Cleaning robot

Abstract

The present disclosure relates to the technical field of smart home, and provides a cleaning robot, the cleaning robot includes a machine body, a driving system and a cleaning system, the driving system includes a first driving wheel module and a second driving wheel module, the first driving wheel module and the second driving wheel module are arranged along a horizontal axis of the machine body, where the horizontal axis is perpendicular to the moving direction of the cleaning robot, the cleaning system is arranged on the machine body, and the cleaning system includes a cleaning head, where a predetermined included angle is formed between the cleaning head and the horizontal axis.

Description

Related Applications

[0001] This disclosure claims priority based on Chinese Patent Application No. 202210368925.6, filed on April 8, 2022, and all the contents of the Chinese Patent Application are incorporated into this disclosure by reference.

Technical Field

[0002] This disclosure relates to the technical field of smart homes, and particularly to cleaning robots.

Background Art

[0003] Most of the cleaning robots in the related art are floor cleaning robots. During the process of the cleaning robot executing the cleaning task, the cleaning head of the cleaning robot realizes effective cleaning of the floor surface.

Summary of the Invention

[0004] This disclosure provides a cleaning robot for improving the usage performance of the cleaning robot. This disclosure provides a cleaning robot, a device body, including a first drive wheel module and a second drive wheel module, where the first drive wheel module and the second drive wheel module are provided along the horizontal axis of the device body, and here, the horizontal axis is perpendicular to the moving direction of the cleaning robot, and a drive system; provided on the device body, including a cleaning head, and here, a cleaning system in which a predetermined included angle is formed between the cleaning head and the horizontal axis.

[0005] In one embodiment of this disclosure, the cleaning head includes a wet cleaning head, and the cleaning system further includes a liquid supply unit for supplying cleaning liquid to the wet cleaning head.

[0006] In one embodiment of this disclosure, the device body includes a fixed bracket, the cleaning head is provided in the fixed bracket, a liquid supply passage is provided on the fixed bracket, and the liquid supply unit supplies the cleaning liquid to the wet cleaning head through the liquid supply passage.

[0007] In one embodiment of the present disclosure, the liquid supply passage has a liquid inlet and a liquid outlet, the liquid inlet communicating with a liquid supply unit, and the liquid outlet is used to supply cleaning liquid to a wet cleaning head. There are multiple liquid outlets, which are spaced apart and aligned parallel to the wet cleaning head.

[0008] In one embodiment of the present disclosure, the cleaning robot is The collection unit is mounted on the main body of the device and further includes a collection system which includes a collection unit for collecting residues on the cleaning head and / or the surface to be cleaned.

[0009] In one embodiment of this disclosure, the recovery system is: The system further includes a scraper that comes into contact with the cleaning head and removes residue from the cleaning head so that it is collected by the collection unit due to interference with the cleaning head.

[0010] In one embodiment of the present disclosure, the scraper is parallel to the cleaning head. In one embodiment of the present disclosure, a water intake port is provided on the scraper, and the water intake port communicates with a collection section.

[0011] In one embodiment of this disclosure, the recovery system is: It further includes a power unit that is electrically connected to the collection unit and for collecting residual material into the collection unit. In one embodiment of the present disclosure, the collection unit includes an inlet and an outlet, and the cleaning robot is The device further comprises a sealing assembly mounted on the main body of the device, the position of which at least a portion of the assembly is adjustable to open and close the inlet and outlet.

[0012] In one embodiment of the present disclosure, the sealing assembly is Connecting rod, A first sealing member provided on the connecting rod, and Including a second sealing member provided on the connecting rod, The connecting rod is movably mounted relative to the main body of the device so that the first sealing member and the second sealing member open and close the inlet and outlet, respectively.

[0013] In one embodiment of the present disclosure, the cleaning system is: It also features an auxiliary cleaning head that partially overlaps with the main cleaning head.

[0014] In one embodiment of the present disclosure, the outer edge of the auxiliary cleaning head extends beyond the outer edge of the main body of the device. In one embodiment of the present disclosure, the auxiliary cleaning head includes a wet auxiliary cleaning head, and the cleaning system is The system further includes a liquid supply unit that supplies cleaning fluid to a wet auxiliary cleaning head.

[0015] In one embodiment of the present disclosure, the cleaning robot is The device further includes a detection system mounted on the main body of the device, with at least a portion of it extending from the outer edge of the main body of the device.

[0016] In one embodiment of the present disclosure, at least a portion of the detection system is movably mounted on the main body of the device. [Brief explanation of the drawing]

[0017] Various purposes, features, and advantages of this disclosure will become more apparent by considering the following detailed description of preferred embodiments of this disclosure in conjunction with the accompanying drawings. The accompanying drawings are illustrative illustrations of this disclosure and are not necessarily drawn to scale. In the accompanying drawings, the same reference numerals indicate the same or similar parts. [Figure 1] This is a schematic diagram of the structure of a cleaning robot from a first viewing angle according to an exemplary embodiment. [Figure 2] This is a schematic diagram of the second viewing angle of a cleaning robot according to an exemplary embodiment. [Figure 3] This is a schematic diagram of the second viewing angle of a cleaning robot according to an exemplary embodiment. [Figure 4] This is a schematic diagram of the liquid supply unit of a cleaning robot according to an exemplary embodiment. [Figure 5] It is a schematic diagram of the structure of the collection part of a cleaning robot according to an exemplary embodiment. [Figure 6] It is a schematic diagram of the structure of the sealing assembly of a cleaning robot according to an exemplary embodiment. [Figure 7] It is a schematic diagram of the structure of the inlet and outlet of the collection part of a cleaning robot according to an exemplary embodiment. [Figure 8] It is a schematic diagram of one perspective of the fixing bracket of a cleaning robot according to an exemplary embodiment. [Figure 9] It is a schematic diagram of another perspective of the fixing bracket of a cleaning robot according to an exemplary embodiment. [Figure 10] It is a schematic diagram of one perspective of the scraper of a cleaning robot according to an exemplary embodiment. [Figure 11] It is a schematic diagram of another perspective of the scraper of a cleaning robot according to an exemplary embodiment. [Figure 12] It is a schematic diagram of the structure of the collection part of a cleaning robot according to an exemplary embodiment. [Figure 13] It is a schematic diagram of the structure of the sealing assembly of a cleaning robot according to an exemplary embodiment. [Figure 14] It is a schematic diagram of the structure of the sealing assembly of a cleaning robot according to another exemplary embodiment. [Figure 15] It is a schematic diagram of one perspective of the partial structure of a cleaning robot according to another exemplary embodiment. [Figure 16] It is a schematic diagram of another perspective of the partial structure of a cleaning robot according to another exemplary embodiment. [Figure 17] It is a schematic diagram showing the structure of the liquid supply part and the collection part of a cleaning robot according to an exemplary embodiment.

Explanation of Reference Numerals

[0018] 10 Equipment main body 11 Fixing bracket 111 Liquid inlet 112 Liquid outlet 113 Storage chamber 114 Through hole 12 Front part 13 Rear part 20 Cleaning Systems 21 Cleaning head 22 Liquid supply section 221 Water inlet 23 Auxiliary cleaning head 231 Wet Auxiliary Cleaning Head 232 Main body 24 water pumps 30 Drive System 31. First drive wheel module 32 Second drive wheel module 33 Driven wheels 40. Recycling System 41 Collection Department 411 Entrance 412 Exit 413 Drain 414 Main Unit 415 Extension section 42 Scrapers 421 Water intake 43 Power section 50 Encapsulation Assembly 51 Connecting Rod 52 First sealing member 53 Second sealing member 54 Drive unit 55 Top Rod 56 Elastic members 57 Sealing member 60 detection systems 70 Sensing System 71 Positioning device 72 Buffer 80 Control Systems 90 Energy Systems 100 Man-Machine Interactive Systems [Modes for carrying out the invention]

[0019] Representative embodiments that embody the features and advantages of this disclosure will be described in detail below. It should be understood that this disclosure includes various modifications in different embodiments that do not deviate from the scope of this disclosure, and that the descriptions and accompanying drawings are for illustrative purposes only and do not limit this disclosure.

