Liquid storage case and intelligent cleaning device having the same

Abstract

To provide a liquid-accommodating case and an intelligent cleaning apparatus comprising the same.SOLUTION: A liquid-accommodating case 3 includes a container case. The container case has a water outlet thereon. The water outlet communicates with a liquid accommodating room in the container case 3. A water effluence regulating nozzle to regulate the water effluence rate at the water outlet is mounted on the water outlet so that the liquid-accommodating case 3 has good water effluence effect.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to the field of vacuum cleaners, and in particular to a liquid storage case and an intelligent vacuum cleaner having the same. It concerns the device. [Background technology]

[0002] With the development of technology, various automatic vacuum cleaners have appeared. For example, automatic cleaning robots ( automatic sweeping robot, automatic mop robot Automatic mopping robots, etc. Automatic vacuum cleaners perform cleaning tasks automatically. This brings convenience to the user. Take an automatic cleaning robot as an example. Techniques such as direct scraping and vacuuming the dust This allows the area waiting to be cleaned to be cleaned automatically. The doctor blade and rotating brush attached to the bottom It can be implemented.

[0003] When an automatic cleaning robot equipped with a ground wiping function wipes the ground, the equipment required for wiping the ground is It is necessary to install a water tank on the automatic cleaning robot to supply the required water. The water tank of the conventional automatic cleaning robot is located at the bottom of the robot body and is connected to the robot. Normally, when installing or removing the water tank, the bottom of the robot faces upwards. This requires turning the robot over and then installing or removing the water tank. When installing or removing the water tank in this way, you need to turn the robot upside down. Therefore, the upper part of the robot is easily hit or damaged. The installed sensors are easily damaged, which may result in large economic losses. If the water tank leaks, the leaked water will The liquid enters the robot through the gap at the bottom, causing damage to the internal circuits and parts. Repair It may become impossible. Summary of the Invention

[0004] In accordance with an embodiment of the present invention, a liquid container and an intelligent cleaning device including the same are provided. This solves the problem of poor water discharge effect of the water tank of the conventional automatic cleaning robot.

[0005] In order to achieve the above object, an embodiment of the present invention provides a liquid storage case. The storage case includes a storage section case, and the storage section case is formed with a water outlet, and the water outlet is The water outlet is connected to the liquid storage space in the case, and has a water outlet control nozzle that controls the water outlet speed. A safety system has been installed.

[0006] Preferably, the water outlet control nozzle includes a nozzle core, and the nozzle core is inserted into the water outlet. This causes the water outlet to be clogged.

[0007] Preferably, the water flow control nozzle includes a nozzle frame and a nozzle core, the nozzle frame being It is detachably attached inside the water outlet and has a collection hole that penetrates the nozzle frame on the nozzle frame. A receiving hole is formed, and the nozzle core is received in the receiving hole.

[0008] Preferably, the water outflow control nozzle further includes a contact sealing spacer, the contact sealing spacer being It is attached to one end of the nozzle frame.

[0009] Preferably, the storage case is formed with a recessed groove, the recessed groove being formed on the outer periphery of the water outlet and abutting against the water outlet. The sealing spacer is located within the recess.

[0010] Preferably, a water inlet hole is formed on the nozzle frame, and the water inlet hole is connected to the storage hole and the liquid storage space. It is connected to the space.

[0011] Preferably, the water inlet hole is formed in the nozzle frame and is arranged along the periphery of the nozzle frame. are formed at intervals.

[0012] Preferably, the liquid storage case further includes a cross-country auxiliary roller, The tree assist roller is rotatably mounted on the storage case.

[0013] Preferably, the cross-country auxiliary roller is located at a position on the surface of the storage case. It stands out.

[0014] In another embodiment of the present invention, an intelligent cleaning device is provided. The intelligent cleaning device includes a cleaning device body and a cleaning device. The cleaning system is installed in the device body, and the cleaning system is detachable from the device body. The first cleaning part is attached to the device body or the device body. When the first cleaning part is removed from the device, the first cleaning part moves along the forward or backward direction of the device body, and the second The first cleaning unit includes a liquid container, which is the liquid container described above.

[0015] Preferably, the cross-country auxiliary roller on the liquid storage case is Located at the bottom end in the backward direction.

[0016] Preferably, the intelligent cleaning device further comprises a roller drive module, The roller includes a running roller rotatably installed on the device body, and when the device body is in a horizontal position, When the liquid storage case is in use, the lowest point of the cross-country auxiliary rollers on the liquid storage case is - higher than the lowest score.

[0017] Preferably, the first cleaning unit further includes a cleaning cloth, and the cleaning cloth is adapted to clean the liquid storage case. It is installed on one side where the Ross Country auxiliary roller is attached, and the cleaning cloth is covered with a cloth. An opening is formed to allow the scanning auxiliary roller to pass through.

[0018] Preferably, the cleaning cloth is detachably installed in the liquid storage case, and the cleaning cloth has a first guide a second guide portion is formed in the liquid storage case, and the first guide portion and the second guide portion are connected to each other. When these are fitted together, the direction in which the cleaning cloth is attached is determined.

[0019] Preferably, the first guide portion includes a guide groove and the second guide portion includes a guide rod coupled to the guide groove. The guide rod is connected to the guide groove to prevent the cleaning cloth from moving relative to the liquid storage case. Restrict.

[0020] Preferably, the first guide portion includes a guide slit and the second guide portion includes a mounting groove, the guide slit The cleaning cloth is inserted and fixed in the mounting tank to limit the movement of the cleaning cloth relative to the liquid storage case. do.

[0021] Preferably, the guide slime is connected and fixed to the cleaning cloth by a connecting structure, and the mounting tank is connected to the connecting structure. A notch is formed at the first end of the mounting chamber to prevent the insertion of a guide slug. An opening is formed and a stop structure is formed at the second end of the mounting chamber to prevent disengagement.

[0022] Preferably, the cleaning wipes are semicircular, and the cleaning wipes installed in sequence are arranged to cover the infiltrated area, the contaminated area, and the like. It includes a material removal area and a water absorption area.

