Mobile cleaning robot

Abstract

Mobile cleaning robot, characterized by the fact that it includes: a main body that moves across surfaces to be cleaned; and a brush roller assembly connected to the main body via a guide element, wherein the brush roller assembly cleans the surface to be cleaned; wherein the main body comprises a first rail which engages with the guide element, and the first rail defines the path of movement of the brush roller assembly relative to the main body in the vertical and lateral directions.

Description

TECHNICAL AREA

[0001] The present utility model relates to cleaning devices, in particular to a mobile cleaning robot. STATE OF THE ART

[0002] Household vacuum cleaners clean rooms by sucking up dust and other particles from the floor. Some household vacuum cleaners include a mop attachment. Cleaning fluid can be applied to this mop. As the mop rotates, it can then wet-clean the floor, improving the cleaning effect.

[0003] Autonomous mobile robots can independently perform cleaning tasks in environments such as homes. These robots can navigate autonomously across surfaces to be cleaned. As they traverse these surfaces, the robots operate dry cleaning components. These components can adsorb dirt particles and direct them into the robot's dirt chamber via a suction airflow. Alternatively, the robot can clean the surface itself and operate a rotating cleaning component that applies liquid to the surface to remove stubborn stains.

[0004] Certain autonomous mobile robots can perform mopping and vacuuming functions simultaneously. The cleaning roller may be positioned at the base of the robot, behind the dry cleaning roller. Some autonomous mobile robots can also perform mopping only. During cleaning, the robot may encounter areas unsuitable for mopping, such as sections of shaggy carpets in living spaces. These areas are typically found in living rooms and bedrooms. Alternatively, the robot may encounter areas that are difficult to clean, such as the transitions between floors and walls or between floors and furniture.

[0005] Due to design variations, the cleaning component of certain autonomous mobile robots can be raised to avoid contact with unsuitable areas. In other models, the cleaning component can swing outwards and inwards to facilitate cleaning in hard-to-reach corners. However, the cleaning component is generally designed as a cleaning disc. This disc operates at relatively low speeds and generally cleans surfaces by dispersing dirt particles. Consequently, its cleaning efficiency is limited. Furthermore, due to design differences, the cleaning disc often becomes heavily soiled with prolonged use and can potentially act as a vector for secondary contamination. CONTENTS OF THE PRESENT SAMPLE FOR USE

[0006] The present utility model relates to a mobile cleaning robot.

[0007] According to one aspect, a mobile cleaning robot is provided comprising: a main body that moves over surfaces to be cleaned; and a brush roller assembly connected to the main body via a guide element, wherein the brush roller assembly cleans the surface to be cleaned; wherein the main body comprises a first rail that engages with the guide element, and the first rail defines the path of movement of the brush roller assembly relative to the main body in the vertical and lateral directions.

[0008] According to at least one embodiment, the first rail comprises at least two laterally extending sections and a transition section, wherein the at least two laterally extending sections have different heights, the transition section is positioned between the laterally extending sections and connects seamlessly to them, the guide element is received by the first rail, the laterally extending sections allow linear movement, and the transition section changes the path of movement of the guide element, thereby modifying the relative distance between the guide element and the main body.

[0009] According to at least one embodiment, the number of first rails is at least two, and the at least two first rails are distributed parallel along the main body in a lateral direction.

[0010] According to at least one embodiment, the guide element comprises a sliding block, and the sliding block moves within the first rail.

[0011] According to at least one embodiment, the mobile cleaning robot further comprises a horizontal actuator connected to the guide element, wherein the horizontal actuator exerts a driving force in a lateral direction on the guide element by means of lateral movement, and during this lateral movement the height of the horizontal actuator relative to the main body remains constant.

[0012] According to at least one embodiment, the horizontal actuator comprises a second rail which is arranged vertically, receives the guide element and along which the guide element is moved vertically.

[0013] According to at least one embodiment, the guide element comprises a limiting plate and two sliding blocks, wherein the limiting plate is positioned between the first rail and the second rail, the sliding blocks extend outwards from opposite sides of the limiting plate, and the two sliding blocks are each received by the first rail and the second rail.

[0014] According to at least one embodiment, the horizontal actuator comprises a drive gear and a rack, wherein the drive gear is configured to be rotatable during operation, the rack is connected to the guide element, and the drive gear engages with the rack, thereby converting the drive force of the drive gear into an actuating force in the lateral direction of the rack.

[0015] According to at least one embodiment, it has a first height and a second height in the vertical direction, in the first height the brush roller assembly touches the surface to be cleaned and at least one end of the brush roller assembly projects beyond the projection area of ​​the main body of the mobile cleaning robot onto the surface to be cleaned; in the second height the brush roller assembly is away from the surface to be cleaned and the brush roller assembly is positioned within the projection area of ​​the main body of the mobile cleaning robot above the surface to be cleaned.

[0016] According to at least one embodiment, the mobile cleaning robot comprises a control unit connected to the main body, wherein the control unit is configured to move the guide element between the first horizontal position and the second horizontal position based on the desired position of the brush roller assembly.

