of the recessed space 100, allowing a stronger and faster airflow to enter the interior of the cleaning robot through the heat dissipation vent 101, which airflow has a better heat dissipation effect on the heat sink 113.

[0107] In summary, this embodiment provides an active heat dissipation system for cleaning robots. Outside air can flow through the collision plate window in front of the cleaning robot and enter the interior of the cleaning robot body through the heat dissipation port 101, thereby dissipating the heat on the heat sink 113 and realizing heat dissipation for the core board 110, ensuring that the temperature of the core board 110 is always maintained within an acceptable range. When the cleaning robot moves forward, windward heat dissipation can be achieved. Even when the robot is in a stationary state, the heat dissipation port can conduct most of the heat from the core board 110 to the heat dissipation port, ultimately realizing convective heat exchange with the air.

[0108] As mentioned above, the sensor module 21 is arranged on the front of the cleaning robot, which includes various sensors for realizing the control and obstacle avoidance of the cleaning robot. Normally, the algorithm of the sensor module 21 realizes obstacle avoidance based on the body contour of the cleaning robot. However, when the mopping component 83 is extended from the inside of the body, the outermost edge of the mopping component 83 will extend beyond the outermost edge of the cleaning robot body. It is understood that the mopping component 83 protrudes outward relative to the cleaning robot body. However, the sensor module 21 arranged on the front of the body cannot accommodate obstacle avoidance for the mopping component 83, and there is a possibility that the extended mopping component 83 will collide with obstacles or the edges of objects during edge cleaning.The collision may cause the cleaning robot to shift, and the cleaning robot must be repositioned.

[0109] Referring to the Fig. 19a and Fig. 19b, in one embodiment according to the present disclosure, the cleaning robot is further provided with a roller obstacle avoidance component 26 (an obstacle avoidance component). The side of the mopping component 83 extending outward can be defined as the extended side of the cleaning robot body, which can be the left or right side of the cleaning robot body. The roller obstacle avoidance component 26 is arranged on the sensor mount 22 on the extended side, or directly on the chassis 1 on the extended side, or on the rear cover component 01.

[0110] The right side of the cleaning robot's body is used as an example of the extended side. The roller obstacle avoidance component 26 can monitor whether there are obstacles in the surrounding area on the extended side, and it can also measure the distance between the edge of an obstacle or object and the roller obstacle avoidance component 26. The main board component 9 can then calculate whether there is a risk of collision with the mopping component 83.

[0111] As in Fig. As shown in Figure 19a, the detection range of the roller obstacle avoidance component 26 in the horizontal direction is represented by two dashed lines, and the angle α of the detection range ranges from 60 degrees to 180 degrees, for example, 120 degrees. Along the length direction of the cleaning robot, the roller obstacle avoidance component 26 is arranged in front of the wiping component 83. The roller obstacle avoidance component 26 can detect the presence of obstacles before the wiping component 83 collides with the obstacles. The roller obstacle avoidance component 26 can not only detect whether the edge of obstacles or objects is in the path of the wiping component 83, but also measure the distance between the object and the cleaning robot.

[0112] Although the sensor module 21 arranged on the front of the body can also detect obstacles in front of the extended side, in some cases the sensor module 21 cannot match the roller obstacle avoidance component 26 in terms of accuracy and precision.

[0113] As mentioned above, the sensor mount 22 is further provided with an edge sensor 24 that can sense whether the cleaning robot is in an edge-walking state. If the extended side of the cleaning robot's body is provided with a roller obstacle avoidance component 26, the edge sensor 24 can be selectively arranged on the extended side because the roller obstacle avoidance component 26 can replace the edge sensor 24.

[0114] As a rule, the edge sensor 24 cannot replace the roller obstacle avoidance component 26, since the edge sensor 24 can only simply detect whether the cleaning robot is positioned at the corner of a wall or a piece of furniture. When obstructing the mopping component 83, it is also necessary to consider whether the mopping component 83 will collide with obstacles in the vertical direction.

