Cleaning robot and method for controlling its motion

Abstract

The present invention provides a cleaning robot and a method for controlling its motion. The cleaning robot includes a cleaning member that contacts a surface to be cleaned to form a chamber between the cleaning member and the surface to be cleaned, a suction module that communicates with the chamber and sucks air in the chamber to form a negative pressure to make the cleaning member adhere to the surface to be cleaned, a drive module that is connected to the cleaning member and drives the cleaning member to rotate about an axis perpendicular to the surface to be cleaned, a controller that is coupled to the suction module and the drive module and controls the suction module and the drive module, and a bridge that is connected to a plurality of cleaning members and the drive module, and at least one cleaning member is configured to be deflectable relative to a bridge, so that the rotation axis corresponding to the cleaning member is offset from the rotation axis corresponding to the other cleaning members to form an included angle. Compared with existing cleaning robots, the cleaning robot can be applied to surfaces to be cleaned with a certain curvature, and can meet the cleaning requirements of various materials and various degrees of dirt, and has a wider range of application.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and particularly to a cleaning robot and its motion control method.

Background Art

[0002] Chinese Patent Document CN102920393A discloses a cleaning machine for cleaning a panel, and attaches the cleaning machine to the panel by forming a negative pressure between the cleaning machine and the panel. Specifically, the cleaning machine includes a link arm (i.e., the main body) installed between two cleaning members. The two cleaning members are both fixedly connected to the main body. The drive module does not rotate one cleaning member, but drives the other cleaning member to rotate along the first rotation direction, thereby generating a twist between the rotating cleaning member and the main body, and rocking the main body in the second rotation direction (the second rotation direction is opposite to the first rotation direction) by this twist, and alternately driving the two cleaning members to rotate, whereby the cleaning machine twists and travels on the panel.

[0003] Chinese Patent Document CN104414573A discloses a window cleaning device having a similar configuration. It generates a negative pressure in the suction cup by a vacuum pump to adsorb the window cleaning device to the glass. The suction and rotation table of the window cleaning device is connected to the main body through a bearing (the outer ring of the bearing is fixedly connected to the main body, and the inner ring of the bearing is fixedly connected to the suction and rotation table). The control unit controls the magnitude and direction of the power output to the two suction and rotation tables respectively, and drives the pair of suction and rotation tables to rotate or stop around a vertical axis perpendicular to the glass surface, so that the two become the high-speed end or the low-speed end alternately, generating a rotational speed difference, thereby causing the window cleaning device to alternately generate a twisting operation and twist and travel.

[0004] Most existing twisting-type cleaning machines / window cleaning devices employ a configuration similar to the above patent, all of which are attached to the panel surface via two suction rotating tables, and the two suction rotating tables are rigidly connected as a single unit, thereby allowing them to twist as they move along the panel. Therefore, almost all twisting-type cleaning devices require the panel surface on which they operate to be very flat. When the panel is curved to some extent, forming an arc, the gap between the suction rotating tables and the panel surface widens, causing air leaks, which can lead to the device falling during movement. To avoid the device falling, sensors are generally installed to monitor pressure changes in the negative pressure area, and once the pressure in the negative pressure area exceeds a set threshold, the device is controlled to immediately change direction without continuing to move forward. Therefore, existing twisting-type cleaning devices are not suitable for working on panel surfaces that have a nearly constant arc. [Overview of the project] [Problems that the invention aims to solve]

[0005] The problem that this invention aims to solve is to provide a cleaning robot with a wider range of applications. [Means for solving the problem]

[0006] To solve the above problems, the present invention employs the following technical solution: A cleaning robot for removing fine particles adhering to a surface to be cleaned, comprising: a cleaning member that contacts the surface to be cleaned and performs a cleaning function, and defines the surface to be cleaned and at least one chamber; a suction module that communicates with the chamber, sucks in the air in the chamber, and creates negative pressure in the chamber to cause the cleaning member to adhere to the surface to be cleaned; a drive module connected to the cleaning member and driving the cleaning member to rotate it with an axis perpendicular to the surface to be cleaned as the axis of rotation; a controller coupled to the suction module and the drive module and controlling the suction module and the drive module; and a bridge connected to a plurality of cleaning members and a drive module, wherein at least one cleaning member is configured to be deflectable relative to the bridge, thereby causing the axis of rotation corresponding to the cleaning member to be offset from the axis of rotation corresponding to another cleaning member and to form an angle.

[0007] In one embodiment, the cleaning robot further includes a deflection drive mechanism that applies a deflection force to a cleaning member configured to deflect relative to a bridge, thereby causing one side of the cleaning member to first contact the surface to be cleaned when the cleaning member is placed on the surface to be cleaned, and after the cleaning member is attracted to the surface to be cleaned, the pressure on the surface on that side becomes greater than the pressure on the surface on the other side.