[0017] According to at least one embodiment, the control unit is configured such that: when the brush roller assembly is at the first height, the guide element is moved from the first horizontal position to the second horizontal position to lower the height of the brush roller assembly to the second height, with one end of the brush roller assembly extending beyond the main body of the mobile cleaning robot; and when the brush roller assembly is at the second height, the guide element is moved from the second horizontal position to the first horizontal position to raise the height of the brush roller assembly to the first height, with at least one end of the brush roller assembly being located inside the main body of the mobile cleaning robot at that time.

[0018] According to another aspect, a mobile cleaning robot is provided, comprising the following: a main body; a brush roller assembly for cleaning surfaces to be cleaned; a guide element connected to the brush roller assembly, wherein the guide element drives the brush roller assembly to change its position relative to the main body; a first rail connected to the main body, wherein the first rail accommodates the guide element such that the guide element moves relative to the main body between a first lateral position and a second lateral position; in the first lateral position, the guide element is at a distance from the surface to be cleaned;In the second lateral position, the guide element is located near the surface to be cleaned, allowing the brush roller assembly to switch between a position at a distance from the surface to be cleaned and a position in contact with the surface to be cleaned; a rack and pinion mechanism connected to the guide element, wherein the rack and pinion mechanism drives the guide element to move relative to the main body between the first lateral position and the second lateral position in response to a rotation input; and a control attached to the main body, wherein the control provides a rotation input to the rack and pinion mechanism based on the desired position of the brush roller assembly.

[0019] According to at least one embodiment, in the first horizontal position the brush roller assembly is located near and inside the main body; and in the second horizontal position the brush roller assembly is located away from the main body and in contact with the surface to be cleaned, and one end of the brush roller assembly extends beyond the widest position of the main body or is flush with the widest position.

[0020] According to another aspect, a mobile cleaning robot is provided, comprising: a main body; a brush roller assembly, wherein the brush roller assembly is connected to the main body and the brush roller assembly is configured to clean the surface to be cleaned; a guide element, wherein the guide element is connected to the brush roller assembly and the guide element is configured to guide the brush roller assembly in a lateral movement relative to the main body; and an actuating element connected to the guide element, wherein the actuating element provides an actuating force for the lateral movement of the guide element, the lateral movement of the brush roller assembly comprising a first end position and a second end position, the second end position being laterally opposite the first end position;In the first end position, one end of the brush roller assembly extends beyond the main body and the brush roller assembly is away from the main body; in the second end position, the brush roller assembly is completely within the boundaries of the main body and the brush roller assembly is located near the main body.

[0021] According to at least one embodiment, the guide element comprises: a first rail, wherein the first rail comprises at least two laterally extending sections, wherein the at least two laterally extending sections have different heights; and a transition section positioned between the laterally extending sections, wherein the guide element is received by the first rail and the driving force in the lateral direction causes the brush roller assembly to move towards or away from the main body.

[0022] According to at least one embodiment, the mobile cleaning robot further comprises a horizontal actuator, wherein the horizontal actuator comprises a second rail, the second rail being arranged vertically and the guide element moving vertically along the second rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings illustrate exemplary embodiments of the present utility model and, together with the accompanying description, serve to explain the principles of the present utility model. These drawings are included to facilitate a better understanding of the present utility model and form part of this description. Fig. Figure 1 is a top view of a cleaning robot according to an exemplary embodiment of the present utility model. Fig. Figure 2 is a side view of a cleaning robot according to an exemplary embodiment of the present utility model. Fig. Figure 3 is another side view of the cleaning robot according to an exemplary embodiment of the present utility model. Fig. Figure 4 is another top view of the cleaning robot according to an exemplary embodiment of the present utility model. Fig. Figure 5 is a schematic front view of the brush roller assembly and the brush roller guide assembly of the cleaning robot according to an exemplary embodiment of the present utility model, showing the state in which the brush roller is detached from the surface to be cleaned. Fig. Figure 6 is a three-dimensional view of the brush roller assembly of the cleaning robot according to an exemplary embodiment of the present utility model. Fig. Figure 7 is a schematic diagram of the first track distribution of the guide assembly on the main body of an exemplary cleaning robot according to the present utility model. Fig. Figure 8 is a schematic front view of the brush roller assembly and the brush roller guide assembly of the cleaning robot according to an exemplary embodiment of the present utility model, showing the state in which the brush roller is engaged with the surface to be cleaned. Fig. Figure 9 is a schematic front view of the brush roller assembly and the brush roller guide assembly of an exemplary cleaning robot according to the present utility model, showing the state in which the brush roller is engaged with the surface to be cleaned and one end extends beyond the main body of the cleaning robot. Fig. Figure 10 is a schematic front view of the brush roller assembly and the brush roller guide assembly of the cleaning robot according to an exemplary embodiment of the present utility model, showing an alternative state in which the brush roller is detached from the surface to be cleaned. Fig. Figure 11 is an alternative schematic representation of the first track distribution on the main body of the guide assembly of an exemplary cleaning robot according to the present utility model. Fig. Figure 12 is a three-dimensional exploded view of the horizontal actuator of a cleaning robot according to an exemplary embodiment of the present utility model. Fig. Figure 13 is a schematic sectional view of the brush roller assembly and the brush roller guide assembly according to an exemplary embodiment of the present utility model, illustrating the state in which both ends of the guide element are engaged with different first rails. DETAILED DESCRIPTION

[0024] The present utility model is now described in more detail with reference to the attached drawings and embodiments. It is understood that the specific embodiments described here serve solely for illustrative purposes and do not constitute any limitations to the scope of the present utility model. It should also be noted that, for the sake of clarity, the drawings depict only those elements relevant to the present utility model.

