Floor cleaning robot

Abstract

A floor cleaning robot, which may comprise a rotating roller brush (10) and an adjustment mechanism (30) used for adjusting the height of suspension of the rotating roller brush (10), thus the floor cleaning robot can be supported to selectively utilize the rotating roller brush (10) to implement a rolling operation suitable for a hard floor, or a combined rolling and beating operation suitable for a plush floor. For example, when traveling on a plush floor, if the floor cleaning robot adjusts the height of the rotating roller brush (10) to implement the rolling operation at a relatively large rolling strength, and accompanyingly implements the beating operation, it facilitates rolling dirt accumulated between plush pieces of the plush floor, thus improving the efficiency of cleaning the plush floor by the floor cleaning robot; when traveling on a hard floor, if the floor cleaning robot adjusts the height of the rotating roller brush (10) to implement the rolling operation at a relatively small strength, and deactivates the beating operation, the noise and abrasion generated by the rotating roller brush (10) can be reduced.

Description

sweeping robot

[0001] This application claims priority to Chinese patent applications filed with the Patent Office of the State Intellectual Property Office of China on March 20, 2024, with application number 202410317762.8 and invention name “Sweeping Robot” and application number 202420553579.3 and utility model name “Sweeping Robot”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of intelligent cleaning, and in particular to a sweeping robot. Background Art

[0003] The robot vacuum's mobile chassis is equipped with a hoist assembly comprising a rotating shaft and a hoisting brush. As the robot vacuum moves along the mobile chassis, the rotating shaft of the hoist assembly rotates, driving the hoisting brush to hoist dirt from a target floor area beneath the mobile chassis into the robot vacuum.

[0004] However, when the target floor area is a hairy floor such as a carpet, the dirt is stored at the roots of the hair clumps on the hairy floor, and the hair clumps on the hairy floor hinder the rolling operation of the rolling brush. Therefore, the rolling efficiency of the rolling brush on the hairy floor is not high, resulting in low cleaning efficiency of the sweeping robot on the hairy floor.

[0005] As can be seen from the above, how to improve the cleaning efficiency of sweeping robots on rough floors has become a technical problem to be solved in the existing technology. Summary of the Invention

[0006] In an embodiment of the present application, a sweeping robot is provided to help improve the cleaning efficiency of the sweeping robot on rough floors.

[0007] One embodiment of the present application provides a sweeping robot, comprising:

[0008] A mobile chassis having a chassis opening;

[0009] A roller brush cover, the roller brush cover being mounted on the mobile chassis;

[0010] A rotating roller brush, the rotating roller brush being suspended by the roller brush cover at the chassis opening;

[0011] an adjustment mechanism, the adjustment mechanism being mounted on the mobile chassis and driving the roller brush housing to selectively suspend the rotating roller brush at a first calibrated height suitable for hard floors or a second calibrated height suitable for rough floors by cooperating with the roller brush housing;

[0012] The second calibrated height is lower than the first calibrated height, and:

[0013] The rotating roller brush performs a hoisting operation with a first hoisting intensity on the target ground area below the mobile chassis by rotating at the first calibrated height;

[0014] The rotating roller brush performs a combined operation of the hoisting operation and the slapping operation with a second intensity on the target ground area by rotating at the second calibrated height, and the second hoisting intensity is higher than the first hoisting intensity.

[0015] In some examples, optionally, the rotating roller brush includes a rolling brush and an auxiliary sheet, wherein the rolling operation includes intermittent interference contact between the rolling brush and the target ground area, the slapping operation includes intermittent interference contact between the auxiliary sheet and the target ground area, the rolling intensity of the rolling operation is associated with the interference depth of the interference contact between the rolling brush and the target ground area, and: during the rotation period when the rotating roller brush is at the first calibration height, the rolling brush intermittently interferes with the target ground area at a first interference depth, and a gap is continuously maintained between the auxiliary sheet and the target ground area; during the rotation period when the rotating roller brush is at the second calibration height, the rolling brush intermittently interferes with the target ground area at a second interference depth greater than the first interference depth, and the auxiliary sheet intermittently interferes with the target ground area at a third interference depth less than the second interference depth.