[0115] Referring to Fig. 19b, the edges of obstacles such as walls and furniture do not need to be flat when the cleaning robot performs edge cleaning. For example, the obstacle has a height direction of Fig. 19b detects a protrusion that is a certain height above the ground. In this case, when the wiping component 83 moves, it will not collide with the lower part of the obstacle, but there is a high probability that it will collide with the protrusion. Therefore, detecting the obstacle in the height direction is also important.

[0116] In one embodiment according to the present disclosure, the roller obstacle avoidance component 26 may detect a height of an obstacle in the vertical direction. As shown in Fig. As shown in Figure 19b, the roller obstacle avoidance component 26 has a detection range in the vertical direction, and the angle β in this detection range ranges from 90 degrees to 180 degrees, for example, 120 degrees. In general, the detection range of the roller obstacle avoidance component 26 only needs to be greater than the height of the wiping component 83 to meet the usage requirements. Referring to Fig. 17, the field of view on the right side of the sensor module 21 is small, and the projection direction of the roller obstacle avoidance component 26, which emits line laser light perpendicular to the ground, may be offset forward.

[0117] The roller obstacle avoidance component 26 includes, but is not limited to, line laser sensors, ultrasonic sensors, infrared sensors, visual sensors, etc.

[0118] Below, a scene using a line laser sensor as an example of the roller obstacle avoidance component 26 is described.

[0119] Referring to Fig. 19b, the obstacle is a cabinet with an outwardly protruding part. When the cleaning robot needs to perform edge cleaning along the cabinet, the wiping component 83 is controlled to extend outward. As the cleaning robot moves, the wiping component 83 gradually approaches the edge of the cabinet. During the approach, the roller obstacle avoidance component 26 emits line laser light to monitor the distance between the wiping component 83 and the cabinet in real time. If the wiping component 83 is too close to the cabinet, the cleaning robot corrects its movement path or corrects the distance the wiping component 83 extends outward to avoid a collision with the cabinet. Referring to Fig. 19b, when the wiping component 83 approaches the cabinet, the roller obstacle avoidance component 26 emits line laser light to detect the height of the cabinet's protrusion in real time. If the height is detected to be too low, the cleaning robot is controlled to change its movement path, stop edge cleaning at the cabinet, or control the retraction of the wiping component 83, thereby effectively avoiding a collision between the wiping component 83 and the cabinet's protrusion.

[0120] The larger the field of view of a single line laser sensor, the higher the required computing power. When multiple such line laser sensors are mounted on the robot cleaner, it is difficult for the robot cleaner's computing unit to provide sufficient computing power. This will not only affect the performance of multiple line laser sensors but also require a more powerful computing unit for the robot cleaner, which will pose serious challenges in terms of energy consumption and costs. Furthermore, when the robot cleaner is equipped with multiple high-performance line laser sensors, it is prone to problems such as excessive performance, increased power consumption, and reduced battery life of the robot cleaner.

[0121] Referring to Fig. 19b, in another embodiment according to the present disclosure, the sensor module 21 and the roller obstacle avoidance component 26 disposed on the front of the body can cooperate with each other to realize obstacle detection. Specifically, the sensing range of the sensor module 21 extends downward in the horizontal direction, similar to looking downward from a horizontal angle. The sensor module 21 can detect whether any obstacles protrude from the ground in front of the cleaning robot. The sensor module 21 does not detect objects above the horizontal direction, effectively reducing the need for computing power. The sensing range of the roller obstacle avoidance component 26 extends in the vertical direction.The roller obstacle avoidance component 26 can monitor obstacles in the vertical direction, such as the height of an obstacle, a distance between the cleaning robot and an obstacle, etc. By combining the sensor module 21 and the roller obstacle avoidance component 26 arranged in different positions, the detection range of the cleaning robot can cover the horizontal and vertical spaces around the body.

[0122] In the technical solution of the present disclosure, the detection range of the roller obstacle avoidance component 26 extends only in the vertical direction, and the roller obstacle avoidance component 26 requires less computing power than the sensor module 21. Compared with the total detection range of a line laser sensor, the roller obstacle avoidance component 26 and the sensor module 21 can be considered low-end versions of the line laser sensors, requiring less computing power. Therefore, the total computing power required for multiple similar line laser sensors in the cleaning robot is also lower. Furthermore, the roller obstacle avoidance component 26 can also accommodate the obstacle avoidance of the cleaning roller 832 when it is extended.