[0023] In the liquid storage case according to the embodiment of the present invention, a water outlet control device is provided at the water outlet of the storage case. The control nozzle controls the water flow rate of the liquid storage case. A permeable cloth is attached to the water storage space, and one end of the permeable cloth is installed in the water storage space and the other end is installed at the water outlet. The water in the water tank is discharged by capillary action. When controlling the outflow of water by the filtering structure of the outflow control nozzle, Problems with the prior art: when controlling flooding by means of permeable cloth, it is not easy to control the flooding rate In addition, the water outlet control nozzle is installed in the water outlet, so that the replacement This makes it easier to [Brief description of the drawings]

[0024] [Figure 1] FIG. 2 is a schematic view of an intelligent cleaning device according to an embodiment of the present invention viewed from a first observation direction. [Diagram 2] FIG. 2 is a schematic view of the intelligent cleaning device according to the embodiment of the present invention taken in a second viewing direction. [Diagram 3] 2 is a schematic view of a main body and a first cleaning unit of an intelligent cleaning device according to an embodiment of the present invention, taken in a first observation direction. FIG. [Figure 4] 2 is a three-dimensional view of the structure of the device body and the first cleaning part of the intelligent cleaning device according to the embodiment of the present invention, taken from a second observation direction. [Diagram 5] 3 is a three-dimensional view of the structure of the device body and the first cleaning part of the intelligent cleaning device according to the embodiment of the present invention, taken from a third observation direction. [Figure 6] FIG. 2 is a bottom view of the main body of the intelligent cleaning device according to the embodiment of the present invention. [Figure 7] 2 is a three-dimensional view showing the structure of the bottom surface of the main body of the intelligent cleaning device according to the embodiment of the present invention. [Figure 8] FIG. 2 is a bottom view of the chassis of the main body of the intelligent cleaning device according to the embodiment of the present invention. [Figure 9] 9 is a partially enlarged view showing part A in FIG. 8. [Figure 10] FIG. 2 is a side view showing the structure of a first guide groove of a chassis of a main body of an intelligent cleaning device according to an embodiment of the present invention. [Figure 11] 2 is a perspective view of the liquid container of the intelligent cleaning device according to the embodiment of the present invention, taken from a first observation direction. FIG. [Figure 12] 2 is a three-dimensional view of the liquid container structure of the intelligent cleaning device according to the embodiment of the present invention, taken from a second observation direction. FIG. [Figure 13] 2 is a perspective exploded view of the liquid container of the intelligent cleaning device according to the embodiment of the present invention, showing the structure of the upper cover and the coupling control module of the liquid container of the intelligent cleaning device according to the embodiment of the present invention, taken from a first observation direction. FIG. [Figure 14] 2 is a perspective exploded view showing the structure of the upper cover and the coupling control module of the liquid storage case of the intelligent cleaning device according to the embodiment of the present invention, taken from a second observation direction. FIG. [Figure 15] 2 is a view showing the combination of the upper cover of the liquid storage case and the combination control module of the intelligent cleaning device according to the embodiment of the present invention. [Figure 16] 2 is a schematic diagram of a mounting frame structure of an integrated control module of an intelligent cleaning device according to an embodiment of the present invention, taken from a first observation direction. FIG. [Figure 17] 2 is a schematic view of a mounting frame of an intelligent cleaning device according to an embodiment of the present invention, taken from a second viewing direction; FIG. [Figure 18] 2 is a diagram showing the connection of a connection control module, a first connection part and a second connection part of an intelligent cleaning device according to an embodiment of the present invention. [Figure 19] 4 is a diagram illustrating the principle of another combined control module of the intelligent cleaning device according to an embodiment of the present invention. [Figure 20] 2 is a three-dimensional view taken in a first observation direction, showing the structure of the lower cover of the liquid storage case of the intelligent cleaning device according to the embodiment of the present invention. FIG. [Figure 21]4 is a three-dimensional view taken from a second observation direction, showing the structure of the lower cover of the liquid storage case of the intelligent cleaning device according to the embodiment of the present invention. FIG. [Figure 22] 4 is a three-dimensional view taken from a third viewing direction, showing the structure of the lower cover of the liquid storage case of the intelligent cleaning device according to the embodiment of the present invention. FIG. [Diagram 23] FIG. 2 is an exploded view showing the structure of a liquid storage case of an intelligent cleaning device according to an embodiment of the present invention. [Figure 24] FIG. 2 is a perspective exploded view showing the structure of a water outlet control nozzle of an intelligent cleaning device according to an embodiment of the present invention, taken from a first observation direction. [Diagram 25] FIG. 2 is a three-dimensional exploded view of the structure of the water outlet control nozzle of the intelligent cleaning device according to the embodiment of the present invention, taken from a second observation direction. [Figure 26] 1 is a diagram showing the structure of a cleaning cloth of an intelligent cleaning device according to an embodiment of the present invention. [Figure 27] 1 is a three-dimensional view showing the structure of a cleaning cloth of an intelligent cleaning device according to an embodiment of the present invention. [Figure 28] 2 is a three-dimensional view showing the combination of the liquid container and the cleaning cloth of the intelligent cleaning device according to the embodiment of the present invention. [Figure 29] FIG. 29 is an enlarged view showing a local portion of FIG. 28. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] Hereinafter, a liquid storage case and an intelligent cleaning device having the same according to an embodiment of the present invention will be described with reference to the drawings. The device will be described in detail.

[0026] Meaning of the name: Forward direction: refers to the forward direction of the intelligent cleaning device. Reverse direction: refers to the direction opposite to the forward direction of the intelligent cleaning device.

[0027] In an embodiment of the present invention, a liquid storage case is provided. The liquid storage case includes a storage case. The storage case is formed with a water outlet 321. The water outlet 321 is formed in the storage case. The water outlet 321 is connected to the liquid storage space of the water outlet 321, and a water outlet 321 is connected to the liquid storage space of the water outlet 321. The water outflow control nozzle 34 is installed at the water outflow port 321. By installing the filter 34, the amount of water coming out can be controlled by the filtering structure of the water outflow control nozzle 34. In the conventional technology, a permeable cloth is attached inside the water tank, and the permeable cloth One end of the water pump is placed in the water storage space, and the other end is placed in the water outlet. The water in the water tank is guided to the outlet by the ary action. When controlling the outflow, the outflow rate can be easily controlled by controlling the outflow with the permeable cloth. This solves the problem of the prior art where the impregnated cloth is not attached to the container. Since the filter is fixed to the filter, it is inconvenient to replace the filter cloth, which is costly and requires a large water tank. It is complicated to use because it requires disassembly, and does not allow for easy replacement. When the water outflow control nozzle 34 is attached to the water outflow port 321, replacement becomes easy.

[0028] In this embodiment, the permeable cloth in the liquid storage case is removed, and the water is discharged only by the water discharge control nozzle 34. The water velocity can be controlled, and the flood control effect is further improved.

[0029] In this embodiment, the liquid container is an intelligent cleaning device (such as a cleaning robot). (for example, water) for storing cleaning liquid of the intelligent cleaning device. In other embodiments, the liquid container may be adapted for other suitable environments. do.

[0030] Preferably, the storage case includes an upper cover 31 and a lower cover 32, and the upper cover 31 is connected to the lower cover 32, and a water outlet 321 is formed in the lower cover 32.