[0016] In some examples, optionally, the adjustment mechanism causes the roller brush cover to swing in pitch and tilt relative to the chassis opening by cooperating with the roller brush cover, and the pitch and tilt swing causes the rotating roller brush to switch between the first calibrated height and the second calibrated height.

[0017] In some examples, optionally, the adjustment mechanism cooperates with the first cover edge of the roller brush cover to induce the pitch and roll swing by adjusting the edge height of the first cover edge; the swing fulcrum of the pitch and roll swing is located at the second cover edge of the roller brush cover; wherein, the first cover edge and the second cover edge are respectively the opposite side edges of the roller brush cover in the direction of travel of the sweeping robot, and: when the first cover edge is at a first edge height, the rotating roller brush is suspended at the first calibrated height; when the first cover edge is at a second edge height lower than the first edge height, the rotating roller brush is suspended at the second calibrated height.

[0018] In some examples, optionally, the adjustment mechanism includes: a translation member, which is in sliding engagement with the first cover edge of the roller brush cover; a toggle member, which is in sliding engagement with the translation member, and the toggle member causes the translation position of the translation member to switch in response to the power output generated by the adjustment drive motor, so that: when the translation member is in the first translation position, the first cover edge is at the first edge height; when the translation member is in the second translation position, the first cover edge is at the second edge height.

[0019] In some examples, optionally, the translation member includes: a translation block, which is slidingly engaged with the toggle member; a drive rod, which extends from the translation block toward the first cover edge of the roller brush cover parallel to the travel direction of the sweeping robot; wherein the first cover edge of the roller brush cover has a cover groove extending parallel to the travel direction of the sweeping robot, and the sliding engagement of the drive rod with the cover groove is used to convert the translation position switching of the translation member into adjustment of the edge height of the first cover edge.

[0020] In some examples, optionally, the toggle member includes a cam, the translation block includes a wheel groove, and the sliding fit between the translation block and the toggle member includes a sliding fit between the cam and a hole wall of the wheel groove.

[0021] In some examples, optionally, the slot opening of the cover slot faces downward, the inner wall of the slot top of the cover slot has a slot top inclined step, the outer wall of the rod top of the driving rod has a rod top inclined step, and the sliding fit between the driving rod and the cover slot includes the sliding fit between the slot top inclined step and the rod top inclined step.

[0022] In some examples, optionally, the driving rods and the cover housing slide grooves are arranged in pairs.

[0023] In some examples, optionally, the first edge height is not lower than the mobile chassis, and the second edge height is lower than the mobile chassis.

[0024] In some examples, optionally, the roller brush cover has a cover inner cavity and a cover opening, the cover opening is exposed to the chassis opening, the hoisting operation is used to hoist dirt toward the cover opening, the cover inner cavity is also connected to the suction channel of the sweeping robot, and the suction airflow generated by the suction channel is used to transport the dirt from the cover opening through the cover inner cavity to the dust collecting component of the sweeping robot; wherein the roller brush cover is equipped with a cover guard frame at the cover opening, and the airflow flow area of ​​the guard frame window of the cover guard frame causes the suction airflow to gather and pressurize when entering the cover opening.

[0025] In some examples, optionally, the adjustment mechanism adjusts the edge height of the first cover edge of the roller brush cover by coordinating with the roller brush cover, and the adjustment of the edge height of the first cover edge causes the rotating roller brush to switch between the first calibrated height and the second calibrated height, and the first cover edge is the front cover edge of the roller brush cover in the direction of travel of the sweeping robot; the guard frame window has a window front edge and a window rear edge in the direction of travel of the sweeping robot, and the window front edge rises and falls synchronously with the change in edge height of the first cover edge, and the window front edge is deployed with a front overhang stop The sheet comprises a first cover shell and a second cover shell, wherein: when the edge of the first cover shell is at a first edge height, the rotating roller brush is suspended at the first calibration height, and the front side overhanging baffle is in a free extended state separated from the target ground area and tilted out of the guard frame window, so that the airflow flow surface is configured as a first airflow flow area; when the edge of the first cover shell is at a second edge height lower than the first edge height, the rotating roller brush is suspended at the second calibration height, and the front side overhanging baffle is in a bent state in interference contact with the target ground area, so that the airflow flow surface is configured as a second airflow flow area smaller than the first airflow flow area.