[0123] Although the rotating roller brush 641 can clean the floor, the main dust collection work is still performed by sucking the dirt into the dust box component 61 under the negative pressure generated by the vacuum blower component 62. Therefore, the position of the suction port on the chassis 1 will affect the dust collection efficiency. If the position of the suction port is not properly positioned, the suction efficiency of the vacuum cleaner 6 will be very low, and not all the dirt on the floor can be effectively collected.

[0124] As in the Fig. 20a and Fig. 20b, the chassis 1 in one embodiment according to the present disclosure is provided with a first suction opening 65 corresponding to the roller brush 641. The roller brush 641 can contact the ground through the first suction opening 65. When the roller brush 641 rotates, the dirt and dust picked up by the roller brush 641 can be sucked into the dust box component 61 through the first suction opening 65. The direction of the intake air flow is indicated by the dashed arrow in Fig. 20b. Furthermore, the first suction port 65 is arranged in front of the dust box component 61 along the length direction of the cleaning robot body, and the first suction port 65 is connected to the dust box component 61 by an inclined channel. This technical solution has the least impact on the suction force at the first suction port 65.

[0125] In addition, to achieve better vacuuming performance, all the dust on the surface to be cleaned should be collected as much as possible into the dust box component 61. The roller brush 641 is in contact with the surface to be cleaned, and one end of the roller brush component 64 can be detachably mounted on the roller brush drive gear component 4. The roller brush cover component can be detachably attached to the lower end of the roller brush component 64 to sandwich the roller brush component between the roller brush drive gear component 4 and the roller brush cover component. When the roller brush component needs to be cleaned, the roller brush cover component can be opened to remove the roller brush component from the roller brush drive gear component 4 for cleaning the roller brush component 64.The roller brush cover component has a roller brush opening along the left-to-right direction, which can be considered the aforementioned first suction opening 65. The roller brush component 64 is used to bring the bristles, which lift the dust on the surface to be cleaned, into contact with the surface through the roller brush opening. The roller brush drive gear component 4 provides a driving force for the rotation of the roller brush 641. When the cleaning robot cleans the surface to be cleaned, the roller brush 641 can lift the dust in the surface to be cleaned. The lifted dust is closer to the suction opening, and the dust is more likely to enter the dust box component 61 under the suction force of the vacuum blower component 62.

[0126] In summary, in the technical solution according to the present disclosure, the first suction port 65 is arranged in the position corresponding to the roller brush 641. After the roller brush 641 has cleaned the dirt, the suction force generated at the first suction port 65 can suck all the dirt into the dust box component 61. If the position of the suction port is set reasonably, the suction efficiency of the vacuum cleaning device 6 is high, and the floor can be cleaner.

[0127] The length of the cleaning roller 832 determines a cleaning area that can be covered by the cleaning roller 832. The longer the length of the cleaning roller 832, the higher the cleaning efficiency of the cleaning robot. If the length of the cleaning roller 832 is too short, the cleaning roller 832 may only cover a small part of the floor under the body when the mopping component 83 is extended. The area that can be cleaned by the vacuum cleaner 6 cannot effectively overlap with the area that can be cleaned by the cleaning roller 832. As a result, some floor areas can only be cleaned by the vacuum cleaner 6 and cannot be mopped by the cleaning roller 832.

[0128] Referring to the Fig. 20a to 22, further, in another embodiment of the present disclosure, a cleaning robot is provided with a relatively long wiping component 83 that is longer than the length of the roller brush 641. The wiping component 83 extends from one side of the chassis 1 to the other side of the chassis 1, which can be regarded as spanning the entire chassis 1, thereby maximizing the length of the wiping component 83. In the width direction of the cleaning robot, the length of the wiping component 83 that is longer than the roller brush 641 is L1 on the left side, and the length of the wiping component 83 that is longer than the roller brush 641 is L2 on the right side. The cleaning area of ​​the wiping component 83 is significantly larger than that of the roller brush 641. The relatively longer length of the wiping component 83 can have a better cleaning effect.When the wiping component 83 extends for edge cleaning, the cleaning area of ​​the wiping component 83 can still basically cover the cleaning area of ​​the roller brush 641. Furthermore, the length of the wiping component 83 is approximately equal to the distance between the two drive wheels 41, so that when the drive wheel 41 leaves a trail after traveling across the floor, the wiping component 83 can wipe up the trail.