[0008] In one embodiment, at least two of the plurality of cleaning members are connected to a bridge via rotating shafts installed at intervals, the rotating shafts being perpendicular to the rotating shafts corresponding to the at least two cleaning members, and the deflection drive mechanism applies a deflection force to the at least two cleaning members to deflect them, so that when the at least two cleaning members are placed on the surface to be cleaned, one side of each is the first to contact the surface to be cleaned, and after the at least two cleaning members are attracted to the surface to be cleaned, the pressure on the surface on the one side is greater than the pressure on the surface on the other side.

[0009] When the at least two cleaning members are attracted to the surface to be cleaned, the pressure on the surface to be cleaned on one side that is subjected to the deflection force of the at least two cleaning members is greater than or less than the pressure on the surface to be cleaned on the other side.

[0010] In one embodiment, the deflection drive mechanism includes an elastic member provided between a bridge and a corresponding cleaning member, the ends of which are in contact with the bridge and the corresponding cleaning member, or fixedly connected to the bridge and the corresponding cleaning member, and apply a deflection force to a cleaning member configured to deflect relative to the bridge by the elastically deformed elastic member.

[0011] In one embodiment, the deflection drive mechanism includes magnetic components that are fixedly attached to the bridge and the corresponding cleaning member and are attracted to or repelled by each other, and the attractive or repulsive action between the magnetic components applies a deflection force to the cleaning member, which is configured to be deflectable relative to the bridge, causing the cleaning member to deflect.

[0012] Preferably, the magnetic component includes an electromagnet, and the control circuit of the electromagnet is connected to a controller.

[0013] The suction module includes the same number of fans or vacuum pumps as the cleaning members, and the chambers defining each cleaning member and the surface to be cleaned are independent of each other, with each fan or vacuum pump connected to each chamber on a one-to-one basis.

[0014] On the other hand, the present invention relates to a method for controlling the motion of the above-mentioned cleaning robot, wherein the plurality of cleaning members of the cleaning robot include at least a 1# cleaning member and a 2# cleaning member, and the cleaning robot is moved to the surface to be cleaned, and in one embodiment, Step S01 involves controlling the corresponding suction module so that the negative pressure in the chamber defining the 1# cleaning member and the surface to be cleaned is greater than the negative pressure in the chamber defining the 2# cleaning member and the surface to be cleaned, and controlling the corresponding drive module to apply an appropriate driving force to the 1# cleaning member and the 2# cleaning member in the first rotational direction, thereby twisting the 2# cleaning member and the bridge in a second rotational direction opposite to the first rotational direction around the 1# cleaning member. Step S02 involves controlling the corresponding suction module so that the negative pressure in the chamber defining the 1# cleaning member and the surface to be cleaned is less than the negative pressure in the chamber defining the 2# cleaning member and the surface to be cleaned, and controlling the corresponding drive module to apply an appropriate driving force to the 1# cleaning member and the 2# cleaning member in the second rotational direction, thereby causing the 1# cleaning member and the bridge to twist in a first rotational direction opposite to the second rotational direction around the 2# cleaning member, The procedure includes the step of alternately performing the above steps S01 and S02.

[0015] In another embodiment, the motion control of the cleaning robot involves simultaneously driving the at least two cleaning members via corresponding drive modules to rotate them relative to the surface to be cleaned in an appropriate direction, and applying a deflection force to the at least two cleaning members by the deflection drive mechanism so that the resultant force of all static friction forces applied to all cleaning members on the surface to be cleaned is greater than zero, thereby driving the cleaning robot to travel linearly along the direction of the resultant force.

[0016] Preferably, in embodiments employing a magnetic component containing an electromagnet as a deflection drive mechanism, the motion of the cleaning robot is controlled by the following method. First, the corresponding suction module is controlled so that the negative pressure in the chamber defining the cleaning member 1 and the surface to be cleaned is greater than the negative pressure in the chamber defining the cleaning member 2 and the surface to be cleaned, and the power supply circuit of the electromagnet corresponding to the cleaning member 1 is opened and the power supply circuit of the electromagnet corresponding to the cleaning member 2 is closed so that the pressure on one side of the cleaning member 2 against the surface to be cleaned is greater or less than the pressure on the other side of the cleaning member 2, and the corresponding drive module is controlled to apply an appropriate driving force to the cleaning member 1 and the cleaning member 2 in the first rotational direction, thereby twisting the cleaning member 2 and the bridge in a second rotational direction opposite to the first rotational direction around the cleaning member 1, and the corresponding suction The module is controlled so that the negative pressure in the chamber defining the 1# cleaning member and the surface to be cleaned is less than the negative pressure in the chamber defining the 2# cleaning member and the surface to be cleaned, and the power supply circuit of the electromagnet corresponding to the 1# cleaning member is closed and the power supply circuit of the electromagnet corresponding to the 2# cleaning member is opened so that the pressure on the surface to be cleaned on one side of the 1# cleaning member is greater than or less than the pressure on the surface to be cleaned on the other side, and the corresponding drive module is controlled to apply an appropriate driving force to the 1# cleaning member and the 2# cleaning member in the second rotational direction, thereby twisting the 1# cleaning member and the bridge around the 2# cleaning member in the first rotational direction opposite to the second rotational direction, and the above steps are performed alternately to cause the cleaning robot to move in a twisting motion over the surface to be cleaned.