[0026] In some examples, optionally, the front side overhanging baffle has a first bending groove and a second bending groove, the second bending groove is located below the first bending groove, the first bending groove is used to guide the front side overhanging baffle to bend to avoid the obstacle when blocked by the obstacle, and the second bending groove is used to guide the front side overhanging baffle to bend when it is in interference contact with the target ground area.

[0027] In some examples, optionally, the guard frame window also has a pair of window side edges extending between the front edge of the window and the rear edge of the window, the window side edges are deployed with flexible edge strips, and the rear edge of the window is deployed with a rear overhanging scraper; the guard frame window is tilted on the lower frame surface of the cover guard frame close to the target ground area, the rear overhanging scraper is in normal contact with the target ground area, and: when the first cover edge is at the first edge height, the guard frame window is tilted relative to the target ground area, and the flexible edge strip is separated from the target ground area; when the first cover edge is at the second edge height, the guard frame window is parallel to the target ground area, and the flexible edge strip, the front overhanging baffle and the rear overhanging scraper contact the target ground area together to form a closed-loop shielding fence surrounding the guard frame window.

[0028] In some examples, optionally, a drive control module and a ground feature detection module are also included, wherein the ground feature detection module is used to generate a ground feature detection signal to the drive control module, and the ground feature detection signal indicates that the target ground area is a hairy ground or a hard ground, so that: the adjustment mechanism drives the roller brush cover to suspend the rotating roller brush at the first calibrated height while the sweeping robot is moving on the hard ground, and the adjustment mechanism drives the roller brush cover to suspend the rotating roller brush at the second calibrated height while the sweeping robot is moving on the hairy ground.

[0029] In some examples, optionally, the ground feature detection module includes: an ultrasonic detection module, the ultrasonic detection module is fixedly mounted on the mobile chassis, the ultrasonic detection module is located on the front side of the chassis opening in the traveling direction of the sweeping robot, the ultrasonic detection module includes an ultrasonic transmitter and an ultrasonic receiver, the ultrasonic transmitter is used to generate an ultrasonic transmission signal to the target ground area, the ultrasonic receiver is used to receive an ultrasonic echo signal returned from the target ground area, and the ground feature detection signal includes the ultrasonic echo signal.

[0030] In some examples, optionally, a current detection module is provided, which is used to generate a current detection signal for the driving current of the roller brush drive motor and / or the side brush drive motor, wherein: the power output generated by the roller brush drive motor causes the rotating roller brush to rotate; and / or the side brush drive motor is used to drive a flat-rotating side brush installed under the mobile chassis, and the flat-rotating side brush is located on the front side of the chassis opening in the direction of travel of the sweeping robot, and the ground feature detection signal includes the current detection signal.

[0031] Based on the above-mentioned embodiments of the present application, a sweeping robot may include a rotating roller brush and an adjustment mechanism for adjusting the suspension height of the rotating roller brush. Thus, the sweeping robot can selectively utilize the rotating roller brush to perform a hoisting operation suitable for hard floors, or a combined hoisting and slapping operation suitable for hairy floors. For example, if the sweeping robot adjusts the height of the rotating roller brush to perform a relatively high-intensity hoisting operation, supplemented by a slapping operation, when traveling on a hairy floor, this is more conducive to hoisting dirt stored in the hair tufts of the hairy floor, thereby improving the sweeping robot's cleaning efficiency on the hairy floor. If the sweeping robot adjusts the height of the rotating roller brush to perform a relatively low-intensity hoisting operation and disables the slapping operation when traveling on a hard floor, the noise and wear generated by the rotating roller brush can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0033] FIG1 is a schematic structural diagram of a sweeping robot in an embodiment of the present application;

[0034] FIG2 is a partially enlarged schematic diagram of the mobile chassis of the sweeping robot in an embodiment of the present application;

[0035] FIG3 is a schematic structural diagram of a rotary roller brush of a sweeping robot in an embodiment of the present application;

[0036] FIG4 is a schematic diagram of the assembly structure of the roller brush cover and the adjustment mechanism of the sweeping robot in an embodiment of the present application;

[0037] FIG5 a is a schematic diagram of the rotary roller brush of the sweeping robot in an embodiment of the present application at a first calibrated height;