[0025] It should be noted that the embodiments of this utility model and the features within these embodiments can be combined with one another, provided there is no conflict. The technical solutions of this utility model are now described in detail with reference to the accompanying drawings and in conjunction with the embodiments.

[0026] Unless otherwise stated, the exemplary embodiments / examples shown are to be understood as illustrative features that provide various details of the possibilities of how the technical concept of the present utility model can be implemented in practice. Therefore, unless otherwise stated, the features of different embodiments / examples can be additionally combined, separated, exchanged and / or rearranged without deviating from the technical concept of the present utility model.

[0027] The hatching and / or shading used in the drawings generally serves to make the boundaries between adjacent components more easily identifiable. Unless otherwise specified, the presence or absence of hatching or shading therefore does not convey or indicate any preference or requirement regarding the specific material, material properties, dimensions, proportions, commonalities between the components shown, and / or other features, characteristics, or properties of the components. Furthermore, for the sake of clarity and / or descriptiveness, the dimensions and relative dimensions of the components may be exaggerated in the drawings. Where exemplary embodiments can be implemented differently, certain process steps may be carried out in a different sequence than described.For example, two processes described consecutively can be carried out essentially simultaneously or in reverse order to the described sequence. Furthermore, identical reference symbols denote identical components.

[0028] When a component is described as being "on" or "above" another component, or as being "connected to" or "coupled with" another component, that component may be directly on top of, directly connected to, or directly coupled with the other component, or there may be intermediate components. However, when a component is described as being "directly on," "directly with," or "directly coupled with" another component, there are no intermediate components. For this purpose, the term "connection" can refer to physical connections, electrical connections, etc., with or without intermediate components.

[0029] For descriptive purposes, this utility model may use spatial relative terms such as "below," "under," "in the way," "below," "above," "on," "over," "higher," and "side" (e.g., as in "side wall") to describe the relationship between one component and another component, as shown in the drawings. Beyond the orientations shown in the drawings, spatial relative terms are intended to encompass various orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings were reversed, a component described as "below" or "under" another component or feature would subsequently be positioned "above" that other component or feature. Thus, the exemplary term "below" can encompass both the "above" and "below" orientations.Furthermore, the device can be positioned alternatively (e.g. rotated by 90 degrees or in other orientations), with the corresponding spatial relative descriptions used here being interpreted accordingly.

[0030] The terminology used herein serves to describe specific embodiments and is not intended to be restrictive. Unless the context clearly indicates otherwise, singular forms such as "one" and "the" are to be understood as including plural forms. When the terms "comprehensive" and / or "inclusive" and their variants are used herein, they indicate the presence of the specified features, units, steps, operations, parts, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, units, steps, operations, parts, components, and / or groups thereof. It should also be noted that the terms "essentially," "approximately," and other similar expressions as used herein are to be understood as approximations rather than degrees of certainty.They are therefore used to account for inherent deviations in measurements, calculations and / or values ​​that are known to a person skilled in the art.

[0031] The mobile cleaning robot features a floor cleaning function (wet cleaning) that goes beyond the capabilities of conventional mobile cleaning machines. The cleaning robot can include dry cleaning components and wet cleaning components (such as cleaning rollers or cleaning discs). It can perform dry vacuuming only, dry vacuuming and wet cleaning (mopping) simultaneously, or wet cleaning only. Regardless of the selected function, the cleaning robot's wet cleaning component can move between a retracted and an extended position. When the wet cleaning component is in the retracted position, it contributes to improved effectiveness of the dry vacuuming function and the cleaning robot's mobility.The cleaning robot can raise its cleaning roller to perform dry vacuuming on surfaces unsuitable or unsuitable for wet cleaning, such as carpets. However, when the wet cleaning component is positioned for wet cleaning, its location within the robot's main contour limits its ability to reach areas outside that contour. Consequently, in certain designs, when cleaning the junction between floor and wall surfaces, the cleaning robot must be positioned flush against the wall to reach the joint, requiring more precise algorithmic navigation control. Similarly, in certain designs, when the wet cleaning component is in contact with the floor, a suitable actuator system is required to extend or retract the wet cleaning component beyond or within the main body contour.However, raising the cleaning roller requires an additional actuator system. Space within the main body of the cleaning robot is limited. Therefore, it is preferable to redesign a simple and reliable actuator system based on the cleaning robot's operating modes (dry and wet cleaning).