[0020] Different exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, which constitute part of this disclosure and exemplify different exemplary structures, systems, and steps in multiple manifestations of this disclosure. It should be understood that other specific solutions for components, structures, exemplary devices, systems, and steps may be used, and structural and functional modifications may be made without departing from the scope of this disclosure. Furthermore, terms such as “above,” “between,” and “inside” are used herein to describe different exemplary features and elements of this disclosure, but these terms are used herein for convenience and, for example, follow the exemplary orientation in the accompanying drawings. Nothing herein should be understood as requiring a specific three-dimensional orientation of a structure to enter the scope of this disclosure.

[0021] As shown in Figures 1 to 17, the cleaning robot comprises a main unit 10, a cleaning system 20, a drive system 30, a recovery system 40, a sealing assembly 50, a detection system 60, a sensing system 70, a control system 80, an energy system 90, and a human-machine interactive system 100.

[0022] As shown in Figure 1, the main body of the device 10 includes a front portion 12 and a rear portion 13 and has a substantially circular shape (both the front and rear are circular), but may have other shapes, including, but is not limited to, a substantially D-shape with a rectangular front and a circular rear, and a rectangular or square shape with both the front and rear being rectangular.

[0023] As shown in Figure 1, the sensing system 70 includes a position determination device 71 on the main body 10, a collision sensor provided on a buffer 72 on the front portion 12 of the main body 10, a short-range sensor on the main body 10, a cliff sensor provided on the bottom of the main body, and sensing devices such as a magnetometer, accelerometer, gyroscope, and odometer provided inside the main body 10, and is used to provide the control system 80 with various position information and movement status information of the equipment. The position determination device 71 includes, but is not limited to, a camera and a laser distance sensor (LDS).

[0024] As shown in Figure 1, a shock absorber 72 may be mounted on the front portion 12 of the main body 10 of the device. During the cleaning process, when the drive system 30 propels the cleaning robot to move across the floor surface, the shock absorber 72 detects one or more events in the path of the cleaning robot via a collision sensor mounted on it. The cleaning robot can then respond to the events detected by the shock absorber 72, such as obstacles or walls, by controlling the drive system 30 to move away from obstacles, for example.

[0025] The control system 80 is located on the main circuit board within the main unit 10 and includes a computing processor such as a central processing unit and an application processor that communicates with non-temporary memory, such as a hard disk, flash memory, or random access memory. The application processor uses a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM), based on obstacle information fed back from the laser rangefinder, to draw an immediate map of the cleaning robot's environment. In conjunction with distance information and speed information fed back from sensing devices such as sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers located on the buffer 72, the system comprehensively determines the cleaning robot's current operating state, current position, and current posture, such as crossing a threshold, climbing onto a carpet, being on a cliff, getting stuck above or below, the dustbin being full, or being lifted. Based on these determinations, the system provides a specific next action strategy according to the different situations, resulting in a better cleaning performance and user experience for the cleaning robot.

[0026] As shown in Figures 2 and 3, the drive system 30 controls the machine body 10 to travel across the floor surface based on drive commands that include distance and angle information (e.g., x, y, and θ components). The drive system 30 may include a first drive wheel module 31 and a second drive wheel module 32. The first drive wheel module 31 and the second drive wheel module 32 are mounted along a transverse axis defined by the machine body 10. To enable the cleaning robot to move more stably on the floor surface or to have higher mobility, the cleaning robot may include one or more driven wheels 33, the driven wheels including but not limited to universal wheels. The drive wheel module includes a drive wheel, a drive motor, and a control circuit that controls the drive motor, and the drive wheel module may be connected to a circuit that measures the drive current and an odometer. The drive wheel module is detachably connected to the machine body 10 for attachment and maintenance. The drive wheels may include an offset drop suspension system, which is movably fixed and, for example, rotatably mounted to the machine body 10 and receives a spring offset that is offset so as to move downward away from the machine body 10. The spring offset allows the drive wheels to maintain contact and traction with the floor surface with a constant floor adhesion force, while the cleaning elements of the cleaning robot also contact the floor surface with a constant pressure.

[0027] The device body 10 defines a horizontal axis and a vertical axis, which are perpendicular to each other, and the horizontal axis and vertical axis may be understood as the horizontal centerline and vertical centerline of the device body 10, respectively. The energy system 90 includes rechargeable batteries such as nickel-metal hydride batteries and lithium batteries. A charging control circuit, a battery pack charging temperature detection circuit, and a battery voltage low monitoring circuit are connected to the rechargeable batteries, and the charging control circuit, battery pack charging temperature detection circuit, and battery voltage low monitoring circuit are connected to a one-chip microcontroller control circuit. The cleaning robot may be connected to a charging pile for charging via charging electrodes provided on the main body, for example, on the side of the main body, the bottom of the main body, or the top of the main body.

[0028] The man-machine interaction system 100 includes keys on a host panel, which the user uses to select functions; a display and / or indicator lights and / or a horn, which the display, indicator lights and horn are used to show the user the current status of the device or function options; and further includes a mobile phone client program. In the case of the path navigation automatic cleaning device 10, the mobile phone client can show the user a map of the environment in which the device is located and the location of the device, providing the user with a richer and more user-friendly set of function options.

[0029] In the cleaning robot provided by the embodiments of this disclosure, the cleaning system 20 is mounted on the main body 10 and includes a cleaning head 21. The horizontal axis of the main body 10 forms a predetermined angle between the cleaning heads 21, reducing the probability of the cleaning heads 21 getting caught on joints or other floor surface environments when the cleaning robot passes through joints during its forward movement, thereby improving the cleaning efficiency of the cleaning robot and enhancing the usability of the cleaning robot. The predetermined angle between the horizontal axis and the cleaning heads 21 may be acute, and the range of the predetermined angle may be 5 to 70 degrees.

[0030] In embodiments of the present disclosure, the cleaning system 20 may be a dry cleaning system, which may include a cleaning head 21, a dust box, a fan, an air outlet, etc. In embodiments of the present disclosure, the cleaning head 21 may be a roller brush rotatable about an axis parallel to the floor surface, the roller brush having certain interference with the floor surface sweeping up debris from the floor surface and swirling it up in front of a dust intake port between the roller brush and the dust box, and then sucking it into the dust box via a gas having suction force generated by the fan and passing through the dust box. The dust removal capability of the cleaning robot is characterized by its dust pickup efficiency (DPU), which is influenced by the roller brush structure and material, the airflow utilization rate of the air duct consisting of the dust intake port, dust box, fan, air outlet and connecting members between the four, and the type and power of the fan.