[0038] FIG5b is a partial enlarged schematic diagram of FIG5a;

[0039] FIG6 a is a schematic diagram of the rotary roller brush of the sweeping robot in an embodiment of the present application at a second calibrated height;

[0040] FIG6b is a partial enlarged schematic diagram of FIG6a;

[0041] FIG7 is a schematic diagram of the disassembled state of the roller brush cover and the adjustment mechanism of the sweeping robot in an embodiment of the present application;

[0042] FIG8 is a schematic diagram of the coordination relationship between the roller brush cover and the adjustment mechanism of the sweeping robot in an embodiment of the present application;

[0043] FIG9 is a cross-sectional view of the assembled state of the roller brush cover and the adjustment mechanism of the sweeping robot in an embodiment of the present application;

[0044] FIG10 a is a schematic structural diagram of a housing frame of a sweeping robot in an embodiment of the present application;

[0045] FIG10b is a partial enlarged schematic diagram of FIG10a;

[0046] FIG11a is a schematic diagram of the connection structure of the roller brush deceleration mechanism of the sweeping robot in an embodiment of the present application;

[0047] FIG11b is a schematic diagram of the connection structure of the roller brush deceleration mechanism of the sweeping robot shown in FIG11a from another angle;

[0048] FIG12 is a schematic diagram of the front hanging flexible sheet of the sweeping robot in the embodiment of the present application in a freely extended state;

[0049] FIG13 is a schematic diagram of an interference bending state of the front overhanging flexible sheet of the sweeping robot in an embodiment of the present application;

[0050] FIG14 is a schematic diagram of the deployment position of the flexible side strips of the sweeping robot in an embodiment of the present application;

[0051] FIG15 is a flowchart illustrating an exemplary cleaning control method for a sweeping robot in an embodiment of the present application.

[0052] Explanation of reference numerals: Rotating roller brush 10; roller brush shaft 11; hoisting brush 12; auxiliary sheet 13; roller brush driving motor 15; roller brush speed reducing mechanism 16; roller brush cover 20; first cover edge 201; second cover edge 202; cover inner cavity 21; cover opening 22; cover shaft 23; cover slide 25; groove top inclined step 255; adjustment mechanism 30; translation member 31; translation block 311; driving rod 312; wheel groove 313; rod top inclined step 315; toggle member 32; cam 320; adjustment driving motor 35; movable chassis 50; chassis opening 500; cover guard frame 60; guard frame window 600; front overhanging baffle 61; first bending groove 611; second bending groove 612; rear overhanging scraper 62; flexible edge strip 63; Driving wheel 71; driven wheel 72; rotating side brush 73; ultrasonic detection module 75. DETAILED DESCRIPTION

[0053] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is further described below with reference to the accompanying drawings and examples. It is apparent that the described examples are only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the examples in this application are intended to fall within the scope of protection of this application.

[0054] Figure 1 is a schematic diagram of the structure of the mobile chassis of the sweeping robot in an embodiment of the present application; Figure 2 is a partially enlarged schematic diagram of the mobile chassis of the sweeping robot in an embodiment of the present application. Referring to Figures 1 and 2, in the embodiment of the present application, the sweeping robot may include a mobile chassis 50, a roller brush housing 20, a rotating roller brush 10, and an adjustment mechanism 30. The mobile chassis 50 has a chassis opening 500, and the roller brush housing 20 is mounted on the mobile chassis 50. The rotating roller brush 10 is suspended in the chassis opening 500 by the roller brush housing 20.

[0055] The adjustment mechanism 30 is mounted on the mobile chassis 50 and, through linkage with the roller brush housing 20, drives the roller brush housing 20 to selectively suspend the rotating roller brush 10 at a first calibrated height suitable for hard floors or a second calibrated height suitable for rough floors.

[0056] The second calibration height is lower than the first calibration height, and the rotating roller brush 10 performs a hoisting operation of a first hoisting intensity on the target ground area below the mobile chassis 50 by rotating at the first calibration height;

[0057] The rotating roller brush 10 performs a combined operation of a second-intensity hoisting operation and a slapping operation on the target ground area by rotating at the second calibrated height, and the second hoisting intensity is higher than the first hoisting intensity.