[0032] The present utility model solves this problem by integrating an adjustable guidance system into the mobile cleaning robot.

[0033] In the technical solution of the present utility model, the mobile cleaning robot can comprise a main body, a brush roller assembly, and a guide element. The brush roller assembly can be connected to the main body and clean surfaces (wet cleaning) that require cleaning. The guide element can guide the brush roller assembly so that it moves laterally and longitudinally (vertically) along the main body. The guide element can engage with a first rail on the main body to assist in lifting the brush roller assembly. This facilitates smooth passage over areas such as carpets or improves cleaning efficiency during dry vacuuming. When the guide element is in a vertically raised position, the first rail supports the weight of the brush roller assembly via the guide element.The first rail and guide element serve to limit the downward movement of the brush roller assembly relative to the main body and to precisely control the height of the brush roller assembly. This ensures that the brush roller assembly lifts off the surface to be cleaned at a suitable height. However, when the guide element is in the vertically lowered position, the first rail exerts pressure on the brush roller assembly via the guide element. The first rail and guide element also serve to limit the upward movement of the brush roller assembly relative to the main body and to precisely control its height. The brush roller assembly then contacts the surface to be cleaned with appropriate pressure to achieve a wet cleaning effect. The vertical raising and lowering of the guide element is achieved by applying a horizontal drive force to it.The guide element moves horizontally and linearly within the first rail, changing its vertical height relative to the main body. Consequently, the guide element can be further displaced horizontally during wet cleaning, causing one end of the brush roller assembly to extend beyond the outline of the main body. This expands the cleaning area of ​​the brush roller assembly beyond the surface to be cleaned. Such a movable guide element increases actuation redundancy and improves cleaning performance in multiple operating modes.

[0034] Fig. Figure 1 shows a top view of the cleaning robot 100. Fig. Figure 2 shows a side view of the 100 cleaning robot. The in Fig. 2 Brush roller assembly 130 shown is in the raised, retracted position. Fig. Figure 3 is a side view of the Robot 100 cleaning robot in a different state. The one in Fig. 3 Brush roller assembly 130 shown is in the lowered, retracted position. Fig. Figure 4 shows a top view of the cleaning robot 100 in a different state. The in Fig. The brush roller assembly 130 shown in Figure 4 is in the lowered, extended position. For the sake of simplicity, the terms "raised", "lowered", "retracted" and "extended" all refer here to the main body of the cleaning robot 100.

[0035] As in the Fig. 1, Fig. 2, Fig. 3 to Fig. As shown in Figure 4, the cleaning robot 100 can comprise a main body 110 and a cleaning system. The cleaning system can include the brush roller assembly 130. The cleaning robot 100 can further comprise additional features such as a suction motor, one or more side brushes, a suction system, a controller, a drive system, casters, sensors, and the like. The cleaning robot 100 can also comprise drive wheels. The drive wheels are connected to axles and arranged to be rotatable. The drive wheels can be configured to be driven by a drive wheel motor to propel the cleaning robot 100 along the surface to be cleaned. The cleaning robot 100 can further comprise a controller (not shown). The controller can be located within the housing of the cleaning robot 100 or within the main body 110 of the cleaning robot 100.The controller can be a programmable controller, such as a direct digital controller (DDC) or a programmable logic controller (PLC), among others. In some examples, the control unit can actuate the horizontal actuator 170 to move the brush roller assembly 130 into the raised retracted position (as shown in the figures). Fig. 1 and Fig. 2 shown), the lowered withdrawn position (as in Fig. 3 shown) or the lowered extended position (as in Fig. (as shown in Figure 4). In the raised, retracted position, the Cleaning Robot 100 can perform either the dry vacuuming or the movement process. In the lowered, retracted position, the Cleaning Robot 100 can perform either the wet cleaning or dry vacuuming processes, or only the wet cleaning process. In the lowered, extended position, the Cleaning Robot 100 can perform wet cleaning operations along edges (e.g., the junction between floor and wall surfaces).

[0036] Fig. Figure 5 shows the brush roller assembly 130, the guide element 150 and the horizontal actuator 170. The horizontal actuator 170 may include a gear 171, a rack 172, a drive motor and an encoder (not shown), etc.

[0037] The brush roller assembly 130 can be held within the main body 110 of the cleaning robot 100 by the guide element 150. The main body 110 can be located at least partially within the housing of the cleaning robot 100. The main body 110 can be designed as part of the frame of the cleaning robot 100 or as a separate component that is detachably attached to the frame of the cleaning robot 100. The brush roller assembly 130 can extend through the bottom of the housing of the cleaning robot 100 in both the longitudinal and transverse directions.