[0129] As mentioned above, the dust box component 61 is provided with a dust discharge duct component 63. When the cleaning robot has completed the cleaning task or the dust box component 61 is full, the cleaning robot can return to the base station. Then, the dust discharge duct component 63 is connected to the dirt collection port on the base station, and the vacuum blower component 62 is reversed, so that all the dirt in the dust box component 61 is blown into the dirt collection port on the base station and collected by the larger-capacity dust collection box on the base station.

[0130] When the wiping component 83 - referring to Fig. 7a - does not span the entire body of the cleaning robot, the space on one side of the dust box component 61 can be fully utilized, i.e., the dust discharge channel component 63 is arranged on the side of the wiping component 83. Referring again to the Fig. 21a and Fig. 21b, the wiping component 83 spans the entire body and extends from the left edge of the chassis 1 to the right edge of the chassis 1. It can be considered that the wiping component 83 is the longest wiping component 83 that can be arranged on the rear of the chassis 1 of the cleaning robot. This results in the inability to arrange a dust discharge duct component 63 spanning the wiping component 83 on the chassis 1. This results in the inability of the cleaning robot to perform the operation of cleaning the dust box component 61 after docking with the base station.

[0131] Referring to the Fig. 21a and Fig. 21b, in one embodiment according to the present disclosure, the chassis 1 is provided with a first suction opening 65 and a dust discharge opening 66. The first suction opening 65 corresponds to the roller brush 641, which can be in contact with the floor through the first suction opening 65. The dust discharge opening 66 corresponds to the dust box component 61 and is arranged at the bottom of the dust box component 61. In addition, the dust discharge opening 66 is arranged between the first suction opening 65 and the mop module 8, and the length and width of the first suction opening 65 are greater than those of the dust discharge opening 66. The dust box component 61 is further provided with a filter component 67 arranged on top of the dust box component 61. The filter component 67 is used to filter the airflow sucked into the dust box component 61, and then the airflow is blown out from the air outlet of the vacuum blower component 62.The dust discharge opening 66 is arranged opposite the filter component 67, that is, the filter component 67 is arranged on the top side of the dust box component 61, and the dust discharge opening 66 is arranged at the bottom side of the dust box component 61. When the vacuum blower component 62 rotates in the opposite direction, the air flow blown into the dust box component 61 by the vacuum blower component 62 can flow from the top side to the bottom side and be blown out of the dust discharge opening 66, thereby assisting the dust box component 61 in quickly discharging the dirt.

[0132] Typically, the dust discharge opening 66 is in a closed state and is only opened when the cleaning robot needs to empty the dust box component 61 after docking with the base station. In a specific embodiment, the dust discharge opening 66 is provided with a one-way door structure. When the dust box component 61 is in a normal pressure state or a negative pressure state, the dust discharge opening 66 is closed by the one-way door structure. When the dust box component 61 is in a positive pressure state, the one-way door structure is opened by air pressure, and the dirt in the dust box component 61 can be discharged through the dust discharge opening 66.

[0133] In summary, in the technical solution of the present disclosure, the length of the wiping component 83 is greater than the length of the roller brush 641. Regardless of whether the wiping component 83 is in the retracted or extended state, the cleaning area that the cleaning roller 832 can cover can largely overlap with the cleaning area that the roller brush 641 can cover, and the circumstance that some floor areas are only swept but not mopped cannot occur. In addition, the bottom of the dust box component 61 is provided with a dust discharge opening 66, and the dirt in the dust box component 61 can be discharged through the dust discharge opening 66, thereby making the dust discharge operation simple and convenient.