[0058] The sweeping robot in the embodiments of the present application may include a rotating roller brush and an adjustment mechanism for adjusting the suspension height of the rotating roller brush. Thus, the sweeping robot can selectively utilize the rotating roller brush to perform a hoisting operation suitable for hard surfaces, or a combined hoisting and slapping operation suitable for hairy surfaces. For example, if the sweeping robot adjusts the height of the rotating roller brush to perform a relatively high-intensity hoisting operation, supplemented by a slapping operation, while traveling on a hairy surface, this is more conducive to lifting dirt stored in the hair tufts on the hairy surface, thereby improving the sweeping robot's cleaning efficiency on the hairy surface. If the sweeping robot adjusts the height of the rotating roller brush to perform a relatively low-intensity hoisting operation while disabling the slapping operation while traveling on a hard surface, the noise and wear generated by the rotating roller brush can be reduced.

[0059] In an embodiment of the present application, the mobile chassis 50 may be equipped with a wheel set, and the mobile chassis 50 may travel along a predetermined path by rotating the wheel set. For example, the wheel set of the mobile chassis 50 may include a pair of driving wheels 71 and a driven wheel 72, and the driven wheel 72 may be located in front of the pair of driving wheels 71 in the direction of travel of the sweeping robot. The rotation of each driving wheel 71 may be triggered by the start-up of the corresponding wheel shaft drive motor, and the driving control module of the sweeping robot adjusts the stop state and the rotation speed of the pair of driving wheels 71 by respectively controlling the wheel shaft drive motors of the pair of driving wheels 71. Thus, the coordinated rotation of the pair of driving wheels 71 and the driven wheels 72 allows the mobile chassis 50 to travel along a predetermined path.

[0060] Among them, the mobile chassis 50 can be steered based on the dual-motor differential control, that is, the wheel axle drive motors corresponding to the two drive wheels 71 drive the two drive wheels 71 to rotate at different speeds, thereby realizing the steering of the mobile chassis 50.

[0061] In the embodiment of the present application, the mobile chassis 50 may further have a chassis opening 500 . For example, the chassis opening 500 may be located between the pair of driving wheels 71 .

[0062] In an embodiment of the present application, the rotating roller brush 10 can be suspended in the chassis opening 500. For example, the sweeping robot can further include a roller brush cover 20, which is mounted on the mobile chassis 50 and covers the chassis opening 500. In addition, the rotating roller brush 10 can be suspended in the chassis opening 500 by rotating the roller brush cover 20.

[0063] Specifically, the mobile chassis 50 is recessed toward the top of the mobile chassis 50 to form a chassis groove, and the chassis opening 500 is located at the bottom of the chassis groove. The shape of the chassis groove is adapted to the shape of the roller brush cover 20, and the roller brush cover 20 is installed in the chassis groove through the chassis opening 500.

[0064] In an embodiment of the present application, the rotating roller brush 10 can perform a hoisting operation on a target ground area below the moving chassis 50 by rotating.

[0065] Figure 3 is a schematic diagram of the structure of the rotary roller brush of the sweeping robot in an embodiment of the present application. Referring to Figure 3, in this embodiment of the present application, the rotary roller brush 10 may include a roller brush shaft 11 (e.g., a cylindrical hard plastic shaft) and a winding brush 12. The roller brush shaft 11 may be in driving connection with the sweeping robot's roller brush drive motor 15, and the winding brush 12 may be disposed on the periphery of the roller brush shaft 11. Furthermore, the winding brush 12 may intermittently make interference contact with the target ground area during the winding operation.

[0066] Figure 4 is a schematic diagram of the assembly structure of the roller brush cover and the adjustment mechanism of the sweeping robot in the embodiment of the present application. Please refer to Figures 2 to 4. For example, in the embodiment of the present application, the roller brush shaft 11 can be rotatably connected between a pair of end walls of the roller brush cover 20, and a roller brush deceleration mechanism 16 can be fixedly installed outside the end wall of one end of the roller brush cover 20, and the roller brush drive motor 15 can be connected to the roller brush shaft 11 through the roller brush deceleration mechanism 16 outside the roller brush cover 20, so that the rotation of the rotating roller brush 10 can be triggered by the start-up operation of the roller brush drive motor 15.