[0038] The brush roller assembly 130 can include a brush roller 132. The cleaning robot 100 can have a splash guard 133. The splash guard 133 can be a rigid or semi-rigid protective device. The splash guard 133 surrounds at least a portion of the brush roller 132. The splash guard 133 can be part of the brush roller assembly 130. The splash guard 133 can be spaced apart from the brush roller assembly 130 and move with the brush roller 132. The brush roller assembly 130 maintains a constant or substantially constant distance from the splash guard 133. As explained in more detail below, the splash guard 133 can be connected to the guide element 150. The stroke of the brush roller assembly 130 of the cleaning robot 100 is determined by the movement of the guide element 150. Alternatively, the guide element 150 can also be combined with other components of the brush roller assembly 130 to determine the stroke of the brush roller assembly 130.

[0039] As in the Fig. 6 and Fig. As shown in Figure 7, the guide elements 150 comprise two units, namely the guide element 1501 and the guide element 1502. The guide elements 1501 and 1502 can each have a rigid sliding glider. The guide elements 1501 and 1502 are each connected to the splash guard 133. The main body 110 can further comprise a first rail 190. There can be two first rails 190, namely a first rail 1901 and a first rail 1902. The first rail 1901 and the first rail 1902 accommodate the guide element 1501 and the guide element 1502, respectively. The first rail 190 can be formed within the main body 110. By varying the sliding path and the position of the guide element 150 within the first rail 190, the path of movement and the position of the splash guard 133 can be changed.The movement of the guide element 150 facilitates a change in position of the brush roller assembly 130 relative to the main body 110 or to the surface to be cleaned.

[0040] Fig. Figure 7 illustrates the first rail 190 of the guide element 150. The first rail 190 can be formed on the main body 110 or on a substrate that serves as an accessory for the cleaning robot. The substrate is attached to the main body 110. The guide element 150 includes a sliding block 151. The sliding block 151 can be a flat, smooth projection extending from both sides of the main body 152 of the guide element 150. Referring to the Fig. 6 and Fig. Figure 13 shows that the sliding block 151 has a first end 151a and a second end 151b. The first end 151a can engage with the first rail 190 to limit the transverse displacement of the guide element 150 relative to the main body 110. The second end 151b can engage with the vertical second rail 172c of the horizontal actuator 170 to limit the longitudinal freedom of movement of the guide element 150 relative to the main body 110 during this displacement. The lateral endpoints of the first rail 190, in conjunction with the guide element 150, help to determine or limit the lateral freedom of movement of the brush roller assembly 130. Additionally, the horizontal height difference of the first rail 190 can limit the relative vertical movement of the guide element 150 relative to the main body 110.Consequently, the distance limit for the vertical movement of the brush roller 132 relative to the main body 110 or to the surface to be cleaned can also be determined. In this way, the movement path of the guide element 150 is controlled, while at the same time the alignment between the guide element 150 and the horizontal actuator 170 is ensured.

[0041] In one example, the first rail 190 comprises at least two laterally extending sections of different heights. For instance, the laterally extending sections can comprise a first laterally extending section 190a and a second laterally extending section 190b. The height of the first laterally extending section 190a above the surface to be cleaned is greater than the height of the second laterally extending section 190b above the surface to be cleaned. Consequently, the different heights of the transverse extensions cause the guide element 150 to maintain different distances relative to the main body 110 or to the surface to be cleaned when its slider 151 is positioned within the respective transverse extension. This arrangement thus changes the overall height of the brush roller assembly 130 relative to the surface to be cleaned.

[0042] As in Fig. As shown in Figure 5, when the sliding block 151 is positioned within the first lateral extension 190a, the lateral travel range of the brush roller assembly 130 relative to the main body 110 is defined within the travel range of the first lateral extension 190a. During this lateral movement, the brush roller assembly 130 assumes a raised position. The brush roller assembly 130 is located completely within the contour of the main body 110, i.e., in the raised, retracted state. At this point, the cleaning surface of the brush roller 132 does not touch the surface to be cleaned, but maintains a certain distance. This ensures that even when traversing surfaces such as carpets, no contact occurs with the pile of the carpet surface.

[0043] As in Fig. As shown in Figure 8, the lateral movement of the brush roller assembly 130 relative to the main body 110 is restricted within the stroke of the second transverse extension 190b when the sliding block 151 is located within the second transverse extension 190b. During this lateral movement, the brush roller assembly 130 assumes a lowered position. The cleaning surface of the brush roller 132 contacts the surface to be cleaned and exerts a certain pressure to ensure effective removal of dirt particles from the surface during the cleaning of hard floors. In the lowered position, the brush roller assembly 130 can generally be located within the contour of the main body 110, i.e., in a lowered, retracted state. The height of the second transverse extension 190b is designed such that a portion of the weight or load of the main body 110 is transferred to the first end 151a of the sliding block.Therefore, when the first end 151a of the sliding block is positioned within the first rail 190, the weight or load is transferred via the connection between the guide element and the brush roller assembly through the upper edge of the first rail 190 to the brush roller assembly 130. This increases the load exerted on the surface to be cleaned via the brush roller 132.