[0017] Unlike existing equipment, the present invention is configured such that at least one cleaning member can deflect relative to the bridge, and accordingly, other parts of the equipment (including the bridge and other cleaning members) can also deflect relative to the cleaning member. By adopting a deflection / floating configuration, the cleaning member can be better fitted to a surface to be cleaned that has a certain arc, improving the suction effect between the cleaning member and the surface to be cleaned, reducing the chance of the equipment falling, and ensuring a good cleaning effect. Furthermore, when existing equipment performs cleaning work on a flat surface to be cleaned, if there are solid deposits on the surface that are difficult to wipe off (e.g., hardened concrete blocks, hard adhesives, etc.), even if the height of the solid deposits protruding from the surface to be cleaned is not high, the equipment may be interfered with or pushed in by the solid deposits, causing the cleaning member to mistakenly identify the area where the solid deposits are located as the panel boundary (preventing the equipment from falling). However, the present invention, with its deflection / floating structure of the cleaning member, can avoid solid deposits to some extent, thereby reducing the occurrence of misjudgment due to the above interference. In short, the present invention has superior adaptability and a wider range of applications compared to existing cleaning robots. [Brief explanation of the drawing]

[0018] [Figure 1] Figure 1 is a schematic diagram of the external structure of the cleaning robot in Example 1-2. [Figure 2] Figure 2 is a schematic diagram of the connection structure between the cleaning member, drive module, suction module, and bridge in Example 1. [Figure 3] Figure 3 is a schematic perspective view of the bridge in Example 1. [Figure 4] Figure 4 is a schematic top view of the cleaning robot in Example 1. [Figure 5] Figure 5 is a schematic cross-sectional view in the AA direction in Figure 4. [Figure 6] Figure 6 is a schematic side view of the cleaning robot in Example 1. [Figure 7] Figure 7 is a schematic diagram showing the cleaning robot in Example 1 being attached to an arc-shaped surface to be cleaned. [Figure 8]FIG. 8 is a schematic diagram of the movement trajectory of the cleaning robot on the cleaning target surface in Example 1. [Figure 9] FIG. 9 is a schematic diagram of the connection structure among the cleaning member, the drive module, the suction module, and the bridge in Example 2. [Figure 10] FIG. 10 is a partial enlarged view of part I in FIG. 9. [Figure 11] FIG. 11 is a perspective schematic diagram of the bridge in Example 2. [Figure 12] FIG. 12 is a side schematic diagram of the cleaning robot in Example 2. [Figure 13] FIG. 13 is a first schematic diagram of the movement trajectory of the cleaning robot on the cleaning target surface in Example 2; [Figure 14] FIG. 14 is a second schematic diagram of the movement trajectory of the cleaning robot on the cleaning target surface according to Example 2.

DETAILED DESCRIPTION OF THE INVENTION

[0019] In the description of the present invention, the directions or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "top", "bottom", "inner", and "outer" are based on the directions or positional relationships shown in the drawings, and are for the convenience of description and simplification of the description of the present invention. It is not intended to indicate or imply that the devices or members mentioned must have a specific direction and be configured and operated in a specific direction, and therefore should not be construed as limiting the present invention. Also, terms such as "1#", "2#", etc. are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the amount of the indicated technical features.

[0020] For those skilled in the art to more clearly understand the concept of the present invention, the present invention will be further described below with reference to examples and drawings. Example 1

[0021] Figures 1, 4, and 6 show the external structure of the cleaning robot in this embodiment. As shown in Figures 2, 5, and 7, the cleaning robot mainly includes a cleaning member 1, a suction module 2, a drive module 3, a controller 4, and a bridge 5 (the bridge 5 corresponds to a holder that connects each cleaning member 1, and since each cleaning member 1 is independent of the others, the holder connects each independent cleaning member 1 and acts like a connecting bridge, hence it is called a "bridge"). Although the above figures show two cleaning members 1, those skilled in the art should understand that the number of cleaning members 1 can be increased as needed when actually applied. Only the simplest configuration of the cleaning robot is shown. Furthermore, the suction module 2 includes, but is not limited to, a fan (negative pressure fan) or a vacuum pump, and the drive module 3 may be a motor (of course, a reduction gear can be connected to the output terminal of the motor as needed). The air duct and control circuit of the cleaning robot in this embodiment are similar to those of existing cleaning robots, so in order to simplify the explanation, the above contents will not be explained again.