[0031] Alternatively, the water outlets 321 may be multiple and spaced apart from one another in the housing. The number of outlets 321 can be increased or decreased based on different water flow demands. With two 21s, the amount of water flowing is ensured, and the water flow is quick, so the frequency of water supply increases. Of course, by adjusting the area of ​​the water outlet 321, it is possible to avoid the above. The amount of water flowing from the port 321 can also be controlled.

[0032] Optionally, the water outlet control nozzle 34 includes a nozzle core 342. The nozzle core 342 is 321 to close the water outlet 321, so that the liquid in the liquid storage case The water flows out due to the permeation of the nozzle core 342. The water flow can be controlled by controlling the permeation rate of the nozzle core 342. The speed can be controlled, but when using a permeable cloth to let water out, it is difficult to control the water outflow speed. This can solve technical problems.

[0033] Optionally, the water flow control nozzle 34 includes a nozzle frame 341 and a nozzle core 342. The nozzle frame 341 is detachably attached to the water outlet 321. The nozzle core 342 is formed with a receiving hole penetrating the nozzle frame 341. As shown in Figures 24 and 25, the flood control device having the above-mentioned structure is The control nozzle 34 is used, and the nozzle frame 341 is attached to the water outlet 321 of the lower cover 32. After the nozzle core 342 is attached, the amount of water discharge can be controlled by the nozzle frame 34. 1 is inserted into the water outlet 321 from the outside of the lower cover 32 (the side away from the upper cover 31). Since the nozzle is inserted, the water discharge control nozzle 34 can be replaced without dismantling the storage case. The nozzle core 342 with different permeability can be selected to control the amount of water discharge. Therefore, the amount of water discharge can be controlled more accurately and effectively, and the effect of cleaning can be improved. Ensure that:

[0034] In order to ensure that the water in the storage case flows into the nozzle core 342, the nozzle frame The frame 341 is provided with a water inlet 341a. The water inlet 341a is a storage hole and a liquid storage space. Optionally, the water inlet hole 341a is formed in the nozzle frame 341 and the nozzle The recesses 342 are formed at intervals along the periphery of the frame 341.

[0035] In another embodiment, the amount of water flow can be controlled by controlling the water flow rate. Only the core 342 may be provided.

[0036] Preferably, the number of the water outflow control nozzles 34 is two or more, and each water outflow control nozzle 34 is The number of the water outlet control nozzles 34 corresponds to the area of ​​the cleaning cloth 4 and a predetermined number. The number of water discharge control nozzles 34 can be appropriately selected depending on the humidity of the water. The distance between the two is 10 mm to 350 mm, and the entire cleaning cloth 4 is uniform. More preferably, the distance between them is 80m. The water outlet control nozzle 34 further includes abutting sealing spacer 343. The sealing spacer 343 is installed at one end of the nozzle frame 341. A recess is formed on the outer periphery of the water outlet 321, and the abutting sealing spacer 343 is recessed. Preferably, the water outlet control nozzle 34 is fitted with an abutting sealing spacer 343 (this material The material may be rubber, and the abutting sealing spacer 343 is attached to the upper cover 31. The nozzle frame 341 is attached to one end of the nozzle frame 341 that is away from the upper cover 31. A recess for receiving the abutting and sealing spacer 343 is formed on one side of the lower cover 32. The abutting sealing spacer 343 prevents liquid from entering the gap between the water outlet and the water outlet control nozzle 34. It prevents the water from flowing out of the tank, while providing an operating position for easy installation and removal of the water discharge control nozzle 34. By controlling the amount of water discharged by the water discharge control nozzle 34, replacement of parts becomes easier. In addition, different materials of nozzle core 342 can be used according to the needs of different environments. This allows the amount of water to be controlled, allowing users to conveniently select it.

[0037] Preferably, the climbing and cross-country ability of the intelligent cleaning device is improved, and the intelligent In order to adapt the cleaning device to various environments, the liquid storage case is equipped with a cross-country auxiliary rope. The cross-country auxiliary roller 322 is rotatable in the storage case. The cross-country auxiliary roller 322 is installed in the storage case at its location. For ease of understanding, the cross-country auxiliary roller 322 The operation will be explained by combining it with an intelligent cleaning device to which it is applied.

[0038] In another embodiment of the present invention, an intelligent cleaning device is provided, which comprises a device body 1 and a cleaning device. The main body 1 supports the cleaning system and other structures installed in the main body 1. The cleaning system includes a first cleaning unit 2 detachably installed on the device body 1. When the first cleaning unit 2 is attached to the device body 1 or detached from the device body 1, The cleaning unit 2 moves along the forward direction of the device body 1. The first cleaning unit 2 is a liquid storage case 3. The liquid storage case 3 is the liquid storage case described above. When the first cleaning part 2 is attached or detached from the device body 1, the first cleaning part 2 moves in the forward direction of the device body 1. (or the opposite direction). Usually, the forward direction of the device body 1 is horizontal. Therefore, the first cleaning unit 2 can be attached and detached more easily, and the automatic cleaning robot in the prior art is The water tank can only be installed or removed if it is turned over so that its bottom faces upwards. Therefore, the replacement and maintenance of the first cleaning unit 2 can be further simplified. By adopting the liquid storage case 3 having the above-mentioned structure, the water outflow effect is improved. can be improved to ensure the cleaning effect.

[0039] As shown in FIG. 1 and FIG. 2, the intelligent cleaning device can be an intelligent cleaning robot. Examples include, but are not limited to, vacuuming solar panels or vacuuming building exteriors. In this embodiment, an intelligent cleaning robot is taken as an example.

[0040] The intelligent cleaning device includes not only the device body 1 and the cleaning system, but also a sensing system, a control system, stem (not shown), drive system, energy system and man-machine interface (man machine interface) 9. The main components will be described in detail.

[0041] The device body 1 includes an upper sealing cover, a forward section 13, a backward section 14, and a chassis 11. The device body 1 has a substantially circular shape (both the front and rear are circular) and does not have any other shape. For example, the front portion may be generally D-shaped with a square shape and a circular shape at the rear. However, the present invention is not limited to this.

[0042] The sensing system includes a position determining device located above the device body 1 and a forward moving part of the device body 1. 13, a shock absorber, a step sensor 51, an ultrasonic sensor, an infrared sensor, a magnetic sensor, These sensors include force meters, accelerometers, gyroscopes, odometers, etc. The position determination device transmits the position information and the moving status information of the intelligent cleaning device to the control system. may include infrared transmitters and receivers, cameras, and laser distance measuring devices (LDS). However, the present invention is not limited to this.

[0043] The cleaning system includes a dry cleaning unit and a wet cleaning unit. The wet cleaning unit is a first cleaning unit 2; The function of the cleaning device is to wipe the cleaning surface (e.g., the ground) with the cleaning cloth 4 containing the cleaning liquid. The dry cleaning unit is the second cleaning unit, and its function is to remove solid particles from the cleaning surface by using a brush or other structure. It's about sweeping up the trash.