[0044] As in Fig. As shown in Figure 9, when the cleaning robot 100 is operated in edge mode (in which the robot cleans the connection between the floor and the wall or between the floor and an obstacle on the floor), the horizontal actuator 170 can be actuated to limit the movement of the brush roller assembly 130 along the second transverse extension 190b to the end position B of the second transverse extension 190b. Via the drive system, the horizontal actuator 170 exerts a translational driving force on the sliding block 151, directed towards the outside of the main body 110, causing the sliding block 151 to move outwards along the second lateral extension 190b of the first rail 190. This outward movement keeps the sliding block 151 continuously in contact with the end position B of the second transverse extension 190b. Consequently, one end of the brush roller assembly 130 projects beyond the outside of the main body 110.In particular, at least one end of the brush roller assembly 130 projects beyond the projection area of ​​the main body of the cleaning robot onto the surface to be cleaned. During the design process, the projection of the brush roller assembly 130 can be determined based on the detection range of the edge sensors of the cleaning robot. This projection can be defined such that it extends at least beyond the largest lateral dimension of the cleaning robot's housing.

[0045] With reference to the Fig. 7, Fig. 10 and Fig. 13 The first rail 190 further comprises a transition section 190c, which is positioned between the first transverse extension 190a and the second transverse extension 190b. The transition section 190c facilitates the switching of the first end 151a of the sliding block between the first transverse extension 190a and the second transverse extension 190b, or vice versa. As described above, the second rail 172c of the horizontal actuator 170 grants the second end 151b of the sliding block freedom of movement in the vertical direction when the first end 151a of the sliding block moves within the transition section 190c. Thus, the sliding block 151 is driven by the translational driving force of the horizontal actuator 170 to move along the transition section 190c.This translational driving force generates a vertical component force between the transition section 190c and the first end 151a of the sliding block, enabling it to overcome the gravitational pull of components such as the brush roller assembly 130. Starting from one end of the first transverse extension 190a, the sliding block rises along both the transition section 190c and the vertical second rail 172c to reach the starting end of the second transverse extension 190b. Under the opposing translational driving force, the first end 151a of the sliding block moves away from the starting end of the second transverse extension 190b and enters the transition section 190c. Under the combined action of the gravitational pull of the brush roller assembly 130 and the translational driving force, the first end 151a of the sliding block can slide along the transition section 190c and the vertical second rail 172c into the first transverse extension 190a.

[0046] In one example, the stroke lengths defined by the first transverse extension 190a and the second transverse extension 190b can be different. As in Fig. As shown in Figure 11, the stroke of the first transverse extension 190a is greater than that of the second transverse extension 190b. This is because, within the second transverse extension 190b, the brush roller assembly 130 only needs to be lifted at one end and retracted into the main body 110. The brush roller assembly 130 performs no additional function in the retracted position. Consequently, an excessively long stroke for the brush roller assembly 130 is not required, thus saving space within the main body 110. In another example, the end of the second transverse extension 190b can be positioned essentially in the middle of the main body 110. When the sliding block 151 is moved into this position, the brush roller assembly 130 is guided approximately to the center of the main body 110.

[0047] As in Fig. As shown in Figure 12, the motor of the drive system can be connected to an encoder (not shown) and also to the horizontal actuator 170. The motor 173 can be connected to the horizontal actuator 170. The horizontal actuator 170 can extend transversely to the main body 110 to transmit the transverse rotation of the motor 173 and thereby move the guide element 150 to change the cleaning mode of the cleaning robot 100 during dry vacuuming, wet cleaning, and edge-cleaning operations.

[0048] As in the Fig. As shown in Figures 5, 8-10, 12, and 13, the horizontal actuator 170 can comprise a gear 171 and a rack 172. The rack 172 includes a base plate 172b. The base plate 172b is provided with a vertical second rail 172c to accommodate the second end 151b of the sliding block 151. The gear 171 and the rack 172 work together to convert the rotary motion of the motor's drive shaft into a translational motion of the rack 172, thereby providing the translational driving force. Under the combined action of the first rail 171 and the second rail 172c, the sliding block 151 achieves the conversion between the horizontal and vertical positions by being subjected to the translational driving force. Fig. Figure 13 illustrates that the guide element 150 can comprise a main body 152 extending from the guide element 150. In one example, the main body 152 is a plate-like structure. The first end 151a and the second end 151b of the sliding block 151 extend outward from opposite sides of the plate-like main body 152. The main body 152 can be connected to the splash guard 133 of the cleaning robot 100. The main body 152 has a longitudinal length that helps define the longitudinal movement of the brush roller assembly 130 of the cleaning robot 100. The surface of the main body 152 is positioned between the main body 110 and the rack 172 to stabilize the movement of the sliding block 151 within the first rail 190.

[0049] As in Fig. As shown in Figure 12, the main body 110 can include a lateral rail 110a to ensure the stability of the lateral movement of the rack 172. The extension direction of the lateral rail 110a is aligned with that of the first lateral extension section 190a, thus ensuring the coordination and stability of the horizontal movement. The sliding section 172a, which projects outwards from the base plate 172b of the rack 172, can be received by the lateral rail 110a. The engagement between the sliding section 172a and the lateral rail 110a forms a guide mechanism for the movement of the rack 172. Through the interaction between the main body 110 and the rack 172, a stable structure is formed for the lateral horizontal movement of the rack 172 along the main body 110.Regardless of how the sliding block 151 of the guide element 150 moves between the main body 110 and the rack 172, the relative height between the rack 172 and the main body 110 remains unchanged.