[0031] In embodiments of the present disclosure, the cleaning system 20 may be a wet cleaning system, and the cleaning head 21 includes a wet cleaning head. As shown in Figure 4, the cleaning system 20 further includes a liquid supply unit 22, which supplies cleaning liquid to the wet cleaning head. The cleaning head 21 may be located below the liquid supply unit 22, and the cleaning liquid inside the liquid supply unit 22 is transported to the cleaning head 21 via a water supply mechanism, and the cleaning head 21 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid supply unit 22 may be sprayed directly onto the surface to be cleaned, and the cleaning head 21 may uniformly apply the cleaning liquid to achieve cleaning of the surface.

[0032] In the embodiments of this disclosure, the cleaning head 21 is provided at the bottom of the device body 10, and for example, the cleaning head 21 may be a cleaning pad parallel to the surface to be cleaned. In these embodiments, the cleaning head 21 is used to clean the surface to be cleaned, and the drive system 30 drives the cleaning head 21 to move essentially back and forth along a target surface, which is a part of the surface to be cleaned. The cleaning head 21 moves back and forth along the surface to be cleaned, and a cleaning cloth or cleaning plate is provided on the contact surface of the cleaning head 21 with the surface to be cleaned, and the reciprocating movement generates high-frequency friction between the cleaning head and the surface to be cleaned, thereby removing dirt from the surface to be cleaned.

[0033] The higher the friction frequency, the more friction cycles occur per unit time. High-frequency reciprocating movement is also called reciprocating vibration, and its cleaning ability is far higher than that of normal reciprocating movement such as rotation and friction cleaning. Selectively, the friction frequency approximates a sound wave, and the cleaning effect is far higher than that of rotational friction cleaning at tens of revolutions per minute. On the other hand, the tuft on the surface of the cleaning head 21 spreads evenly in the same direction under the vibration of high-frequency vibration, without the frictional force increasing under downward pressure alone under low-frequency rotation conditions, resulting in a more uniform cleaning effect overall and improved cleaning performance. Under downward pressure alone, the tuft does not spread in almost the same direction, and in terms of effect, the limescale on the surface to be cleaned after cleaning with high-frequency vibration becomes more uniform, and no chaotic limescale remains. In other embodiments of this disclosure, the cleaning head 21 may have a strip-shaped structure or the like. In embodiments of this disclosure, as shown in Figure 16, the cleaning head 21 may be a roller brush that can rotate around an axis parallel to the surface to be cleaned. The main unit 10 of the device includes a fixing bracket 11, the cleaning head 21 is located inside the fixing bracket 11, a liquid supply passage is provided on the fixing bracket 11, and the liquid supply unit 22 supplies cleaning liquid to the wet cleaning head via the liquid supply passage.

[0034] The liquid supply passage may be formed by a cavity formed inside the fixed bracket 11. For example, a portion of the fixed bracket 11 may be made hollow to form a liquid supply passage through which the cleaning liquid flows. The liquid supply passage may also be formed by a pipe, supplying the cleaning liquid in the liquid supply unit 22 onto the wet cleaning head, thereby enabling the cleaning head 21 to effectively clean the surface to be cleaned.

[0035] In embodiments of this disclosure, as shown in Figures 8 and 9, the liquid supply passage has a liquid inlet 111 and a liquid outlet 112, the liquid inlet 111 is in communication with the liquid supply unit 22 and the liquid outlet 112 is used to supply cleaning liquid to the cleaning head 21.

[0036] In the embodiments of this disclosure, as shown in Figures 8 and 9, a liquid inlet 111 and a liquid outlet 112 are provided on a fixed bracket 11, one end of the liquid inlet 111 is located on the outer surface of the fixed bracket 11, and the liquid outlet 112 is located on the inner surface of the fixed bracket 11. A main body portion of a liquid supply passage is provided between the liquid inlet 111 and the liquid outlet 112, and the main body portion communicates with a plurality of liquid outlets 112 simultaneously, so that the liquid outlet 112 is used to supply cleaning liquid to the cleaning head 21.

[0037] In the embodiments of this disclosure, a storage chamber 113 is formed in the fixed bracket 11, and a liquid outlet 112 is provided on the cavity wall of the storage chamber 113. The liquid outlet 112 may be located at the top of the storage chamber 113, or it may be located on the side of the storage chamber 113, ensuring that the cleaning liquid discharged from the liquid outlet 112 is reliably supplied to the cleaning head 21.

[0038] In the embodiments of this disclosure, there may be multiple liquid outlets 112, which are spaced apart along a direction parallel to the cleaning head 21, so that the cleaning liquid is uniformly supplied to each position of the wet cleaning head, and so that the wet cleaning head reliably cleans the surface to be cleaned. The liquid supply passage may have only one liquid inlet 111, and one liquid inlet 111 corresponds to all liquid outlets 112.

[0039] In an optional embodiment of the present disclosure, the liquid supply passage may have at least two liquid inlets 111, each corresponding to a plurality of liquid outlets 112, to ensure that cleaning liquid is reliably supplied onto the wet cleaning head. The liquid inlets 111 may be formed by columnar structures so as to be connected to a tubular structure for supplying the cleaning liquid. The liquid outlets 112 may be rectangular, circular, or other polygonal structures, and are not particularly limited herein. The plurality of liquid outlets 112 are arranged sequentially along a direction parallel to the cleaning head 21.

[0040] In the embodiments of this disclosure, as shown in Figures 5 and 6, the recovery system 40 is provided on the main body 10 of the equipment, and the recovery system 40 includes a collection unit 41, which collects residue from the cleaning head 21 and / or the surface to be cleaned, thereby effectively cleaning the surface to be cleaned and ensuring the cleanliness of the surface to be cleaned.

[0041] During the movement of the cleaning robot, the cleaning head 21 rotates to clean the target surface. During this process, residues on the target surface are attracted to the cleaning head 21, and the collection unit 41 collects these residues, ensuring the cleanliness of the cleaning head 21. Furthermore, by collecting residues on the target surface, the collection unit 41 works in cooperation with the cleaning head 21 to achieve thorough cleaning of the target surface. The residues may be water, dirt, etc., but are not particularly limited to these.

[0042] In the embodiments of this disclosure, as shown in Figure 3, the recovery system 40 further includes a scraper 42 which comes into contact with the cleaning head 21 and, through interference with the cleaning head 21, removes residue from the cleaning head 21, which is collected by the collection unit 41, ensuring the cleanliness of the cleaning head 21 and ensuring effective cleaning of the surface to be cleaned.

[0043] Specifically, the scraper 42 may have a plate-like structure, which interferes with the cleaning head 21, and during the rotation of the cleaning head 21, the plate-like structure removes residue from the cleaning head 21, which is then collected by the collection unit 41, ensuring that any residue adsorbed onto the surface to be cleaned is reliably collected by the collection unit 41. The scraper 42 may be mounted on the main body 10 of the device. The scraper 42 is detachably mounted on the main body 10 of the device.

[0044] In the embodiments of this disclosure, the scraper 42 is parallel to the cleaning head 21, thereby ensuring that the scraper 42 reliably removes residue from the cleaning head 21 and allowing for easy installation of the structure.

[0045] Specifically, the length of the scraper 42 may be equal to the length of the cleaning head 21, and by ensuring that the scraper 42 can fully interfere with the cleaning head 21, it is possible to avoid the scraper 42 occupying space in the longitudinal direction and to ensure the compactness of the structure.

[0046] In an optional embodiment of this disclosure, the horizontal axis of the device body 10 is parallel to the cleaning head 21, and the horizontal axis of the device body 10 is parallel to the scraper 42.