[0044] As a dry cleaning unit, the main cleaning functions are a rotating brush 61, a dust storage unit, a blower, an air outlet, and The second cleaning part is connected to the ground by a connecting part between them. The rotating brush 61 that comes into contact with the ground sweeps up the dirt on the ground and stores it in the dust collector. The dust is collected by the blower and guided to the front of the dust suction port between the dust collector and the dust storage section. The dust is guided into the dust storage compartment by the passing suction gas. The cleaning capacity of the vacuum cleaner is determined by the dust removal efficiency. This can be expressed by the dust pick up efficiency (DPU). The dust removal efficiency DPU is affected by the structure and material of the rotating brush 61, the dust suction port, the dust collection port, and the The effect of the wind duct consisting of the storage unit, the blower, the air outlet, and the connecting parts between them on the wind power utilization rate It is affected by the noise and the type and power of the blower. Compared to ordinary electric vacuum cleaners, Therefore, the improvement of dust removal ability is even more significant for energy-limited cleaning robots. It is possible to effectively reduce energy demand by improving dust removal capacity. Yes, you can. For example, originally it was capable of cleaning 80 square meters of ground on a single charge. However, after improving the dust removal ability, it can clean more than 100 square meters of ground with one charge. By reducing the number of charging times, the battery life can be significantly increased. This reduces the frequency with which users need to replace batteries. More importantly, The improved dust removal capability gives users a noticeable feeling of use, The person can conclude whether the floor has been swept clean or not, whether the floor has been wiped clean or not. The dry cleaning system may further include a side brush 62 having a rotating shaft. Since the rotating brush 61 of the second cleaning unit has a certain angle with respect to the ground, the dust is moved to the cleaning area of ​​the rotating brush 61 of the second cleaning unit. can be directed to.

[0045] The first cleaning section 2, which is a wet cleaning section, mainly comprises the above-mentioned liquid storage case 3 and cleaning cloth 4. The liquid storage case 3 is an important part that supports the first cleaning unit 2. The dust cloth 4 is detachably attached to the liquid storage case 3. The liquid in the liquid storage case 3 is wiped off. It flows to the cleaning cloth 4, which wipes the ground that has been cleaned by the rotating brush or the like.

[0046] The driving system drives the device body 1 and the parts thereon to move, thereby realizing intelligent cleaning. The cleaning device automatically moves and cleans. The drive system is equipped with a roller drive module 71. The drive system controls the drive based on distance and angle information, e.g., the quantities x, y, and θ. The roller drive module 7 outputs commands to make the cleaning robot move on the ground. 1 can control the left and right rollers at the same time. For precise control, the roller drive module 71 is connected to the left roller drive module and the right Preferably, each of the left and right roller drive modules includes a left roller drive module. The left and right roller drive modules are provided on both sides of the lateral axis of the device body 1 (symmetrically arranged). The cleaning robot can move more stably on the ground or have stronger movement ability. To achieve this, the cleaning robot may include one or more driven rollers 72. The driven roller can be, but is not limited to, an omni-directional roller. It's not something.

[0047] The roller drive module 71 controls the running rollers, the drive motor, and the drive motor. The roller drive module 71 includes a circuit for measuring the driving current and a control circuit for measuring the travel distance. The roller drive module 71 is detachably connected to the main body 1. This makes it easy to install, remove and maintain. The driving roller is a downward-facing suspension type. The device is fixed in a movable manner, for example, fixed to the device body 1 in a rotatable manner, and The bias spring causes the device to be biased by a downward force and a force in a direction away from the device body 1. The bias spring ensures that the drive rollers contact and traction the ground with a constant landing force. and the cleaning parts of the cleaning robot (e.g., the rotating brush) also contact the ground with a constant pressure. Allow it to be.

[0048] A shock absorber can be attached to the forward moving part 13 of the device body 1. When the cleaning robot moves on the ground by the driving module 71, the shock absorber A sensor system such as an external line sensor detects one or more points along the path of the cleaning robot. The cleaning robot detects a plurality of obstacles, such as an obstacle, Based on the wall surface, the roller drive module 71 is controlled to take measures to avoid obstacles. For example, it is possible to move in a direction that moves the obstacle away.

[0049] The control system is installed on a circuit board in the device body 1, and includes a hard disk drive, flash memory, Non-volatile memory such as flash memory, random access memory, etc. tile memory), central processing units, application processors, etc. The application processor includes a communication computing device such as After obtaining the feedback information of the obstacle, the localization method, e.g., SLAM, is used. Creates a real-time map of the environment where the cleaning robot is located. Buffer device, step sensor 51, and ultrasonic Wave sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, etc. The distance and speed information fed back by the sensor is combined to determine the current location of the cleaning robot. For example, it may be on a threshold or carpet, or it may be in a stage where Do not place the product in a position that is too close to the ground, hang it from above or below, allow the dust compartment to fill up, or allow it to be held by someone. Therefore, we provide the following operating measures according to different situations. The cleaning robot will operate according to the user's intentions, providing a better user experience. The control system determines the most effective cleaning route and cleaning method based on the real-time map formed by SLAM. This allows you to plan the cleaning method, which can greatly improve the cleaning efficiency of the cleaning robot. do.

[0050] The energy system includes rechargeable batteries such as nickel-metal hydride batteries and lithium batteries. The battery is connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery low voltage detection circuit; The charging control circuit, the battery charging temperature detection circuit, and the battery low voltage detection circuit are all single-chip control circuits. The device body is connected to the charging port by connecting a charging electrode provided on one side or the bottom of the device body. If there is dust on the exposed charging electrodes, overcharging may occur. The accumulation of electric charges during the charging process causes the plastic around the charging electrodes to melt and deform. This may cause the charging electrodes to become deformed, which may prevent normal charging. do.

[0051] The man-machine interface 9 includes a keyboard on the panel of the device body, and the user can operate the keyboard. The functions can be selected by the board. The man-machine interface 9 is a display panel The display panel, the display lamp, and / or the speaker may further be included. The amplifier and speaker inform the user of the current status or selected function of the cleaning robot. The man-machine interface 9 can update the program of the mobile phone terminal. The route guide type cleaning device can be configured to notify the location of the cleaning robot via a mobile phone type terminal. It is possible to provide the user with a map of the current environment and the location of the cleaning robot, making it more convenient. Therefore, better functions can be provided to the user.