[0022] In the cleaning robot illustrated above, the function of the cleaning member 1 is primarily to perform a cleaning function by contacting the surface to be cleaned and to define the surface to be cleaned and at least one chamber 1a. In addition to the wheel disc shape shown in the figure, the cleaning member 1 may also adopt the shape of a Reuleaux triangle. Furthermore, those skilled in the art should understand that the aforementioned surface to be cleaned includes, but is not limited to, the surface of a flat panel (e.g., an upright glass window), and may also be a floor surface or a curved surface having a certain arc (e.g., a glass surface having a certain arc, such as a car windshield). In this embodiment, the cleaning member 1 is attracted to the surface to be cleaned via a suction module 2. Specifically, the suction module 2 includes two negative pressure fans, the chambers 1a formed by the two cleaning members 1 are independent of each other, the two negative pressure fans and the two chambers 1a are connected one-to-one, and when the negative pressure fans are operating, air is sucked in the chambers 1a, negative pressure is created in the chambers 1a, and the corresponding cleaning member 1 is attracted to the surface to be cleaned. Each cleaning member 1 employs its own negative pressure fan, and the corresponding chambers 1a are also independent of each other, so that the suction force received by each cleaning member 1 does not affect each other. That is, even if one cleaning member 1 moves outside the working area of ​​the surface to be cleaned and air leakage occurs, as long as one cleaning member 1 is within the safe working area, the cleaning member 1 within the safe working area will be firmly attached to the surface to be cleaned, so there is no risk of the equipment falling, and safety is enhanced. Furthermore, the cleaning member 1 performs its cleaning function by being powered by the connected drive module 3, and the drive module 3 rotates the cleaning member 1 around an axis perpendicular to the surface to be cleaned as its axis of rotation, causing a large displacement between the cleaning member 1 and the surface to be cleaned, and through friction, the cleaning member 1 wipes away fine particles that have been attached to the surface to be cleaned. Similar to existing cleaning robots, the suction module 2 and drive module 3 can be powered by a rechargeable battery module, or they may be powered by a reduced-pressure power supply with a power cord connected to a power source. When powered by an external power source, the battery module acts as an emergency power source. When the power supply is interrupted (for example, a blackout), the suction module 2 and the drive module 3 switch to the battery module for power supply.Simultaneously, the controller 4 controls the suction module 2 and the drive module 3 by being coupled to them. Unlike existing cleaning robots in which each suction rotary table is fixedly connected as a single unit via the main body / housing, in this embodiment, two cleaning members 1 are connected via a bridge 5, and both cleaning members 1 are configured to be deflectable relative to the bridge 5. Specifically, the two cleaning members 1 are each connected to the bridge 5 via two sets of rotating shafts 7 installed parallel and spaced apart from the bridge 5, and in the figure, the rotating shafts 7 are perpendicular to the corresponding rotating shafts of the two cleaning members 1. After one of the cleaning members 1 is deflected, its corresponding rotating shaft is offset from the corresponding rotating shaft of the other cleaning member 1, forming an angle. The purpose of adopting a structure in which the cleaning member 1 can deflect / float relative to the bridge 3, as described above, is primarily to better adapt the cleaning member to a surface to be cleaned that has a certain arc angle. This improves the suction effect between the cleaning member 1 and the surface to be cleaned, reduces the chance of the equipment falling, guarantees the cleaning effect, and, due to the deflection / float of the cleaning member 1, can avoid solid deposits on the surface to be cleaned to some extent. This reduces the chance of the equipment mistaking the location of solid deposits as a boundary due to interference or pressing between the solid deposits and the cleaning member 1. In another embodiment, only one of the cleaning members 1 may be configured to deflect relative to the bridge. According to the principle of relativity of motion, when the cleaning member 1 is used as a reference object, the other parts of the equipment (including the bridge 5 and other cleaning members 1, etc.) can deflect relative to the cleaning member 1, and in this way, the above objective can be achieved similarly.

[0023] Next, the motion control method of the cleaning robot described above will be explained in detail. To facilitate the explanation, the two cleaning members 1 in the figure below will be numbered as 1#Cleaning Member 1-1 and 2#Cleaning Member 1-2, respectively.

[0024] As shown in Figure 8, after the cleaning robot is attracted to the surface to be cleaned by the negative pressure generated by the suction module 2, cleaning member 1-1 and cleaning member 2-2 are located at positions A0 and B0 in the figure, respectively.