[0047] In the embodiments of this disclosure, as shown in Figures 10 and 11, a water intake port 421 is provided on the scraper 42, the water intake port 421 is in communication with the collection unit 41, and the wastewater is reliably collected into the collection unit 41 via the water intake port 421 by the recovery system 40.

[0048] Specifically, the water intake port 421 may face the cleaning head 21, and after the scraper 42 scrapes off the wastewater on the cleaning head 21, the wastewater flows along the scraper 42 towards the water intake port 421, and the collection system 40 sucks the wastewater into the collection unit 41 by the water intake port 421.

[0049] In an optional embodiment of the present disclosure, the water intake port 421 may be located on the side of the scraper 42 away from the cleaning head 21, with a portion of the scraper 42 collecting wastewater and the water intake port 421 sucking up the collected wastewater to the collection unit 41.

[0050] In the embodiments of this disclosure, as shown in Figure 7, the recovery system 40 further includes a power unit 43 which is in pneumatic communication with a collection unit 41 and collects residue in the collection unit 41. A negative pressure is generated between the power unit 43 and the collection unit 41, drawing residue from the surface to be cleaned and residue on the cleaning head 21 into the collection unit 41. Specifically, the negative pressure generated between the power unit 43 and the collection unit 41 draws wastewater into the collection unit 41 through the water intake port 421. The power unit 43 may be a fan.

[0051] In the embodiments of this disclosure, as shown in Figure 9, a storage chamber 113 is formed in the fixed bracket 11, the cleaning head 21 is located inside the storage chamber 113, and the collection unit 41 is in communication with the storage chamber 113, so that residue passes through the storage chamber 113 and then enters the collection unit 41.

[0052] Specifically, a through hole 114 is provided on the fixed bracket 11, the through hole 114 communicates with the collection unit 41, and the through hole 114 communicates with the storage chamber 113, and the residue scraped off from the cleaning head 21 by the scraper 42 is located in the storage chamber 113 of the fixed bracket 11, and the negative pressure generated between the power unit 43 and the collection unit 41 sucks the residue in the storage chamber 113 into the collection unit 41 through the through hole 114. In an optional embodiment of the present disclosure, the storage chamber 113 of the fixed bracket 11 forms a space that is sealed relative to the surface to be cleaned, so the negative pressure generated between the power unit 43 and the collection unit 41 sucks the residue on the surface to be cleaned into the collection unit 41 through the through hole 114.

[0053] In the embodiments of this disclosure, as shown in Figure 7, the collection unit 41 has an inlet 411 and an outlet 412, the inlet 411 communicating with the storage chamber 113, and the inlet 411 may also communicate with a through hole 114, and the outlet 412 may communicate with a power unit 43, the power unit 43 providing power through the outlet 412 of the collection unit 41 to suck the residue from the through hole 114 of the storage chamber 113 into the inlet 411 of the collection unit 41 and into the collection unit 41. Here, when airflow flows inside the collection unit 41, the wastewater, debris, etc. carried by the airflow accumulate in the collection unit 41 under the effect of gravity, so if the airflow path inside the collection unit 41 is relatively long, the wastewater, debris, etc. can be separated from the airflow.

[0054] In the embodiments of this disclosure, as shown in Figure 12, the inlet 411 and outlet 412 of the collection unit 41 may be provided on the same side of the collection unit 41. For example, both the inlet 411 and outlet 412 of the collection unit 41 may be located on the front side of the collection unit 41. This effectively extends the airflow path within the collection unit 41, thereby enabling more effective separation of wastewater, debris, etc., from the airflow.

[0055] In embodiments of the present disclosure, as shown in Figures 5 and 6, the sealing assembly 50 of the cleaning robot is provided on the main body 10, and the position of at least a portion of the sealing assembly 50 is adjustable, allowing the inlet 411 and outlet 412 of the collection unit 41 to be opened and closed, thereby preventing waste in the collection unit 41 from being poured out from the inlet 411 or entering the power unit 43 from the outlet 412.

[0056] Specifically, the sealing assembly 50 can close the inlet 411 and outlet 412 of the collection unit 41 while the cleaning robot is not in operation, thus avoiding the problem of residue being accidentally spilled out by the manual movement of the cleaning robot. When the cleaning robot starts operating, the sealing assembly 50 can open the inlet 411 and outlet 412 of the collection unit 41, and the residue is sucked into the collection unit 41 from the inlet 411.

[0057] In embodiments of this disclosure, the sealing assembly 50 may be controlled by an independent motor, and the closing control of the inlet 411 and outlet 412 of the collection unit 41 may be achieved at any given time, for example, by closing the cleaning robot when it is not in operation. For example, the motor of the sealing assembly 50 may be electrically connected to the cleaning robot's control system 80, and the sealing assembly 50 can be controlled according to the movement state of the cleaning robot fed back from the control system 80. For example, when the control system 80 controls the cleaning robot to stop its operation, it may control the sealing assembly 50 to close the inlet 411 and outlet 412 of the collection unit 41; or when the control system 80 detects that the cleaning robot is tilted, it may control the sealing assembly 50 to close the inlet 411 and outlet 412 of the collection unit 41; or when the control system 80 detects that the cleaning robot has been idle for a long time, for example, when the cleaning robot gets stuck in a fixed position during the cleaning process and cannot continue to move forward, it may control the sealing assembly 50 to close the inlet 411 and outlet 412 of the collection unit 41; or when the control system 80 detects that the amount of debris in the collection unit 41 has reached a certain height, it may control the sealing assembly 50 to close the inlet 411 and outlet 412 of the collection unit 41.

[0058] Furthermore, the user may use an app to control the sealing assembly 50 and flexibly control the closing of the inlet 411 and outlet 412 of the collection unit 41 in order to meet their usage requirements.

[0059] In embodiments of the present disclosure, as shown in Figures 6 and 13, the sealing assembly 50 includes a connecting rod 51, a first sealing member 52 provided on the connecting rod 51, and a second sealing member 53 provided on the connecting rod 51, wherein the connecting rod 51 is movably provided with respect to the equipment body 10, and the first sealing member 52 and the second sealing member 53 can open and close an inlet 411 and an outlet 412, respectively, that is, the first sealing member 52 and the second sealing member 53 can open and close the inlet 411 and the outlet 412 synchronously, thereby improving the operational performance of the cleaning robot and enabling immediate suction of residue into the collection unit 41.

[0060] In embodiments of the present disclosure, as shown in Figures 6 and 13, the sealing assembly 50 may include a drive unit 54, which may be a motor, which is driven to a connecting rod 51 and drives the connecting rod 51 to rotate, thereby rotating the first sealing member 52 and the second sealing member 53, and opening and closing the inlet 411 and the outlet 412.

[0061] As shown in Figure 13, the first sealing member 52 and the second sealing member 53 are provided on the connecting rod 51 with a gap between them, the first sealing member 52 and the second sealing member 53 are located in the middle of the connecting rod 51, one end of the connecting rod 51 is connected to the drive unit 54, the other end of the connecting rod 51 extends beyond the second sealing member 53, and the first sealing member 52 is located between the drive unit 54 and the second sealing member 53. The first sealing member 52 and the second sealing member 53 are each provided near the relative ends of the connecting rod 51. The first sealing member 52 and the second sealing member 53 are both detachably provided on the connecting rod 51, or the first sealing member 52 and the second sealing member 53 are both integrally molded on the connecting rod 51.