[0052] In order to describe the movement of the cleaning robot in more detail, the direction of movement is defined as follows. The robot moves along three vertical axes defined by the device body 1 to perform cleaning. The robot can be shown moving on the ground. The three vertical axes are forward and backward. Axis X (axis along the direction of the forward movement portion 13 and the backward movement portion 14 of the device body 1), transverse axis Y (X axis and is in the same horizontal plane as the X-axis) and the central vertical axis Z (which is perpendicular to the X-axis and Y-axis The axis perpendicular to the plane formed by the axis X and the axis Y. The direction in which the wheel moves is called the "forward direction", and the direction in which the wheel moves along the longitudinal axis X in the backward direction is called the "reverse direction". The lateral axis Y is aligned with the axis defined by the center point of the roller drive module 71. This means that the sheet is stretched along the direction between the right roller and the left roller.

[0053] The cleaning robot can rotate around the Y axis. When the forward part of the cleaning robot is tilted upward and the backward part is tilted downward, it is called "upward facing" and the forward part of the cleaning robot is tilted downward. When the Z axis is tilted downward and the retreating part is tilted upward, it is called "downward facing." The cleaning robot can rotate around the rotation axis. When the robot is tilted to the right on the X-axis, it is called "right rotation." When the robot is tilted to the left on the X-axis, it is called "right rotation." This is called "left rotation."

[0054] The dust collection section can be coupled to the storage section by providing a mechanical coupling section. When the joint is pressed, the hook is contracted, and when the joint is released, the hook returns to its original shape. As a result, the hook is coupled to a recess in the receiving portion that receives the hook.

[0055] Hereinafter, the specific connection between the first cleaning part 2 and the device body 1 will be described in detail.

[0056] The first cleaning unit 2 is attached to the device body 1 by a guide structure, and the first cleaning unit 2 is guided to the device body 1. After being attached to the top, the first cleaning part 2 can move up and down relative to the device body 1. That is, a gap is formed between first cleaning part 2 and device body 1.

[0057] Specifically, the first cleaning unit 2 is mounted on the chassis 11 of the device body 1. A protruding structure 113 for mounting the first cleaning unit 2 is formed on the upper surface of the cleaning unit 11. In the example, the first cleaning unit 2 is mounted on the chassis 11 of the rear portion 14 of the device body 1. can be.

[0058] The first cleaning unit 2 is attached to the chassis 11 by a guide structure, and the first cleaning unit 2 and the chassis A gap is formed between the seat 11.

[0059] As shown in FIG. 3 to FIG. 10, the guide structure includes a first guide protrusion 311 and a first guide groove 11. The first guide groove 111 is formed in either the first cleaning unit 2 or the chassis 11. The first guide protrusion 311 is formed on the other of the first cleaning part 2 and the chassis 11. do.

[0060] In this embodiment, the side wall of the protruding structure 113 of the chassis 11 is provided with the first guide groove 111. The first guide protrusion 311 is formed on the liquid storage case 3 of the first cleaning unit 2, When the liquid storage case 3 and the chassis 11 are combined, the first guide protrusion 311 is 11, it realizes the functions of guiding and stopping. In order to avoid the protruding structure 113 of the chassis 11, a recess is formed in the liquid storage case 3. .

[0061] Preferably, in order to conveniently mount the liquid storage case 3, the thickness of the first guide protrusion 311 is The width of the first guide groove 111 (the width of the first guide groove 111 is the width of the first guide groove 111 facing The width between the two opposing sides of the robot is the width between the two opposing sides when the robot is in a horizontal position. Therefore, the first guide protrusion 311 is set to be smaller than the vertical distance between the first and second side surfaces. When inserted into the first guide groove 111, the first guide protrusion 311 and the two opposing Since a gap is formed between the side of the liquid storage case 3 and the chassis 11, The liquid storage case 3 can be conveniently attached by the user.

[0062] The size of the gap between the liquid storage case 3 and the chassis 11 is determined according to actual needs. In this embodiment, the size of the gap between the two can range from 1.5 mm to 4 mm. m. Preferably, the size of the gap between them is 2 mm. In this case, the user When inserting the liquid storage case 3 into the chassis 11 without standing the robot upside down, Therefore, the user can easily mount the liquid storage case 3 on the shelf. The liquid storage case 3 can be easily inserted into the chassis 11 without needing to be precisely aligned with the chassis 11. In conventional cleaning robots, the user moves the cleaning robot (with its bottom facing upwards) If you do not stand it upside down like this, you will not be able to attach the water tank. It is difficult to attach and detach the water tank, and when the water leaks, the water gets into the inside of the cleaning robot. There is a risk that the liquid may enter the cleaning robot and damage it.

[0063] In this embodiment, the first cleaning unit 2 is moved in the forward or backward direction of the main body 1. After being attached to the main body 1, it is connected to the device main body 1 by a connecting structure. The first cleaning portion includes a first connecting structure located at 1 and a second connecting structure located at 2.

[0064] Preferably, in order to conveniently control the connection and separation between the first cleaning part 2 and the device body 1, The coupling structure further includes a coupling control system, and the coupling control system controls the first coupling structure and the second coupling structure. The connection control system can control the connection and separation of the two connection structures. Or located in the device body 1.

[0065] Preferably, the coupling control system is installed in the first cleaning section 2 .

[0066] In this embodiment, the connection structure is a combined structure, and the liquid storage case 3 and the chassis 11 are The connection is made by a connecting structure. When the connection is made by a connecting structure, the connection is convenient and the connection is easy. In another embodiment, the connecting structure may be another connecting structure, for example, a magnetic attraction structure. The liquid storage case 3 and the chassis 11 can be connected by other connecting structures such as magnets. The control system can be connected by an adhesive structure. Is the control system a combined control system? Alternatively, it may be a magnetic attraction control system, ensuring the convenience of use and attachment / detachment. If so, either one is acceptable.

[0067] Hereinafter, a specific embodiment in which the liquid storage case 3 and the chassis 11 are connected by a coupling structure will be described. will be explained in detail.

[0068] Referring to FIG. 7, a first connection structure is formed on the chassis 11. The coupling portion 112 can be an electromagnet or a magnetic conductor, etc. When the first coupling portion is used, The first connecting portion 112 is used for connecting to the liquid storage case 3, so that the liquid storage case 11 to 17, the liquid storage case 3 has a second A coupling structure is formed, the second coupling structure being a second coupling portion 331 coupled to the first coupling portion 112; The first coupling portion 112 and the second coupling portion 331 may be an electromagnet or a magnetic conductor. A connecting structure is formed. The second connecting portion 331 has a stop position and a yield position. 8, when the second coupling portion 331 is located at the stop position, the second coupling portion 331 and the first coupling portion 332 are connected to each other. 112 is rendered immovable, and the liquid storage case 3 is connected to the chassis 11. When the robot is in the walking position, the second connecting portion 331 and the first connecting portion 112 are in a separable state. This allows the liquid storage case 3 to be removed from the chassis 11.