[0050] In one embodiment, the main body 110 is provided with an outwardly extending support section 110b. The support section 110b serves to support the lower edge of the rack 172. During the lateral movement of the rack 172, its lower edge can be received by the support section 110b and slide along it. That is, by the aforementioned configuration, the rack 172 can engage with the main body 110 to enable a stable translational movement of the rack 172 in response to the rotation of the gear 171, thereby driving the guide element 150 to change its position. However, this movement is limited to the partial stroke (partial rotation) of the gear 171 about its axis.

[0051] With reference to the Fig. 5 and Fig.At 8-10, the brush roller 132 contacts the surface to be cleaned. The first end 151a of the slider 151 is positioned within the first transverse extension 190a. The second end 151b is located at the lower end of the second rail 172c of the rack 172. As the gear 171 continues to rotate, the slider 151 moves further along the first transverse extension 190a toward the outside of the housing, driven by the second rail 172c of the rack 172, until the slider 151 engages the end of the first transverse extension 190a or until the control system stops the motor's rotation. The motor's rotation can be stopped, for example, by signals from the encoder. At this point, one end of the brush roller 132 protrudes beyond the main body 110.

[0052] To return the brush roller assembly 130 to its position within the main body 110, the motor can be operated in the opposite direction. The gear 171 rotates in the opposite direction, thereby returning the brush roller assembly 130 to its position within the main body 110.

[0053] When dry vacuuming is required, the motor continues to rotate in the opposite direction. The gear 171 rotates in the opposite direction. The brush roller assembly 130 is moved and raised to a higher position within the main body 110 when the sliding block 151 rises over the transition section 190c to the second transverse extension 190b, thereby lifting the brush roller 132 away from the surface to be cleaned and maintaining a suitable distance from that surface.

[0054] The encoder can be connected to the drive system. The encoder can monitor the rotation of either the motor's output shaft or the gear 171 and thereby monitor the position of the rack 172. The position signal (or encoder signal) from this position is transmitted to the controller. The controller can then determine the position of the sliding block 151 relative to the main body and the position of the brush roller assembly 130 relative to the main body 110. The controller can use these positions to control the movements of the cleaning robot 100.

[0055] In the description of this specification, the terms “one embodiment / mode”, “some embodiments / modes”, “example”, “specific example”, or “some examples” indicate that the specific features, structures, materials, or properties described in connection with that embodiment / mode or example are included in at least one embodiment / mode or example of the present application. In this specification, the illustrative use of the aforementioned terms need not necessarily refer to the same embodiment / mode or example. Furthermore, the described specific features, structures, materials, or properties may be combined appropriately in one or more embodiments / modes or examples.Furthermore, provided that this does not contradict each other, experts may combine and integrate various embodiments / methods or examples described herein with features from different embodiments / methods or examples.

[0056] Furthermore, the terms “first” and “second” are used solely for descriptive purposes and should not be interpreted as indicating or implying any relative meaning or as referring to the number of technical features specified. Consequently, features designated as “first” or “second” may explicitly or implicitly comprise at least one such feature. In the description of this application, “a plurality” means at least two, such as two, three, etc., unless expressly and specifically stated otherwise.

[0057] Those skilled in the art will recognize that the embodiments mentioned above serve only to clearly illustrate the present utility model and are not intended to limit its scope. For those skilled in the field, other variations or modifications may be made based on the above disclosure, which will also remain within the scope of the present utility model.