[0025] First, by controlling the suction modules 2 corresponding to cleaning member 1-1 and cleaning member 2-2 respectively, the negative pressure in the chamber 1a corresponding to cleaning member 1-1 is made greater than the negative pressure in the chamber 1a corresponding to cleaning member 2-2, and the corresponding drive module 3 is driven to drive cleaning member 1-1 and cleaning member 2-2 in a clockwise direction, and the driving force by the drive module 3 must be within an appropriate range. For cleaning member 1-1, the driving force applied by the drive module 3 must be less than the maximum static friction force with the surface to be cleaned. For cleaning member 2#1-2, the driving force applied by drive module 3 must be greater than the maximum static friction force with the surface to be cleaned. As a result, cleaning member 2#1-2 rotates around an axis perpendicular to the surface to be cleaned, causing relative displacement between cleaning member 2#1-2 and the surface to be cleaned. However, cleaning member 1#1-1 remains stationary relative to the surface to be cleaned. According to the principle of force and reaction, the reaction force corresponding to the driving force applied to cleaning member 1#1-1 (this reaction force is equal to the static friction force generated at the surface to be cleaned) is transmitted to bridge 5. Since the sliding friction force between the rotated cleaning member 2#1-2 and the surface to be cleaned is less than the static friction force between cleaning member 1#1-1 and the surface to be cleaned, the bridge 5 twists counterclockwise around cleaning member 1#1-1 together with cleaning member 2#1-2, moving cleaning member 2#1-2 to position B1, while cleaning member 1#1-1 is still at position A0.

[0026] Then, by controlling the suction modules 2 corresponding to the 1st cleaning member 1-1 and the 2nd cleaning member 1-2, the negative pressure in the chamber 1a corresponding to the 1st cleaning member 1-1 is made smaller than the negative pressure in the chamber 1a corresponding to the 2nd cleaning member 1-2, and the corresponding drive module 3 is driven to drive the 1st cleaning member 1-1 and the 2nd cleaning member 1-2 in a counterclockwise direction. Similar to the above step, the driving force by the drive module 3 must also be within an appropriate range. The difference from the above step is that in this step, for the 1st cleaning member 1-1, the driving force applied by the drive module 3 must be greater than the maximum static friction force with the surface to be cleaned, and for the 2nd cleaning member 1-2, the driving force applied by the drive module 3 must be less than the maximum static friction force with the surface to be cleaned. As a result, cleaning member 1-1 rotates around an axis perpendicular to the surface to be cleaned, causing relative displacement between cleaning member 1-1 and the surface to be cleaned. However, cleaning member 2-2 remains stationary relative to the surface to be cleaned. According to the principle of force and reaction, the reaction force corresponding to the driving force applied to cleaning member 2-2 (this reaction force is equal to the static friction force generated on the surface to be cleaned) is transmitted to bridge 5. Since the sliding friction force between the rotated cleaning member 1-1 and the surface to be cleaned is smaller than the static friction force between cleaning member 2-2 and the surface to be cleaned, the bridge 5 twists clockwise around cleaning member 2-2 together with cleaning member 1-1, moving cleaning member 1-1 to position A1 while cleaning member 2-2 remains at position B1.

[0027] By performing the above two steps alternately, the cleaning robot can move in a twisting motion across the surface to be cleaned. During the process of the cleaning robot moving in a twisting motion across the surface to be cleaned, cleaning member 1-1 and cleaning member 2-2 alternately rotate relative to the surface to be cleaned and wipe away fine particles of dirt adhering to the surface, thereby achieving the cleaning of the surface. Example 2

[0028] In this embodiment, the cleaning robot employs the external structure shown in Figure 1. As shown in Figure 9, similar to Embodiment 1, the cleaning robot similarly includes mainly a cleaning member 1, a suction module 2, a drive module 3, a controller 4, and a bridge 5. As shown in Figure 9-11, the two cleaning members 1 in this embodiment are both configured to deflect relative to the bridge 5, and similarly, the two cleaning members 1 are each connected to the bridge 5 via two sets of rotating shafts 7 installed parallel and spaced apart from the bridge 5, and the rotating shafts 7 are perpendicular to the rotating shafts corresponding to the two cleaning members 1.

[0029] The main difference between this embodiment and Embodiment 1 is the addition of a deflection drive mechanism 6 to apply a deflection force to the two cleaning members 1, which are configured to be deflectable relative to the bridge 5. The deflection force from the deflection drive mechanism 6 ensures that when the two cleaning members 1 are placed on the surface to be cleaned, one side of each member makes contact with the surface first, and after the two cleaning members 1 are attracted to the surface, the pressure on the surface of the aforementioned one side (i.e., the side that first contacts the surface) is greater than the pressure on the surface of the other parts. Specifically, in this embodiment, a deflection drive mechanism 6 is installed between the bridge 5 and each of the two cleaning members 1, and as shown in Figures 9 and 10, the deflection drive mechanism 6 is a coil spring provided between the bridge 5 and the cleaning member 1. The lower end of the coil spring abuts against a positioning hole installed at the end of the bridge 5, and the upper end of the coil spring abuts against a positioning hole installed near the bridge 5 of the cleaning member 1, and the coil spring is in a compressed state (compression spring). When no other external forces are acting, as shown in Figure 12, one cleaning member 1 of the cleaning robot is deflected counterclockwise relative to the bridge 5 by the elastic force of the corresponding compression spring, and the other cleaning member 1 is deflected clockwise relative to the bridge 5 by the elastic force of the corresponding compression spring, thereby shifting the rotation axis corresponding to the cleaning member 1 and forming a clamping angle. The coil spring is not limited to the above installation method; its upper end may be fixedly connected to the tip of the bridge 5, and its lower end may be fixedly connected to a part of the cleaning member 1 that is close to the bridge 5. In this case, the coil spring is in a tensile state, and due to the elastic force of the tensile spring, one cleaning member 1 is deflected counterclockwise relative to the bridge 5, and the other cleaning member 1 is deflected clockwise relative to the bridge 5, resulting in the state shown in Figure 12.