[0069] A coupling control system is provided to control the coupling and decoupling of the first coupling part and the second coupling part 331. The coupling control module 33 controls the position of the second coupling portion 331. By controlling the second connecting portion 331 and the first connecting portion 112, the second connecting portion 331 and the first connecting portion 112 are connected or separated. When using the cleaning robot, the user controls the combined control module 33 to 3, the position of the second connecting portion 331 is controlled, that is, the liquid storage case 3 and the chassis 11 are connected and fixed. Or, the liquid storage case 3 can be conveniently attached or detached by controlling the separation. It is possible.

[0070] Specifically, the upper cover 31 of the liquid storage case includes a coupling control module 33 and a second coupling part 34. The connection control module 33 is formed with a recess for mounting the control module 331. The first coupling portion 112 is inserted on the upper cover 31 and the second coupling portion 113 is inserted on the upper cover 31. An opening 312 is formed to couple the portion 331 .

[0071] The liquid storage case 3 includes a storage case, which has an upper cover 31 and a lower The storage case is formed with a cover 32, and a liquid storage space is formed inside the storage case. In this embodiment, the liquid stored in the liquid storage case 3 is water. This allows any cleaning liquid to be stored in the liquid storage case 3.

[0072] As shown in FIGS. 14-17, the coupling control module 33 includes a mounting frame 332, The actuator 333 includes an operating part 333 and an elastic part 334 .

[0073] The second coupling portion 331 is fixed to a mounting frame 332, which is connected to a storage case. and the second coupling portion 331 is moved to a stop position or a yield position by linking the second coupling portion 331 with the first coupling portion 331. The operation part 333 is integrated with the mounting frame 332. When a user presses the operation part 333, the operation part 33 3 moves the mounting frame 332 and the second coupling portion 331 thereon in conjunction with each other.

[0074] When the pressure is removed, the second coupling portion 331 is restored to the stop position. In order to ensure that the body housing 3 is stably connected to the chassis 11, the operating parts 3 Between the liquid container 3 and the container case of the liquid container 3, there is an elastic part 334 (the elastic part 334 is A structure that can provide elasticity, such as a spring or elastic rubber, is installed. The first end of the elastic member 334 abuts against the operating member 333 or the mounting frame 332. The second end abuts against the storage case, and the direction of expansion and contraction of the elastic part 334 corresponds to the direction of movement of the operation part 333. When the pressure is released, the elasticity of the elastic part 334 stops the second coupling part 331. When the user removes the liquid storage case 3, the user operates the By pushing the part 333, the second coupling part 331 is moved to the yielding position. Since the first joint portion 112 and the second joint portion 331 of the chassis 11 are in a separable state, The storage case 3 can be removed.

[0075] Referring to FIG. 13, the movement of the mounting frame 332 is restricted, and when there is no restriction, the elastic part 3 In order to prevent the mounting frame 332 from coming off the liquid storage case 3 due to the elasticity of the mounting frame 34, To this end, a stop protrusion 313 is formed on the housing of the liquid housing, and the mounting frame 332 is formed with a hole into which the stop protrusion 313 is inserted. By being coupled to the inner wall 332a of the hole, the movement of the mounting frame 332 can be restricted. Cut.

[0076] In this embodiment, the first end of the elastic member 334 abuts against the operating member 333 and the second end of the elastic member 334 abuts against the operating member 333. The operation part 333 and the stop protrusion 313 are provided with elastic parts 333 and 313, respectively. A cross-shaped protrusion is formed for mounting the 34.

[0077] The specific process of mounting the liquid storage case 3 to the chassis 11 is as follows. As shown in FIG. 3 and FIG. 4, the liquid storage case 3 is inserted into the first guide groove 111 of the chassis 11. When inserted into the rear of the chassis 11 along the line, the entire appearance of the intelligent automatic cleaning robot is formed. The chassis 11 of the cleaning robot is provided with a first connecting portion. The first connecting portion is a hook. The hook is connected to the second connecting portion of the liquid storage case. In an exemplary embodiment, the second connection portion is a fastener. The first guide groove 111 is a U-shaped groove for storing liquid. The liquid storage case 3 is slidably coupled to the first guide protrusion 311 of the case, so that the liquid storage case 3 is -11 can be skated on.

[0078] After installing the liquid storage case 3 on the chassis 11, remove the liquid storage case from the chassis. When removing the spring, the operating part 333 of the coupling control module 33 is pressed. By overcoming the elasticity and transmitting the force, the second coupling portion 331 is attached to the liquid storage case 3. In the natural state, the second coupling portion 331 is in the recess of the liquid storage case 3. The liquid storage case 3 is positioned at a coupling position along the first guide groove 111 of the chassis 11. When sliding, the first connecting portion 112 (hook) of the chassis 11 connects to the second connecting portion 331. By this, the second connecting portion 331 is moved to an area other than the recess. When the pressure is applied, the first connecting portion 112 (hook) is inserted into the recess along the inclined surface of the second connecting portion 331. As a result, the second connecting portion 331 and the first connecting portion 112 (hook) are connected to each other. The liquid storage case 3 can be fixed on the chassis 11. The connection between the connecting portion 112 (hook) and the second connecting portion 331 disappears, and the device is then The liquid storage case can be removed by moving the body 1 backward. S3 can be removed.

[0079] In other combination control modules not shown in the drawings, the combination control module is The connecting portion 38 includes a rod 381, a spring 382, ​​a pushing portion 383 and a connecting portion 384. The liquid storage case 3 and the chassis 11 are connected together by the cooperation of the first connecting portion 112 and the first connecting portion 112. The connecting rod 381 is attached to the liquid storage case 3, and a first end of the connecting rod 381 is provided with a coupling portion 384. A pushing portion 383 is formed at the second end of the connecting rod 381, and the pushing portion 383 is a liquid collecting portion. The pusher 383 is rotatably attached inside the storage case 3, and a spring 382 is connected to the first end of the pusher 383. The second end of the pushing portion 383 is the operating end. The spring 382 is connected to the pushing portion 383. The coupling control module is connected to the storage case 3. The principle of the coupling control module is as shown in FIG. It is.

[0080] 20 to 23, the upper cover 31 of the liquid storage case 3 has a water inlet 35. The liquid can be poured into the liquid storage space through the water pouring port 35. The water inlet 35 is sealed by installing a water inlet flange and a water inlet cover on the water inlet 35. This can be done.

[0081] The lower cover 32 of the liquid storage case 3 is formed with a water outlet 321. The water outlet 321 is connected to the storage space, and a water outlet control nozzle 34 for controlling the amount of water flowing out can be attached and detached to the water outlet 321. is attached to the

[0082] The lower cover 32 and the upper cover 31 are joined together to form a storage case. A liquid storage space is formed for storing liquid. The cleaning cloth 4 is attached to the lower cover 32. A surface of the lower cover 32 that is separate from the upper cover 31 has a plurality of adhesive structures. The cleaning cloth 4 is attached to the lower cover 32 which is separated from the upper cover 31. and is placed on the lower cover 32 by an adhesive structure. It can be double-sided tape, Velcro, etc. To conveniently replace the cleaning cloth 4 Preferably, the adhesive structure 324 is Velcro.