[0134] On the basis of the above embodiments, further - with reference to the Fig. 3, Fig. 6, Fig. 7a and Fig. 23 - In one embodiment according to the present disclosure, a cleaning robot is provided. The cleaning robot includes a chassis 1, a housing, a drive wheel component 4, a vacuum cleaner 6, and a mop module 8. The chassis 1 has a vertical central axis. The housing is connected to the chassis 1 to form the body of the cleaning robot. The housing may be an outer casing composed of a top cover component 02, a collision plate component 3, and a rear cover component 01 mentioned above. The casing is connected to the chassis 1 to form a circular cake-shaped body of the cleaning robot. The drive wheel component 4 is connected to the chassis 1 to drive the chassis 1. The vacuum cleaner 6 is arranged on the chassis 1.The vacuum cleaning device 6 includes a dust box component 61, a vacuum blower component 62, and a dust discharge duct component 63. The first end of the dust discharge duct component 63 is connected to the dust box component 61, and the second end extends to the rear end of the chassis 1. The mopping module 8 is arranged behind the dust box component 61 along the vertical axis in the front-to-rear direction and is flexibly connected to the chassis 1. The mopping component 83 in the mopping module 8 can extend outward from one side of the chassis 1 relative to the chassis 1. One side of the housing has an opening, and the mopping component 83 can extend outward from the opening. The external shape of the outwardly extending end of the mopping component 83 matches the shape of the housing at the opening.

[0135] Taking the body of the cleaning robot in the shape of a circular cake as an example, an end cover 8321 is further provided on the outwardly extending end of the mopping component 83. The shape of the rear portion of the end cover 8321 (as shown in the area A in Fig. 3) is a circular arc that corresponds to the shape of the housing behind the opening (as shown in area C in Fig. 3) and the front of the end cover 8321 (as shown in an area B in Fig. 23) is chamfered with a circular arc. It should be noted that area A in Fig. 3 and area A in Fig. 23 represent the same area of ​​the end cover 8321.

[0136] Typically, the end cover 8321 and the cleaning roller 832 are connected to each other. When the cleaning roller 832 is mounted on the wiping component 83, one end of the cleaning roller 832 is connected to a roller motor on the wiping component 83, and the other end is connected to the wiping component 83 through the end cover 8321. When the user needs to install or remove the cleaning roller 832, they can detach the entire cleaning roller 832 by grasping the end cover 8321 and separating it from the wiping component 83. Therefore, when the wiping component 83 is extended outward, the end cover 8321 is positioned at the outermost side. Under some extreme working conditions, such as when the extended end of the wiping component 83 collides with a wall or obstacle, there is a possibility that the end cover 8321 will be separated from the wiping component 83.In this case, the cleaning roller 832 is likely to detach from the wiping component 83.

[0137] In the technical solution according to the present disclosure, the front surface of the end cover 8321 is provided with a rounded chamfer, so that when the end cover 8321 collides with obstacles or walls, the force acting on the end cover 8321 will not cause it to be separated from the wiping component 83, and the connection between the end cover 8321 and the wiping component 83 will be more stable. Furthermore, the shape of the end cover 8321 on the rear side is a circular arc shape, which matches the shape of the housing behind the opening. Thus, when the cleaning robot retreats and the extended wiping component 83 collides with an obstacle, the cleaning roller 832 will not be easily separated from the wiping component 83 by the force exerted on the end cover 8321. Application scenario

[0138] As the cleaning robot moves along the cleaning path, the roller brush continuously lifts the dust on the surface to be cleaned, which it can pass through. The lifted dust is sucked into the suction port by the vacuum blower component 62 and enters the dust box component 61 from the suction port. Furthermore, the cleaning roller 832 in the mop module 8 moves downward under the action of the drive device, into contact with the surface to be cleaned. The clean water pump 73 operates to pump out the cleaning water contained in the mop bucket and spray it through the pipe onto the cleaning roller 832 to wet the cleaning roller 832. The rotation of the cleaning roller 832 can remove stubborn stains from the surface to be cleaned.During the rotation of the cleaning roller 832, the dirty water on the cleaning roller 832 is scraped into the dirty water collection box 8332 under the action of the scraper component 8331, and the dirty water in the dirty water collection box 8332 is sucked into the dirty water tank under the action of the air pump 74. When the cleaning robot is about to reach the carpet, the main board component 9 sends a lift command to the mopping module 8, which causes the cleaning roller 832 to move upwards and separate from the carpet under the control of the floor extension driver. Upon leaving the carpet area, the main board component 9 sends a lowering command to the mopping module 8, which causes the cleaning roller 832 to move downwards under the control of the floor extension driver to come into contact with the surface to be cleaned and continue performing the mopping task.