[0030] Next, the motion control method of the cleaning robot in this embodiment will be described in detail. For the sake of simplicity, the two cleaning members 1 in the figure will be numbered 1#Cleaning Member 1-1 and 2#Cleaning Member 1-2, respectively. As shown in Figure 13, the cleaning robot according to this embodiment can control its operating trajectory during movement, similar to Embodiment 1. Similar to Embodiment 1, after the cleaning robot is attracted to the surface to be cleaned by the negative pressure generated by the suction module 2, 1#Cleaning Member 1-1 and 2#Cleaning Member 1-2 are at positions A0 and B0 in the figure, respectively. In this case, the pressure on the surface to be cleaned at the distant ends of 1#Cleaning Member 1-1 and 2#Cleaning Member 1-2 (the ends of 1#Cleaning Member 1-1 and 2#Cleaning Member 1-2 that are relatively far from the bridge 5, i.e., the lowest point positions of 1#Cleaning Member 1-1 and 2#Cleaning Member 1-2 in Figure 12) is greater than the pressure on the surface to be cleaned at other parts.

[0031] As in the control step in Example 1, the 1# cleaning member 1-1 and the 2# cleaning member 1-2 are driven and moved in a twisting motion, thereby moving the 1# cleaning member 1-1 and the 2# cleaning member 1-2 to positions A1 and B1 in the figure, respectively. As shown in Figure 13, during the process in which the cleaning robot moves in a twisting motion over the surface to be cleaned, the 1# cleaning member 1-1 and the 2# cleaning member 1-2 rotate alternately with respect to the surface to be cleaned and wipe away fine particles of dirt adhering to the surface, thereby achieving the cleaning of the surface to be cleaned. Unlike in Example 1, in this embodiment, by installing a coil spring that applies a deflecting force to the cleaning member 1, when cleaning member 1-1 and cleaning member 1-2 are attracted to the surface to be cleaned, the pressure on the surface to be cleaned at the far end is greater than the pressure on the surface to be cleaned at other parts. Thus, as cleaning member 1-1 and cleaning member 1-2 rotate relative to the surface to be cleaned, the reaction force applied by the surface to the far end is greater than the reaction force received by other parts. In other words, the reaction force received by the rotated cleaning member 1 (cleaning member 1-1 or cleaning member 1-2) from the surface to be cleaned becomes unbalanced. The reaction force applied by the surface to be cleaned to the entire cleaning member 1 corresponds to forming a deflecting force on the cleaning member 1, and as a result, the cleaning member 1 tends to deflect around another cleaning member 1 that is stationary relative to the surface to be cleaned. Because it is prone to deflection, the risk of the equipment experiencing excessive twisting during travel and falling from the cleaning surface can be significantly reduced. Furthermore, the drive module 3 can correspondingly reduce the driving force applied to the cleaning member 1 on the side that is relatively stationary, and the output power of the suction module 2 can be reduced accordingly. By adopting a suction module 2 and drive module 3 with lower power consumption, the manufacturing costs of the cleaning robot can be reduced, and the energy consumption required during the robot's travel process can be reduced, achieving a win-win situation.

[0032] In addition to the motion control method described above, the cleaning robot of this embodiment can also be used to clean horizontal surfaces (e.g., floors). As shown in Figure 14, the 1# cleaning member 1-1 and the 2# cleaning member 1-2 are simultaneously driven via the corresponding drive module 3 to rotate relative to the surface to be cleaned in opposite directions (one along the counterclockwise direction and the other along the clockwise direction). The deflection force applied simultaneously to the 1# cleaning member 1-1 and the 2# cleaning member 1-2 by their respective coil springs results in a resultant force of all static friction forces applied to the surface to be cleaned that is greater than zero and points to one side of the cleaning robot. Therefore, the cleaning robot travels linearly along the direction of the resultant force. Naturally, the motion trajectory of the cleaning robot is controlled by combining the two methods described above.