[0083] As shown in Figs. 27 to 29, more preferably, the edges of the cleaning cloth 4 are fixed. By ensuring the correct direction and position of the cleaning cloth 4, the cleaning cloth 4 is tilted to facilitate cleaning. In that case, you can use other adhesive methods to prevent the effect of the cleaning cloth 4 When fixing the cleaning cloth 4, the edge of the cleaning cloth 4 is not attached in the specified direction, and the cleaning cloth 4 is not attached correctly. This avoids the problem of not being able to secure the installation. For example, When using a cleaning cloth, attaching the cleaning cloth to the water tank at an angle will improve the cleaning effect. The cleaning cloth 4 is formed with a first guide portion and is inserted into the liquid storage case 3. The second guide portion is formed, and the first guide portion and the second guide portion are joined together to guide the cleaning cloth 4. It can be attached to the liquid storage case 3. The first guide portion is a guide tank, and the second guide portion is It may be a guide rod coupled to the guide groove.

[0084] Specifically, a guide slim 44 is formed on the side of the cleaning cloth 4, and the liquid storage case 3 is provided with A receiving tank 323 is formed, and the cleaning cloth is inserted by inserting the guide slim 44 into the receiving tank 323. The side of 4 can be attached to the liquid storage case 3.

[0085] The guide sliver 44 is a plastic sliver or a steel sliver having a certain rigidity. The cross-sectional shape of the guide sliver 44 is circular. Or it may be a non-circular shape. The cross-sectional shape is C-shaped or similar to a C-shape, and the guide sliver 44 is accommodated therein. Any shape may be used as long as it determines the position of the cleaning cloth 4. The mounting chamber 323 is formed with a downward opening (i.e., a C-shaped opening) that is used for inserting the An insertion end (the insertion end does not have a stop structure and is used to insert the cleaning cloth 4) The other end is a stop end (the stop end is formed with a stop structure and the guide slit 44 is (Prevents the container from coming off the stop end). That is, one end of the mounting tank 323 is sealed. The other end of the cleaning cloth 4 is opened by the combination of the guide slim 44 and the mounting groove 323. Since it is fixed to the liquid storage case 3, the stability of the fixation is improved and the cleaning cloth 4 is prevented from coming off. The guide slim 44 and the mounting tank 323 are arranged to be cleaned in the liquid storage case 3. It is located in the direction facing the forward direction of the robot. After installing the guide slim 44, 4 is glued to the Velcro to ensure that the cleaning cloth 4 is attached accurately It is possible.

[0086] As shown in FIG. 26, the cleaning cloth 4 is a cleaning cloth made entirely of the same material. Or it may be a composite cleaning cloth in which different parts are made of different materials. In the embodiment, the cleaning cloth 4 is a composite cleaning cloth, and the main body of the cleaning cloth is substantially semicircular. The inner layer 43 of the cleaning wipe is the permeable area, which is made of a material with high permeability. The middle layer 42 of the wipe is the contamination removal area and is made of a hard material to It can scrape hard contaminants from the ground. The outer layer 41 of the cleaning cloth is a water absorbing area. This area is used to absorb water on the ground, eliminating water logging and water marks. The water absorbing area is made of materials with good water absorbing effect, which improves the cleaning efficiency. The guide slit 44 is disposed in a semicircular straight section.

[0087] The liquid in the liquid storage space flows out through the water outlet 321 of the lower cover 32, so that cleaning can be performed. The amount of water coming out can be controlled by selecting materials with different filter structures. It can be controlled and meet the needs of the users.

[0088] Cross-country auxiliary rollers 322 are installed at the bottom of the liquid storage case 3, When the intelligent cleaning device is climbing and cross-country, the roller drive of the intelligent cleaning device The cross-country auxiliary roller can be used to assist the moving module 71. Improved climbing and cross-country capabilities by supporting the liquid storage case 3 at the site It can be raised.

[0089] Preferably, the cross-country auxiliary roller 322 is rotatably mounted on the liquid storage case 3. Specifically, the cross-country auxiliary rod is placed on the lower cover 32 of the liquid storage case 3. The cross-country auxiliary roller 322 is installed on the lower cover 32 and rotates. The cleaning cloth 4 is disposed at the end of the liquid storage case 3 in the backward direction. An opening is formed at a position corresponding to the cross-country auxiliary roller 322. The cross-country auxiliary roller 322 is passed through the cross-country auxiliary roller 32 2 will come into contact with the ground.

[0090] Since the cleaning cloth 4 has an opening, the cross-country auxiliary roller 322 can be moved to the ground. When the intelligent cleaning device moves on a horizontal surface, it can come into contact with the cross-cant The auxiliary roller 322 does not contact the ground (i.e., the intelligent cleaning device is in a horizontal position). When the liquid storage case 3 is in the running state, the lowest point of the cross-country auxiliary roller 322 of the liquid storage case 3 is the running (higher than the lowest point of the cleaner). By moving on a slope or crossing a step, the intelligent cleaning device When the device is in a tilted position, the cross-country auxiliary roller 322 comes into contact with the ground. This forms a slidable support point, which prevents the device body 1 from hanging and prevents cross-collision. The height of the stage that the intelligent cleaning device can reach is based on the demand. For example, the height of the step that the intelligent cleaning device can overcome is It can be 17mm, 19mm or higher increments.

[0091] The liquid storage case and the intelligent cleaning device equipped with the same of the present invention provide the following advantages: It is possible. By adopting a coupling structure as a method of connecting the liquid storage case and the device body, The case can be provided with a mounting and connection structure that allows it to be inserted horizontally into the device body. The liquid storage case can be placed horizontally and vertically on the chassis of the cleaning robot without standing the device upside down. This allows the user to insert and remove the liquid storage case with ease. It is possible.

[0092] Since the liquid storage case and the device body are connected by a gap joint, the user can The liquid storage case can be easily installed (when the gap is small, the user can easily install the liquid storage case) If the case is not aligned correctly, the liquid storage case cannot be inserted easily. Therefore, it is not convenient to use. When there is enough space, users can easily put the liquid storage case in. (Even if the liquid storage case is tilted, the liquid can be easily inserted.) Improve the cross-country ability of the cleaning robot, and the cleaning robot will This prevents the liquid storage case from getting caught on an obstacle and prevents the liquid storage case from moving up and down when an obstacle is present. This movement makes cross country easier.