[0062] In an optional embodiment of the present disclosure, the drive unit 54 may be a cylinder, an oil cylinder, or a telescopic motor, and the drive unit 54 is connected to a connecting rod 51 and moves via the telescopic rod of the drive unit 54, that is, the connecting rod 51 can move in an inward and outward direction, and the first sealing member 52 and the second sealing member 53 can move in an inward and outward direction, that is, they can move along a direction parallel to the planes where the inlet 411 and outlet 412 of the collection unit 41 are located, thereby opening and closing the inlet 411 and outlet 412 of the collection unit 41.

[0063] In an optional embodiment of the present disclosure, the drive unit 54 may be a cylinder, an oil cylinder, or a telescopic motor, and the drive unit 54 is connected to a connecting rod 51 and moves via the telescopic rod of the drive unit 54, that is, the connecting rod 51 can move in and out, the connecting rod 51 can move up and down, the first sealing member 52 and the second sealing member 53 can move up and down, that is, they can move along a direction perpendicular to the planes where the inlet 411 and outlet 412 of the collection unit 41 are located, and the inlet 411 and outlet 412 of the collection unit 41 can be opened and closed.

[0064] In an optional embodiment of the present disclosure, the first sealing member 52 and the second sealing member 53 of the sealing assembly 50 are independently mounted on a first drive unit and a second drive unit, respectively, which drive and move the first sealing member 52 and the second sealing member 53 to open and close the inlet 411 and the outlet 412. The first drive unit and the second drive unit operate synchronously, so that the first sealing member 52 and the second sealing member 53 operate synchronously and the inlet 411 and the outlet 412 can be opened and closed synchronously. The first drive unit and the second drive unit may employ power mechanisms such as motors, cylinders, or oil cylinders.

[0065] As an optional embodiment of the present disclosure, as shown in Figure 14, the sealing assembly 50 may include a connecting rod 51, a first sealing member 52, a second sealing member 53, a drive unit 54, and a top rod 55, wherein the first sealing member 52 and the second sealing member 53 are connected on the connecting rod 51, the top rod 55 is connected to the first sealing member 52, and the drive unit 54 is driven to the top rod 55, so that the drive unit 54 drives the top rod 55 to move up and down, causing the first sealing member 52 and the second sealing member 53 to move up and down, or the connecting rod 51 drives the first sealing member 52 and the second sealing member 53 to rotate, thereby allowing the inlet 411 and outlet 412 to open and close synchronously.

[0066] Alternatively, the sealing assembly 50 may further include an elastic member 56, which, after the drive unit 54 releases power, drives the top rod 55 back to its original position, moving the first sealing member 52 and the second sealing member 53 from the open position of the inlet 411 and outlet 412 to the closed position of the inlet 411 and outlet 412. The elastic member 56 may be a spring, for example, a spring sleeved on the connecting rod 51, with one end of the spring in contact with the first sealing member 52 and the other end of the spring supported on another member of the cleaning robot, for example, the other end of the spring in contact with the machine body 10, and the spring is strongly pressed when the top rod 55 moves upward, and after the top rod 55 loses power, the spring returns to its original position, thus driving the first sealing member 52 and the second sealing member 53 from the open position of the inlet 411 and outlet 412 to the closed position of the inlet 411 and outlet 412. There may be one spring, which is sleeved at one end of the connecting rod 51, and the other end of the connecting rod 51 may rotate passively, for example, the spring may be in contact with the first sealing member 52, or the spring may be in contact with the second sealing member 53. There may be at least two springs, each provided at both ends of the connecting rod 51, and the two springs are in contact with the first sealing member 52 and the second sealing member 53, respectively.

[0067] When the drive unit 54 drives the top rod 55 upward, the connecting rod 51 rotates along the first direction, and the first sealing member 52 and the second sealing member 53 can release the inlet 411 and outlet 412. At this time, the elastic member 56 is strongly pressed, and after the drive unit 54 releases power, or after the drive unit 54 operates in the reverse direction, for example, if the motor rotates forward, the top rod 55 moves upward, and if the motor rotates backward, the drive unit 54 is not fixedly connected to the top rod 55. The driving force that restores the elastic member 56 to its original state drives the connecting rod 51 to rotate along the second direction, thereby pressing the top rod 55 downward, and the first sealing member 52 and the second sealing member 53 can seal the inlet 411 and outlet 412. The drive unit 54 may include a cam mechanism, which drives the top rod 55 upward, and at this time, the top rod 55 may be in contact with the cam mechanism without being fixed. Alternatively, the drive unit 54 may include an electric push rod, which is only inserted into the top rod 55 and does not necessarily form an axial fixation. In some embodiments, the drive unit 54 may be fixedly connected to the connecting rod 51, in which case the elastic member 56 may be omitted. The drive unit 54 drives the top rod 55 to move upward, and the drive unit 54 may include a cam mechanism, a gear mechanism, etc., but it is sufficient that it can achieve linear movement and push the top rod 55 to perform linear movement.

[0068] In embodiments of the present disclosure, as shown in Figure 14, the sealing assembly 50 may further include a sealing member 57, which may be provided on the collection unit 41, i.e., a through hole may be provided in the collection unit 41, the top rod 55 passing through the through hole and connected to the drive unit 54, the sealing member 57 is used to seal the gap between the hole wall of the through hole and the top rod 55 and to prevent the flow of wastewater in the collection unit 41, the top rod 55 moving up and down inside the sealing member 57. The sealing member 57 may be a sealing ring.

[0069] The collection section 41 includes at least two sub-chambers, the first sub-chamber being used to store wastewater, the second sub-chamber being hollow under normal conditions, and wastewater flowing into the second sub-chamber only after the water level in the first sub-chamber reaches a certain value, and the top rod 55 penetrates the second sub-chamber, so under normal conditions, the problem of liquid leakage into the second sub-chamber does not occur, and liquid leakage can be effectively prevented by providing a sealing member 57 when there is liquid in the second sub-chamber.

[0070] In the embodiments of this disclosure, when the collection unit 41 is attached to the device, the top rod 55 can be biased to open the first sealing member 52 and the second sealing member 53, and when the collection unit 41 is removed, the first sealing member 52 and the second sealing member 53 lose support from the top rod 55 and close under the action of a spring force. If the sensor detects a situation such as the user turning the cleaning robot upside down or tilting it, the program controls the movement of the top rod 55, so that the top rod 55 can no longer support the first sealing member 52 and the second sealing member 53, and the first sealing member 52 and the second sealing member 53 are closed under the action of spring force.

[0071] In the embodiments of this disclosure, as shown in Figures 1 and 2, the cleaning system 20 is provided in the front portion 12 of the equipment body 10, and at least a part of the drive system 30 may be provided in the rear portion 13 of the equipment body 10. For example, the driven wheels 33 of the drive system 30 may be provided at the edge of the rear portion 13. The front portion 12 may be substantially rectangular, and the rear portion 13 may be substantially semicircular.

[0072] In the embodiments of this disclosure, as shown in Figures 2 and 3, the cleaning system 20 further comprises an auxiliary cleaning head 23, which is mounted on the main body 10, and the auxiliary cleaning head 23 allows the cleaning robot to clean areas such as wall edges and corners more effectively, thereby improving the cleaning effect of the cleaning system 20.

[0073] In the embodiments of this disclosure, as shown in Figures 1 and 2, the auxiliary cleaning head 23 is provided at a corner position of the main body 10, and a portion of the auxiliary cleaning head 23 extends beyond the main body 10. The portion of the auxiliary cleaning head 23 extending beyond the main body 10 is smaller than the portion of the auxiliary cleaning head 23 located below the main body 10. This ensures that the cleaning range of the cleaning head 23 is maintained and prevents the auxiliary cleaning head 23 from excessively increasing the area occupied by the cleaning robot.