Claims

[1] Mobile cleaning robot, characterized by that it includes: a main body that moves across surfaces to be cleaned; and a brush roller assembly connected to the main body via a guide element, wherein the brush roller assembly cleans the surface to be cleaned; wherein the main body comprises a first rail which engages with the guide element, and the first rail defines the path of movement of the brush roller assembly relative to the main body in the vertical and lateral directions. [2] Mobile cleaning robot according to claim 1, characterized by, that the first rail comprises at least two laterally extending sections and a transition section, wherein the at least two laterally extending sections have different heights, the transition section is positioned between the laterally extending sections and seamlessly connects to them, the guide element being received by the first rail, the laterally extending sections facilitating linear movement, and the transition section modifying the path of movement of the guide element, thereby modifying the relative distance between the guide element and the main body. [3] Mobile cleaning robot according to claim 2, characterized by that the number of first rails is at least two and that the at least two first rails are distributed parallel along the main body in a lateral direction. [4] Mobile cleaning robot according to claim 1, characterized bythat the guide element includes a sliding block and that the sliding block moves within the first rail. [5] Mobile cleaning robot according to claim 1, characterized by , that the mobile cleaning robot further comprises a horizontal actuator connected to the guide element, wherein the horizontal actuator exerts a driving force in a lateral direction on the guide element by lateral movement and during this lateral movement the height of the horizontal actuator relative to the main body remains constant. [6] Mobile cleaning robot according to claim 5, characterized by that the horizontal actuator includes a second rail, which is arranged vertically, accommodates the guide element and along which the guide element moves vertically. [7] Mobile cleaning robot according to claim 6, characterized by, that the guide element comprises a boundary plate and two sliding blocks, wherein the boundary plate is positioned between the first rail and the second rail, the sliding blocks extend outwards from opposite sides of the boundary plate, and the two sliding blocks are each received by the first rail and the second rail. [8] Mobile cleaning robot according to claim 5, characterized by , that the horizontal actuator comprises a drive gear and a rack, wherein the drive gear is configured to be rotatable during operation, the rack is connected to the guide element and the drive gear is engaged with the rack, thereby converting the driving force of the drive gear into an actuating force in the lateral direction of the rack. [9] Mobile cleaning robot according to claim 1, characterized by, that it has a first height and a second height in the vertical direction, that in the first height the brush roller assembly touches the surface to be cleaned and that at least one end of the brush roller assembly extends beyond the projection area of ​​the main body of the mobile cleaning robot onto the surface to be cleaned. [10] Mobile cleaning robot according to claim 1, characterized by , that it has a first height and a second height in the vertical direction, in the second height the brush roller assembly is away from the surface to be cleaned and the brush roller assembly is positioned within the projection area of ​​the main body of the mobile cleaning robot on the surface to be cleaned. [11] Mobile cleaning robot according to claim 1, characterized bythat the mobile cleaning robot includes a control unit connected to the main body, the control unit being configured to move the guide element between the first horizontal position and the second horizontal position based on the desired position of the brush roller assembly. [12] Mobile cleaning robot according to claim 9, characterized by , that the control unit is configured such that: When the brush roller assembly is at the first height, the guide element is moved from the first horizontal position to the second horizontal position to lower the height of the brush roller assembly to the second height, with one end of the brush roller assembly extending beyond the main body of the mobile cleaning robot. [13] Mobile cleaning robot according to claim 10, characterized by, that the control unit is configured such that: when the brush roller assembly is at the second height, the guide element is moved from the second horizontal position to the first horizontal position to raise the height of the brush roller assembly to the first height, with at least one end of the brush roller assembly being inside the main body of the mobile cleaning robot at that time. [14] Mobile cleaning robot, characterized by that it includes: a main body; a brush roller assembly for cleaning surfaces to be cleaned; a guide element connected to the brush roller assembly, wherein the guide element drives the brush roller assembly to change its position relative to the main body; a first rail connected to the main body, wherein the first rail accommodates the guide element such that the guide element moves relative to the main body between a first lateral position and a second lateral position; in the first lateral position, the guide element is at a distance from the surface to be cleaned; in the second lateral position, the guide element is near the surface to be cleaned, thereby allowing the brush roller assembly to switch between a position at a distance from the surface to be cleaned and a position in contact with the surface to be cleaned; a rack and pinion mechanism connected to the guide element, wherein the rack and pinion mechanism drives the guide element to move relative to the main body between the first lateral position and the second lateral position in response to a rotational input; and a control mounted on the main body, wherein the control of the rack and pinion mechanism provides a rotation input based on the desired position of the brush roller assembly. [15] Mobile cleaning robot according to claim 14, characterized by , that: The brush roller assembly is located in the first horizontal position near and inside the main body. [16] Mobile cleaning robot according to claim 14, characterized by , that: The brush roller assembly is in the second horizontal position away from the main body and in contact with the surface to be cleaned, and one end of the brush roller assembly extends beyond the widest position of the main body or is flush with the widest position. [17] Mobile cleaning robot, characterized by that it includes: a main body; a brush roller assembly, wherein the brush roller assembly is connected to the main body and the brush roller assembly is configured to clean the surface to be cleaned; a guide element, wherein the guide element is connected to the brush roller assembly and the guide element is configured to guide the brush roller assembly in a lateral movement relative to the main body; and an actuating element connected to the guide element, wherein the actuating element provides an actuating force for the lateral movement of the guide element, wherein the lateral movement of the brush roller assembly comprises a first end position and a second end position, the second end position being laterally opposite the first end position; at the first end position, one end of the brush roller assembly extends beyond the main body and the brush roller assembly is away from the main body; at the second end position, the brush roller assembly is completely within the boundaries of the main body and the brush roller assembly is near the main body. [18] Mobile cleaning robot according to claim 17, characterized by , that the guide element includes: a first rail, wherein the first rail comprises at least two laterally extending sections, wherein the at least two laterally extending sections have different heights; and a transition section positioned between the laterally extending sections, wherein the guide element is received by the first rail and the driving force in a lateral direction causes the brush roller assembly to move towards or away from the main body. [19] Mobile cleaning robot according to claim 18, characterized by , that the mobile cleaning robot further comprises a horizontal actuator, wherein the horizontal actuator comprises a second rail, the second rail being arranged vertically and the guide element moving vertically along the second rail.

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