[0093] The bottom of the liquid storage case is equipped with a cross-country auxiliary roller, which - The auxiliary roller protrudes from the cleaning cloth and prevents cross-canting when cross-country. The auxiliary rollers come into contact with the ground. Since the gap joint is adopted as the joining method between the cross-country auxiliary roller and its gap Combined cooperation can greatly improve cross-country capabilities. A recess is formed in the center of the liquid storage case, and this recess can be used as a water tank. In addition, it can be used as a mounting part, so it is convenient. The method of controlling the outflow of water by using the outflow control nozzle is adopted, and the method of using the infiltration cloth is not adopted. This makes it easy to replace and allows you to adjust the water flow rate. The cross-country auxiliary roller is attached directly to the liquid storage case, so cross-country This can significantly improve the country's capabilities.

[0094] The above are only specific examples of the present invention, and the scope of protection of the present invention is not limited thereto. However, a person skilled in the art would understand that even if there are design changes within the scope of the present invention, Accordingly, the scope of the present invention is limited only by the appended claims. should be determined by [Explanation of symbols]

[0095] 1. Device body, 11 Chassis, 111 first guide tank, 112 first joint, 113 protrusion structure, 13 forward part, 14 Recessed part, 2 First cleaning department, 3 Liquid storage case, 31 Upper cover, 311 first guide protrusion, 312 aperture, 313 Stop protrusion, 32 Lower cover, 321 Water outlet, 322 Cross-country auxiliary roller, 323 Installation tank, 324 Adhesive structure, 33 Combined control module, 331 second joint, 332 mounting frame, 332a inner wall of hole, 333 Operating parts, 334 Elastic parts; 34 Water flow control nozzle, 341 nozzle frame, 341a water inlet, 342 Nozzle core, 343 Abutting sealing spacer, 35 Water inlet, 381 connecting rod, 382 Spring, 383 Pushing section, 384 joint, 4 cleaning cloths, 41 outer layer, 42 Middle class, 43 inner layer, 44 Guide Slim, 51 step sensor, 61 Rotating brush, 62 Side brush, 71 roller drive module, 72 driven roller, 9 Man-machine interface

Claims

1. An intelligent cleaning device, comprising: a device body (1) and a cleaning system; The cleaning system is mounted on the device body (1), the cleaning system includes a first cleaning part (2) that is detachably mounted on the device body (1), and when the first cleaning part (2) is mounted on or detached from the device body (1), the first cleaning part (2) moves along a forward or backward direction of the device body (1), and the first cleaning part (2) is detachably connected to the device body (1) by a connecting structure; The first cleaning part (2) is attached to the device body (1) by a guide structure, The device body (1) includes a chassis (11), The guide structure includes a first guide protrusion (311) and a first guide groove (111); The first guide protrusion (311) is formed on one of the first cleaning part (2) and the chassis (11); The first guide groove (111) is formed in the other of the first cleaning part (2) and the chassis (11), The thickness of the first guide protrusion (311) is smaller than the width of the first guide groove (111); After the first cleaning part (2) is mounted on the device body (1), the first cleaning part (2) can move up and down relative to the device body (1); The connecting structure includes a first connecting structure installed on the device body (1) and a second connecting structure installed on the first cleaning part (2), The first connecting structure includes a first connecting portion (112), and the first connecting portion (112) is fixedly disposed on the device body (1). An intelligent cleaning device.

2. The intelligent cleaning device further includes a linking control system; The connection control system is connected to the first connection structure or the second connection structure and controls connection and disconnection between the first connection structure and the second connection structure.

2. The intelligent cleaning device according to claim 1.

3. The first cleaning section (2) includes a liquid storage case (3); The liquid storage case (3) includes a storage section case, The connection control system is provided in the storage case and is connected to the second connection structure.

3. The intelligent cleaning device according to claim 2.

4. The second connection structure includes a second coupling portion (331), The second coupling part (331) is installed on the storage case by the coupling control system.

4. The intelligent cleaning device according to claim 3.

5. The coupling control system includes a coupling control module (33); The connection control module (33) is installed in the device body (1) or the storage case, The coupling control module (33) couples or separates the first coupling structure or the second coupling structure by driving the first coupling structure or the second coupling structure to move within the device body (1) or the storage case.

4. The intelligent cleaning device according to claim 3.

6. The receiving case is provided with a chamber for receiving the coupling control module (33) and the second coupling structure, and the receiving case is provided with an opening for inserting the first coupling structure and coupling the second coupling structure; Or, The device body (1) is provided with a tank for accommodating a coupling control module (33) and the first coupling structure, and the device body (1) is provided with an opening for inserting the second coupling structure and coupling the first coupling structure.

6. The intelligent cleaning device according to claim 5.

7. At least two of the linked control systems are installed in the liquid storage case (3), and each of the linked control systems includes the combined control module (33); Or, At least two of the linked control systems are installed in the device body (1), and each of the linked control systems includes the combined control module (33).

6. The intelligent cleaning device according to claim 5.

8. The combined control modules (33) of at least two of the combined control systems of the liquid storage case (3) or the device body (1) are the same, Or, The coupled control modules (33) of at least two of the coupled control systems of the liquid storage case (3) or the device body (1) are different.

8. The intelligent cleaning device according to claim 7.

9. The coupling control module (33) is provided in the storage case, the second connection structure has a stop position where it is connected to the first connection structure and a separation position where it is separated from the first connection structure; At least one of the coupling control modules (33) includes a mounting frame (332), an operating part (333) and an elastic part (334); The second coupling part (331) is fixedly installed on the mounting frame (332), and the mounting frame (332) is movably installed in the storage case and moves the second coupling part (331) to a stop position or a separation position in conjunction with the mounting frame (332); The operating component (333) is mounted on the mounting frame (332), A first end of the elastic part (334) abuts against the operating part (333) or the mounting frame (332), and a second end of the elastic part (334) abuts against the storage case, and the elastic part (334) expands and contracts in the same direction as the mounting frame (332).

6. The intelligent cleaning device according to claim 5.

10. The coupling control module (33) is provided in the storage case, the second connection structure has a stop position where it is connected to the first connection structure and a separation position where it is separated from the first connection structure; At least one of the coupling control modules (33) includes a connecting rod (381), a spring (382), and a pushing portion (383); The second connecting structure is formed at a first end of the connecting rod (381); The pushing part (383) is rotatably mounted in the storage case, and a second end of the connecting rod (381) is connected to the pushing part (383); The spring (382) is connected to a first end of the pushing portion (383) and is located between the pushing portion (383) and the storage case.

6. The intelligent cleaning device according to claim 5.

11. The first guide protrusion (311) is formed on the first cleaning portion (2); The first guide groove (111) is formed in the chassis (11).

2. The intelligent cleaning device according to claim 1.

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