[0074] The main body of the device 10 includes a front portion 12 and a rear portion 13. The front portion 12 is approximately a rectangular parallelepiped; that is, ignoring manufacturing errors, mounting errors, etc., the circumferential outer surface of the rectangular parallelepiped may include rounded corner regions, and the rectangular parallelepiped here merely emphasizes the general structure of the front portion 12. The auxiliary cleaning head 23 is provided at the corner position of the front portion 12.

[0075] In the embodiments of this disclosure, as shown in Figures 1 and 2, the auxiliary cleaning head 23 is positioned close to the front portion 12 of the main body 10 of the device, so that a part of the auxiliary cleaning head 23 extends beyond the mounted shock absorber 72, and even if the cleaning robot is obstructed by an obstacle in front, the auxiliary cleaning head 23 can still clean areas such as gaps in front, thereby improving the cleaning ability of the cleaning robot.

[0076] In the embodiments of this disclosure, a predetermined angle is formed between the horizontal axis of the device body 10 and the cleaning head 21, that is, the cleaning head 21 is provided at an inclination, and the auxiliary cleaning head 23 is provided on the side inclined to the rear of the cleaning head 21 (for example, the auxiliary cleaning head 23 on that side is further away from the edge of the front portion 12 of the device body 10 than the other side), thereby increasing the area of ​​the auxiliary cleaning head 23, that is, the area of ​​the auxiliary cleaning head 23 can be made relatively large without making the portion of the auxiliary cleaning head 23 that protrudes from the device body 10 excessively large, and a sufficient cleaning area of ​​the cleaning system 20 can be secured. The outer edge of the auxiliary cleaning head 23 is substantially circular, and by providing the auxiliary cleaning head 23 on the side inclined to the rear of the cleaning head 21, the auxiliary cleaning head 23 has a relatively large cleaning area, and the portion of the auxiliary cleaning head 23 can overlap with the cleaning head 21.

[0077] In the embodiments of this disclosure, the portion of the auxiliary cleaning head 23 overlaps with the cleaning head 21, and the combination of the auxiliary cleaning head 23 and the cleaning head 21 can increase the cleaning area. This is fundamental to avoiding the problem of missed cleaning areas between the auxiliary cleaning head 23 and the cleaning head 21, and improving the cleaning effect of the cleaning system 20.

[0078] In the embodiments of this disclosure, the outer edge of the auxiliary cleaning head 23 extends beyond the outer edge of the equipment body 10, that is, the auxiliary cleaning head 23 can clean areas outside the equipment body 10, such as wall edges and wall corners, thereby increasing the cleaning area of ​​the cleaning system 20 and improving the cleaning performance of the cleaning robot.

[0079] In the embodiments of this disclosure, the auxiliary cleaning head 23 includes a wet auxiliary cleaning head 231, and the liquid supply unit 22 supplies cleaning liquid to the wet auxiliary cleaning head 231. The auxiliary cleaning head 23 may be located below the liquid supply unit 22, and cleaning liquid inside the liquid supply unit 22 is supplied to the auxiliary cleaning head 23 via a water supply mechanism, and the auxiliary cleaning head 23 performs wet cleaning on the surface to be cleaned.

[0080] Specifically, the cleaning system 20 further includes an auxiliary liquid supply passage, and the liquid supply unit 22 supplies cleaning liquid to the wet auxiliary cleaning head 231 via the auxiliary liquid supply passage. The auxiliary liquid supply passage may be a space formed inside the auxiliary cleaning head 23, and supplies cleaning liquid to the wet auxiliary cleaning head 231 via a liquid outlet. The auxiliary liquid supply passage may also be a liquid supply pipe for supplying cleaning liquid to the wet auxiliary cleaning head 231.

[0081] In embodiments of the present disclosure, as shown in Figures 15 and 16, the cleaning system 20 further comprises a water pump 24 which communicates with a liquid supply unit 22 to supply cleaning liquid from the liquid supply unit 22 to at least one of the cleaning head 21 and auxiliary cleaning head 23. The water pump 24 supplies cleaning liquid from the liquid supply unit 22 to the cleaning head 21 via a liquid supply passage and / or supplies cleaning liquid from the liquid supply unit 22 to the auxiliary cleaning head 23 via an auxiliary liquid supply passage.

[0082] Specifically, there may be one water pump 24, and this single water pump 24 communicates simultaneously with the liquid supply passage and the auxiliary liquid supply passage. There may also be two water pumps 24, and each of the two water pumps 24 communicates with the liquid supply passage and the auxiliary liquid supply passage, respectively. The water pump 24 may be a gear pump, vane pump, piston pump, peristaltic pump, etc. The output / flow rate of the water pump 24 is adjustable. The water pump 24, in cooperation with devices such as valves, can control the liquid supply of cleaning liquid from the liquid supply unit 22 to the cleaning head 21 and the auxiliary cleaning head 23.

[0083] In embodiments of this disclosure, the cleaning head 21 is rotatable about a first axis, and the auxiliary cleaning head 23 is rotatable about a second axis, forming a constant angle between the first and second axes. The cleaning head 21 may be a mopping roller brush. The auxiliary cleaning head 23 may include cloth or wool, and the cleaning liquid in the liquid supply unit 22 is uniformly distributed over the auxiliary cleaning head 23 by penetration of the cloth or wool and centrifugal force. The auxiliary cleaning head 23 may float to some extent in the vertical direction.

[0084] In the embodiments of this disclosure, the first axis is perpendicular to the second axis, that is, the first axis may be parallel to the surface to be cleaned, and the second axis may be perpendicular to the surface to be cleaned.

[0085] In an optional embodiment of this disclosure, the auxiliary cleaning head 23 may be a side brush, the axis of rotation of the side brush at a constant angle with respect to the floor surface, and moves residue on the surface to be cleaned to the cleaning area of ​​the cleaning head 21.

[0086] As an optional embodiment of the present disclosure, the auxiliary cleaning head 23 may be in the form of a disc brush, a roller brush, or the like.

[0087] As shown in Figure 4, the auxiliary cleaning head 23 may further include a main body 232, and the wet auxiliary cleaning head 231 is connected to the main body 232, which is mounted on the main body 10 of the device. The main body 232 may include a drive motor, which may drive the wet auxiliary cleaning head 231 to rotate. The wet auxiliary cleaning head 231 may include cloth or wool, and the main body 232 may include a support structure, which may be a conical soft rubber support, which transmits greater torque and allows the wet auxiliary cleaning head 231 to float up and down to some extent, thereby improving cleaning performance.

[0088] In the embodiments of this disclosure, the liquid supply unit 22 and the collection unit 41 are stacked, thereby improving the space utilization rate of the cleaning robot and avoiding the problem of increasing the size of the cleaning robot.

[0089] In the embodiments of this disclosure, as shown in Figures 15 and 16, the liquid supply unit 22 is located above the collection unit 41. The liquid supply unit 22 may be a clean water tank, and the collection unit 41 may be a wastewater tank. By positioning the clean water tank above, liquid supply to the cleaning head 21 and the auxiliary cleaning head 23 can be facilitated. By positioning the wastewater tank below, residue can be easily collected.