[0139] When the cleaning robot moves to the edge area, such as the wall side, the main board component 9 sends a command to drive the swing-out edge brush component 5 to swing out from the chassis, and it sends a command to the mopping module 8 to extend the cleaning roller 832 from the chassis. The swing-out edge brush component 5 lifts the dust in the edge area and hard-to-reach corners, so that the dust is sucked into the suction opening and finally collected in the dust box component 61. In addition, the mopping module 8 wipes the edges and hard-to-reach corners to ensure that the area to be cleaned can be completely cleaned.

[0140] Finally, it should be noted that the above embodiments serve only to illustrate the technical solution of the present disclosure and do not limit the present disclosure. While the present disclosure has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the above-mentioned embodiments or replace some of the technical features with equivalents, and that the modifications or replacements do not deviate from the scope of the technical solutions of the embodiments of the present disclosure. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CH 202411068173.7

[0001]

Claims

[1] Cleaning robot, comprising: a body, the body having the shape of a circular cake and having a transverse central axis; a drive wheel component connected to the body to set the body in motion; and a wiping component, the wiping component being flexibly connected to the body and arranged on a rear side of the transverse central axis; the wiping component being extendable outwardly from one side of the body relative to the body, wherein a shape of a region on a rear side of an outwardly extending end of the wiping component conforms to the shape of the body behind the wiping component. [2] A cleaning robot according to claim 1, wherein one end of the wiping component has an arcuate outer contour. [3] A cleaning robot according to claim 2, wherein, in the case that the wiping module is in a retracted state, a projection of the wiping component onto the body lies entirely within a surface of the body. [4] The cleaning robot according to claim 1, wherein the body further comprises a chassis and a housing, and the housing is connected to the chassis; wherein one side of the housing has an opening and the wiping component can extend outwardly from the opening relative to the chassis; and wherein an outer housing of an outwardly extending end of the wiping component conforms to the shape of the housing on one side of the opening. [5] The cleaning robot according to claim 4, wherein an end cover is provided on an end of the outwardly extending wiping component, and a shape of a portion on a back side of the end cover of the outwardly extending wiping component is a circular arc shape that matches the shape of the housing behind the opening. [6] A cleaning robot according to claim 5, wherein the end of the outwardly extending wiping component is provided with a rounded chamfer relative to a front side of the end cover. [7] Cleaning robot, comprising: a body, the body having the shape of a circular cake and having a transverse central axis; a drive wheel component connected to the body to set the body in motion; and a wiping component comprising: a wiping bar, a cleaning roller, a wiper component and a dirty water collection box, wherein the wiping bar is flexibly connected to the body and the cleaning roller, a wiper and the dirty water collection box are arranged on the wiping bar, wherein the wiper component is in contact with the cleaning roller to wipe dirty water on the cleaning roller into the dirty water collection box, wherein the cleaning roller, the scraper and the dirty water collection box extend outwards from one side of the body relative to the wiper bar; and wherein a shape of a region on a rear side of an outwardly extending end of the wiping component conforms to the shape of the body behind the wiping component. [8] The cleaning robot according to claim 7, further comprising a dirty water tank, wherein the dirty water tank is provided on the body, and the dirty water collection box is connected to the dirty water tank through a dirty water pipe, wherein dirty water in the dirty water collection box can enter the dirty water tank through the dirty water pipe. [9] The cleaning robot according to claim 7, further comprising a clean water tank, wherein the clean water tank is arranged on the body and is configured to supply cleaning liquid to the cleaning roller through a liquid supply mechanism. [10] Wiping component comprising: a wiping bar; a cleaning roller that is rotatably connected to the wiper bar; a wiper component disposed on the wiper bar, the wiper component contacting the cleaning roller; and a dirty water collection box arranged on the wiper bar, wherein the wiper component contacts the cleaning roller to wipe dirty water on the cleaning roller into the dirty water collection box, wherein the cleaning roller, the scraper and the dirty water collection box move together with the wiper bar; and one end of the wiping component has an arcuate outer contour.

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