[0033] The deflection drive mechanism 6 is not limited to a coil spring structure, but may be other elastic members, or members other than elastic members that can be installed between the bridge 5 and the cleaning member 1 and apply a deflection force to the cleaning member 1. In one embodiment, the deflection drive mechanism 6 may be magnetic components that are fixedly attached to the bridge 5 and the corresponding cleaning member 1 and attract each other (corresponding to tension springs) or repel each other (corresponding to compression springs). A deflection force can be applied to the cleaning member 1 in a similar manner by the attractive or repulsive action between the magnetic components. Preferably, the magnetic components include an electromagnet, and the control circuit of the electromagnet is coupled to the controller 4. The controller 4 can control the deflection drive mechanism 6 by controlling the on and off of the electromagnet current. After using the electromagnet as the deflection drive mechanism 6, the cleaning robot can be made to twist and move across the surface to be cleaned in the following manner. First, the corresponding suction module 3 is controlled so that the negative pressure in the chamber 1a corresponding to cleaning member 1-1 is greater than the negative pressure in the chamber 1a corresponding to cleaning member 2-2, and the power supply circuit of the electromagnet corresponding to cleaning member 1-1 is opened, and the power supply circuit of the electromagnet corresponding to cleaning member 2-2 is closed, so that the pressure applied to the cleaning surface on one side of cleaning member 1-2 is greater or less than the pressure on the cleaning surface on the other side, and the corresponding drive module 3 is controlled to apply an appropriate driving force to cleaning member 1-1 and cleaning member 2-2 in a clockwise direction. In this embodiment, the so-called "appropriate" driving force is required to be the same as in Embodiment 1 (i.e., to keep one cleaning member 1 stationary relative to the cleaning surface and rotate the other cleaning member 1 relative to the cleaning surface), thereby twisting cleaning member 2-2 and bridge 5 counterclockwise around cleaning member 1-1.Then, the corresponding suction module 3 is controlled so that the negative pressure in the chamber 1a corresponding to cleaning member 1-1 is less than the negative pressure in the chamber 1a corresponding to cleaning member 2-2, and the power supply circuit of the electromagnet corresponding to cleaning member 1-1 is closed and the power supply circuit of the electromagnet corresponding to cleaning member 2-2 is opened, so that the pressure applied to the cleaning target surface on one side of cleaning member 1-1 is greater or less than the pressure applied to the cleaning target surface on the other side, and the corresponding drive module 3 is controlled to apply an appropriate driving force to cleaning member 1-1 and cleaning member 2-2 in a counterclockwise direction, thereby twisting cleaning member 1-1 and bridge 5 clockwise around cleaning member 2-2. By performing the above steps alternately, the cleaning robot can be controlled to twist as it travels over the cleaning target surface. By employing electromagnets, the cleaning member 1 that remains stationary relative to the cleaning surface does not experience a deflection force during the twisting motion, while only the cleaning member 1 that rotates relative to the cleaning surface experiences a deflection force. This ensures that the stationary cleaning member 1 receives a balanced force and is firmly attracted to the cleaning surface, while only the reaction force received by the rotating cleaning member 1 from the cleaning surface becomes unbalanced. As a result, the rotating cleaning member 1 can be easily deflected around another stationary cleaning member 1 relative to the cleaning surface, and the risk of the cleaning robot falling from the cleaning surface during the twisting motion is reduced.

[0034] The above embodiments represent preferred implementations of the present invention, and obvious substitutions are within the scope of protection of the present invention without departing from the concept of the present invention.

[0035] To make it easier for those skilled in the art to understand the improvements of the present invention to the prior art, some drawings and descriptions of the present invention have been simplified and, for clarity, several other elements have also been omitted in this application, and those skilled in the art should understand that these omitted elements may also constitute the content of the present invention. [Explanation of symbols]

[0036] 1: Cleaning parts 2: Suction module 3: Drive Module 4: Controller 5: Bridge 6: Deflection drive mechanism 7: Rotation axis 1a: Chamber 1-1:1 #Cleaning parts 1-2:2# Cleaning parts

Claims

1. A cleaning robot for removing fine particles adhering to a surface to be cleaned, A cleaning member (1) that comes into contact with the surface to be cleaned and performs a cleaning function, and defines the surface to be cleaned and at least one chamber (1a), A suction module (2) is in communication with the chamber (1a), sucks in the air inside the chamber (1a), and creates negative pressure inside the chamber (1a) to cause the cleaning member (1) to adhere to the surface to be cleaned, A drive module (3) is connected to the cleaning member (1) and drives the cleaning member (1) to rotate it with an axis perpendicular to the surface to be cleaned as the axis of rotation, A controller (4) is coupled to the suction module (2) and the drive module (3) and controls the suction module (2) and the drive module (3), A bridge (5) is connected to multiple cleaning members (1), and at least one cleaning member (1) is configured to be deflectable relative to the bridge (5), thereby causing the axis of rotation corresponding to the cleaning member (1) to be offset from the axis of rotation corresponding to the other cleaning members (1) and form a clamping angle. A deflection drive mechanism (6) is included, which applies a deflection force to a cleaning member (1) that is configured to be deflectable relative to the bridge (5), thereby causing the cleaning member (1) to be placed on the surface to be cleaned so that when the cleaning member (1) is placed on the surface to be cleaned, one side of the cleaning member (1) first contacts the surface to be cleaned, and after the cleaning member (1) is attracted to the surface to be cleaned, the pressure on the surface on one side of the cleaning member (1) becomes greater than the pressure on the surface on other parts of the cleaning member (1). The deflection drive mechanism (6) includes magnetic components that are fixedly attached to the bridge (5) and the corresponding cleaning member (1), which attract or repel each other, and applies a deflection force to the cleaning member (1), which is configured to deflect relative to the bridge (5), by the attractive or repulsive action between the magnetic components. A cleaning robot characterized by the following features.