[0090] The clean water tank and the wastewater tank may be stacked vertically, that is, as shown in Figures 15 and 16, the liquid supply unit 22 and the collection unit 41 may be stacked vertically, and the clean water tank may be located above the wastewater tank. By positioning the clean water tank higher, liquid supply to the cleaning head 21 and the auxiliary cleaning head 23 can be facilitated, and by positioning the wastewater tank lower, residue can be easily collected. Furthermore, by stacking the clean water tank and the wastewater tank vertically, the center of gravity of the cleaning robot does not change much in the horizontal direction, thus ensuring the stability of the cleaning robot and avoiding large swaying during the cleaning process.

[0091] The collection unit 41 may be located in the middle of the main body 10, that is, the collection unit 41 may be located on the side away from the mounted buffer 72 of the cleaning system 20. As a result, even if the amount of water in the collection unit 41 changes, the center of gravity of the cleaning robot does not change much, so that the cleaning robot can stably clean the surface to be cleaned and avoid the problem of the center of gravity becoming unstable during use.

[0092] In the embodiments of this disclosure, as shown in Figure 17, the liquid supply unit 22 and the collection unit 41 are stacked vertically, with a water inlet 221 provided in the liquid supply unit 22 and a drain port 413 provided on the collection unit 41. The water inlet 221 on the liquid supply unit 22 is used to inject clean water into the liquid supply unit 22, and the drain port 413 on the collection unit 41 is used to discharge the wastewater in the collection unit 41 from the collection unit 41. The water inlet 221 may be located on the side of the liquid supply unit 22, and the drain port 413 may be located on the side of the collection unit 41. For example, two interfaces may be provided on the bottom or side of the main body 10 of the device. The two interfaces facilitate the connection of the clean water injection structure and the wastewater discharge structure, and the two interfaces need to be sealed to avoid water leakage during normal use of the cleaning robot. Alternatively, the water inlet 221 and the drain port 413 may be sealed with a sealing member, allowing the liquid supply unit 22 and the collection unit 41 to be simultaneously removed from the main body 10 when filling or draining water. Since the liquid supply unit 22 is connected to the collection unit 41, the liquid supply unit 22 and the collection unit 41 can be removed synchronously from the main body 10.

[0093] Since the liquid supply unit 22 and the collection unit 41 can be removed from the main body 10, liquid injection from the liquid supply unit 22 and wastewater discharge from the collection unit 41 can be achieved. As shown in Figure 17, the collection unit 41 may have an irregular shape, and may include a main body 414 and an extension unit 415 connected to the main body 414. The main body 414 and the extension unit 415 form a chamber for collecting wastewater. The main body 414 is approximately a rectangular parallelepiped, and the extension unit 415 has an irregular shape. For example, the extension unit 415 may be divided into triangles and rectangles, or semicircles and rectangles, etc., and is not particularly limited here. The wastewater storage space of the extension unit 415 is smaller than the wastewater storage space of the main body 414. By providing a drain port 413 in the extension unit 415, when wastewater is discharged, the wastewater can be concentrated in the extension unit 415 by tilting the collection unit 41, ensuring smooth discharge of wastewater and preventing wastewater that cannot be discharged from accumulating in the collection unit 41.

[0094] In embodiments of this disclosure, a plurality of cliff sensors may be provided on the main body 10, the plurality of cliff sensors may be provided around the edge positions of the main body 10, the auxiliary cleaning head 23 may be provided at the corner positions of the main body 10, the cliff sensors may be provided at positions close to the auxiliary cleaning head 23 on the main body 10, or at least two cliff sensors may be provided at positions close to the auxiliary cleaning head 23 on the main body 10, the cliff sensors can identify the surface to be cleaned and determine the physical properties of the surface to be cleaned, such as the surface material and the degree of cleaning, the control system 80 can control the operating state of the auxiliary cleaning head 23 based on the identification results of the cliff sensors and ensure the cleaning function of the auxiliary cleaning head 23, for example, if the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 can be controlled to increase humidity and ensure the cleaning effect, or if the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to decrease humidity and avoid wetting the carpet.

[0095] In the embodiments of this disclosure, as shown in Figure 1, the detection system 60 of the cleaning robot is provided on the main body 10 of the equipment, and at least a portion of the detection system 60 is extendable from the outer edge of the main body 10, thereby expanding the detection range of the detection system 60 and improving the flexible adjustment capability of the cleaning robot. The detection system 60 may be an ultrasonic, infrared, or other sensor, and is used to detect changes in the material of the surface to be cleaned, horizontal changes in the surface to be cleaned, or dirt detection.

[0096] In the embodiments of this disclosure, at least a portion of the detection system 60 is movably mounted relative to the device body 10, allowing for reliable adjustment of the position of the detection system 60, thereby enabling application to different application environments. The detection system 60 may be driven by a drive mechanism to achieve position adjustment, or the detection system 60 may include a flexible mechanism, and position adjustment may be achieved by deforming the flexible mechanism.

[0097] Specifically, the detection system 60 is retractably mounted on the main body 10 of the device, and the detection system 60 has an extended state and a retracted state. When the detection system 60 extends to the front of the cleaning robot, it can detect the floor surface condition in front of the cleaning robot. For example, if the cleaning robot is D-shaped, the detection system 60 may be installed near the corner of the cleaning robot, and the detection system 60 can easily detect the floor surface condition in front or to the side when it is in its retracted state. If the cleaning robot is circular, the detection system 60 may be installed at the front of the cleaning robot.

[0098] In the embodiments of this disclosure, at least a portion of the detection system 60 is extendable from the outer edge of the equipment body 10, and the detection system 60 has a retracted state in which it is housed in the equipment body 10 and an extended state in which it extends from the equipment body 10, and the control system 80 can control the detection system 60 to move between the retracted state and the extended state, thereby allowing the detection system 60 to adjust in real time according to the operating state or operating path of the cleaning robot, and enabling the detection system 60 to accurately determine the state of the surface to be cleaned.

[0099] Specifically, the drive system 30 can drive the cleaning robot to operate on the work surface, and at this time, the control system 80 can drive the detection system 60 to move from a retracted state to an extended state, so that the detection system 60 can monitor the condition of the work surface in real time. Furthermore, since the detection system 60 has a detection field of view facing the work surface, it can accurately detect the condition of the work surface, such as changes in the material of the work surface, changes in the horizontal position of the work surface, or detection of dirt.

[0100] In the embodiments of this disclosure, as shown in Figures 1 to 3, the detection system 60 may be connected to a corner position of the main body 10, and the auxiliary cleaning head 23 is provided in a position close to the detection system 60 on the main body 10. The detection system 60 can identify the surface to be cleaned early and determine the physical characteristics of the surface to be cleaned, such as the surface material and the degree of cleaning. The control system 80 can control the operating state of the auxiliary cleaning head 23 based on the identification result of the detection system 60 and ensure the cleaning function of the auxiliary cleaning head 23. For example, if the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 can be controlled to increase humidity and ensure the cleaning effect, or if the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to decrease humidity and avoid wetting the carpet.

[0101] In the embodiments of this disclosure, the detection system 60 is retractably mounted on the front portion 12 of the equipment body 10, enabling the detection system 60 to determine the condition of the surface to be cleaned at an early stage and provide feedback to the control system 80, which can adjust the cleaning robot's travel path and cleaning mode based on the information fed back from the detection system 60. The detection system 60 is located at the corner of the front portion 12, allowing for a rational placement of the detection system 60, avoiding the detection system 60 occupying a relatively large area, and enabling the detection system 60 to reliably monitor the condition of the work surface at the corner of the equipment body 10, thereby allowing the cleaning robot to clean the work surface more efficiently.

[0102] In the embodiments of this disclosure, as shown in Figures 1 and 4, at least one detection system 60 is provided adjacent to the auxiliary cleaning head 23, and at least a portion of the detection system 60 is positioned directly above the auxiliary cleaning head 23, thereby preventing the detection system 60 from interfering with the auxiliary cleaning head 23, allowing for more effective use of the corner positions of the equipment body 10, and enabling a rational arrangement of the mounting positions of the detection system 60 and the auxiliary cleaning head 23.

[0103] In embodiments of this disclosure, the control system 80 may be connected to the detection system 60, and the control system 80 can control the extension and retraction state of the detection system 60. For example, when the cleaning robot is operating, the control system 80 can control the detection system 60 to move from a retracted state to an extended state, or when the cleaning robot stops operating, the control system 80 can control the detection system 60 to move from an extended state to a retracted state. Alternatively, if the detection system 60 detects that there is a recess on the work surface or that the material of the work surface has changed, the control system 80 can control the cleaning system 20 or change the operating state of the drive system 30, where the work surface is the surface to be cleaned. For example, if the detection system 60 detects that there is a recess on the work surface, the control system 80 may control the drive system 30 to slow down, or the control system 80 may control the cleaning system 20 to slow down and rotate. For example, if the detection system 60 detects a change in the work surface material, it changes from carpet to tiles. At this time, the control system 80 may control the drive system 30 to accelerate it, or the control system 80 may control the cleaning system 20 to accelerate it and make it rotate.

[0104] The detection system 60 is used to detect changes in the material of the surface to be cleaned, changes in the horizontal position of the surface to be cleaned, or the detection of dirt, and can provide feedback to the control system 80 to control the operating state of the cleaning robot. For example, if the detection system 60 detects that the surface to be cleaned is relatively dirty, the control system 80 controls the cleaning robot to slow down, allowing the cleaning system 20 to clean the surface effectively. Alternatively, if the detection system 60 detects that the surface to be cleaned is a floor, the control system 80 controls the water pump 24 to increase the flow rate of cleaning liquid supplied from the liquid supply unit 22 to the cleaning head 21 and auxiliary cleaning head 23, ensuring thorough cleaning of the floor. Alternatively, the control system 80 can adjust the cleaning robot's travel path and cleaning mode based on the information fed back from the detection system 60. For example, if the detection system 60 detects that When in the deployed state, the detection system 60 may be positioned in front of the main unit 10, and the detection system 60 can determine the state of the surface to be cleaned at an early stage and provide feedback to the control system 80, which can adjust the cleaning robot's travel path and cleaning mode based on the information provided back from the detection system 60. The detection system 60 can also detect changes in floor surface material at an early stage. For example, when the floor surface changes from a floor to a carpet, the detection system 60 provides relevant information to the control system 80 in real time, and the control system 80 can immediately control the cleaning robot's travel direction or cleaning mode. For example, when the floor changes from a floor to a carpet, the cleaning robot may be controlled to slow down, or when the floor changes from a floor to a carpet, the cleaning robot may be controlled to reduce the amount of liquid supplied to the cleaning head 21 and the auxiliary cleaning head 23.

[0105] In the embodiments of this disclosure, there may be multiple detection systems 60, which can effectively expand the detection range of the detection systems 60 and accurately assist in the operating state of the cleaning system 20 or the drive system 30. There may also be two detection systems 60, as shown in Figure 1, with the two detection systems 60 each located at two corner positions of the front portion 12.

[0106] Other embodiments of this disclosure will be apparent to those skilled in the art from considering the description and practice of this disclosure. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure, including general knowledge or customary technical means in the art not disclosed herein, in accordance with the general principles of this disclosure. This specification and exemplary embodiments are intended to be exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0107] This disclosure is not limited to the exact structure described above and shown in the accompanying drawings, and it should be understood that various modifications and changes may be made without departing from its scope. The scope of this disclosure is defined solely by the attached claims.

Claims

1. The main unit of the device (10) and A drive system (30) includes a first drive wheel module (31) and a second drive wheel module (32), wherein the first drive wheel module (31) and the second drive wheel module (32) are provided along the horizontal axis of the equipment body (10), and the horizontal axis is perpendicular to the direction of movement of the cleaning robot. A cleaning system (20) is provided on the main body (10) of the device, and includes a cleaning head (21), wherein a predetermined angle is formed between the cleaning head (21) and the horizontal axis. The device comprises a collection system (40) provided on the main body (10) of the device, which includes a collection unit (41) for collecting residues on the surface to be cleaned, The aforementioned recovery system (40) The present invention further includes a scraper (42) that contacts the cleaning head (21) and removes residue from the cleaning head (21) so that it is collected by the collection unit (41) due to interference with the cleaning head (21), The scraper (42) is provided with a water intake port (421) that communicates with the collection unit (41). Cleaning robot.

2. The cleaning head (21) includes a wet cleaning head, The cleaning robot according to claim 1, wherein the cleaning system (20) further comprises a liquid supply unit (22) for supplying cleaning liquid to the wet cleaning head.

3. The cleaning robot according to claim 2, wherein the main body of the device (10) includes a fixed bracket (11), the cleaning head (21) is disposed within the fixed bracket (11), a liquid supply passage is provided on the fixed bracket (11), and the liquid supply unit (22) supplies cleaning liquid to the wet cleaning head via the liquid supply passage.

4. The liquid supply passage has a liquid inlet (111) and a liquid outlet (112), the liquid inlet (111) is in communication with the liquid supply unit (22), and the liquid outlet (112) is used to supply cleaning liquid to the wet cleaning head. The cleaning robot according to claim 3, wherein there are multiple liquid outlets (112), and the multiple liquid outlets (112) are spaced apart along a direction parallel to the wet cleaning head.

5. The cleaning robot according to claim 1, wherein the scraper (42) is parallel to the cleaning head (21).

6. The recovery system (40) is The cleaning robot according to claim 1, further comprising a power unit (43) that is in pneumatic communication with the collection unit (41) and collects residue into the collection unit (41).

7. The collection unit (41) has an inlet (411) and an outlet (412), The aforementioned cleaning robot, The cleaning robot according to claim 1, further comprising a sealing assembly (50) provided on the main body (10) and whose position is adjustable in part to open and close the inlet (411) and the outlet (412).

8. The sealing assembly (50) is Connecting rod (51), The first sealing member (52) is provided on the connecting rod (51), Including a second sealing member (53) provided on the connecting rod (51), The cleaning robot according to claim 7, wherein the connecting rod (51) is movably provided with respect to the main body of the device (10) such that the first sealing member (52) and the second sealing member (53) open and close the inlet (411) and the outlet (412), respectively.

9. The cleaning system (20) is The cleaning robot according to any one of claims 1 to 4, further comprising an auxiliary cleaning head (23) which partially overlaps with the cleaning head (21).

10. The cleaning robot according to claim 9, wherein the outer edge of the auxiliary cleaning head (23) extends beyond the outer edge of the main body of the device (10).

11. The auxiliary cleaning head (23) includes a wet auxiliary cleaning head, The cleaning system (20) is The cleaning robot according to claim 9, further comprising a liquid supply unit (22) for supplying cleaning liquid to the wet auxiliary cleaning head.

12. The cleaning robot is A cleaning robot according to any one of claims 1 to 4, further comprising a detection system (60) provided on the device body (10) and at least a portion of which extends from the outer edge of the device body (10).

13. The cleaning robot according to claim 12, wherein at least a portion of the detection system (60) is movably mounted on the main body of the device (10).

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