2. At least two of the plurality of cleaning members (1) are connected to the bridge (5) via two sets of rotating shafts (7) installed parallel to and spaced apart from the bridge (5), the rotating shafts (7) being perpendicular to the rotating shafts corresponding to the at least two cleaning members (1), and the deflection drive mechanism (6) applies a deflection force to the at least two cleaning members (1) to deflect them, so that when the at least two cleaning members (1) are placed on the surface to be cleaned, one side of the at least two cleaning members (1) first contacts the surface to be cleaned, and after the two cleaning members (1) are attracted to the surface to be cleaned, the pressure on the surface on one side of the at least two cleaning members (1) is greater than the pressure on the surface on the other parts of the at least two cleaning members (1). The cleaning robot according to feature 1.

3. The magnetic component includes an electromagnet, and the control circuit of the electromagnet is connected to the controller (4). The cleaning robot according to feature 1.

4. The suction module (2) includes the same number of fans or vacuum pumps as the cleaning members (1), and the chambers (1a) that define each cleaning member (1) and the surface to be cleaned are independent of each other, and the fans or vacuum pumps are connected one-to-one to the chambers (1a). A cleaning robot according to claim 1 or 2, characterized by the features described above.

5. A method for controlling the motion of a cleaning robot according to claim 2, wherein the cleaning robot is moved to a surface to be cleaned, The cleaning robot is driven simultaneously via a corresponding drive module (3) to rotate the at least two cleaning members (1) in an appropriate direction relative to the surface to be cleaned, and the deflection drive mechanism (6) applies a deflection force to the at least two cleaning members (1) so that the resultant force of all static friction forces applied to all cleaning members (1) on the surface to be cleaned is greater than zero, thereby driving the cleaning robot to travel linearly along the direction of the resultant force. A method for controlling the motion of a cleaning robot, characterized by the features described above.

6. A method for controlling the motion of a cleaning robot according to claim 3, wherein the cleaning robot is moved to the surface to be cleaned, The movement of the cleaning robot is controlled as follows: The corresponding suction module (2) is controlled so that the negative pressure in the chamber (1a) where the 1# cleaning member (1-1) of the at least two cleaning members (1) and the surface to be cleaned is defined is greater than the negative pressure in the chamber (1a) where the 2# cleaning member (1-2) and the surface to be cleaned are defined, and The power supply circuit of the electromagnet corresponding to the 1# cleaning member (1-1) is opened, and the power supply circuit of the electromagnet corresponding to the 2# cleaning member (1-2) is closed, and the pressure on the cleaning surface on one side of the 2# cleaning member (1-2) is greater than or less than the pressure on the cleaning surface of the other part of the 2# cleaning member (1-2), and Step S01 involves controlling the corresponding drive module (3) to apply appropriate driving force to the 1st cleaning member (1-1) and the 2nd cleaning member (1-2) in the first rotational direction, thereby causing the 2nd cleaning member (1-2) and the bridge (5) to twist in a second rotational direction opposite to the first rotational direction around the 1st cleaning member (1-1), The corresponding suction module (2) is controlled so that the negative pressure in the chamber (1a) where the 1# cleaning member (1-1) and the surface to be cleaned are defined is smaller than the negative pressure in the chamber (1a) where the 2# cleaning member (1-2) and the surface to be cleaned are defined, and The power supply circuit of the electromagnet corresponding to the 1# cleaning member (1-1) is closed, and the power supply circuit of the electromagnet corresponding to the 2# cleaning member (1-2) is opened, such that the pressure on the cleaning surface on one side of the 1# cleaning member (1-1) is greater than or less than the pressure on the cleaning surface of the other part of the 1# cleaning member (1-1), and Step S02 involves controlling the corresponding drive module (3) to apply appropriate driving force to the 1st cleaning member (1-1) and the 2nd cleaning member (1-2) in the second rotational direction, thereby causing the 1st cleaning member (1-1) and the bridge (5) to twist in a first rotational direction opposite to the second rotational direction around the 2nd cleaning member (1-2), The step includes alternately performing the above steps S01 and S02, A method for controlling the motion of a cleaning robot, characterized by the features described above.

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