[0067] Figure 5a is a schematic diagram of the rotating roller brush of the sweeping robot in an embodiment of the present application at a first calibrated height, and Figure 5b is a partially enlarged schematic diagram of Figure 5a. Please refer to Figures 5a to 5b. For example, in an embodiment of the present application, the roller brush cover 20 has a cover inner cavity 21, a cover opening 22 and a suction window (not shown in the figure). The cover opening 22 is exposed to the chassis opening 500 of the mobile chassis 50. The hoisting operation is used to hoist dirt toward the cover opening 22. The cover inner cavity 21 is also connected to the suction channel of the sweeping robot through the suction window, and the suction airflow caused by the suction channel is used to transport dirt from the cover opening 22 to the dust collecting component (such as a dust box) of the sweeping robot.

[0068] Please refer to Figure 3. As a further preferred embodiment of the present application, for example, in the embodiment of the present application, the hoisting brush 12 may include at least two groups of brushes spaced apart within a 360° full phase interval, wherein the thickness of each group of brushes may be 1 mm, and there may be a phase interval between any two groups of brushes, thereby improving the hoisting efficiency. On this basis, each group of brushes may be symmetrically tilted relative to the axial direction of the roller brush shaft 11. For example, the angle between the two symmetrical segments of each group of brushes may be 165°, so as to guide the dirt to gather toward the middle of the rotating roller brush 10, thereby making it more conducive for the dirt to be hoisted to the cover opening 22 in a concentrated and gathered form.

[0069] Still referring to FIG. 3 , in the embodiment of the present application, the rotating roller brush 10 may further include an auxiliary sheet 13 , and a radial dimension of the auxiliary sheet 13 is smaller than a radial dimension of the rolling brush 12 .

[0070] In the embodiment of the present application, the auxiliary sheet 13 can participate in the winding operation (for example, when the sweeping robot is traveling on a hard surface) and can also perform a flapping operation on the target ground area below the mobile chassis 50 when necessary (for example, when the sweeping robot is traveling on a hairy surface). That is, the auxiliary sheet 13 has the function of assisting the winding operation. Moreover, the function of the auxiliary sheet 13 is not limited to the winding operation, but can also include a flapping operation. In addition, the auxiliary sheet 13 can reduce the probability of filamentous dirt such as hair being entangled in the roller brush shaft 11 during the winding operation.

[0071] FIG6a is a schematic diagram of the rotary roller brush of the sweeping robot in an embodiment of the present application at a second calibrated height, and FIG6b is a partially enlarged schematic diagram of FIG6a. Referring to FIG4 to FIG6b, in an embodiment of the present application, the sweeping robot may further include an adjustment mechanism 30, which is mounted on the mobile chassis 50, and the adjustment mechanism 30, through linkage with the roller brush housing 20, drives the roller brush housing 20 to selectively suspend the rotary roller brush 10 at a first calibrated height H1 suitable for hard floors, or a second calibrated height H2 suitable for rough floors, wherein the second calibrated height H2 suitable for rough floors is lower than the first calibrated height H1 suitable for hard floors.

[0072] For example, in the embodiment of the present application, the adjustment mechanism 30 can cause the roller brush housing 20 to pitch relative to the chassis opening 500 by cooperating with the roller brush housing 20. Furthermore, the pitching of the roller brush housing 20 can cause the rotating roller brush 10 to switch between the first calibrated height H1 and the second calibrated height H2. As shown in FIG4 , the dotted line represents the trajectory of the pitching of the roller brush housing 20. The roller brush housing 20 can pitch along the direction indicated by the dotted line.

[0073] For example, if the adjustment mechanism 30 causes the roller brush cover 20 to swing in pitch relative to the chassis opening 500 by cooperating with the roller brush cover 20, the adjustment mechanism 30 can cooperate with the first cover edge 201 of the roller brush cover 20 to induce the pitch by adjusting the edge height of the first cover edge 201. That is, by adjusting the edge height of the first cover edge 201 of the roller brush cover 20, the rotating roller brush 10 is selectively suspended at a first calibrated height H1 suitable for hard ground or a second calibrated height H2 suitable for rough ground, that is:

[0074] When the first housing edge 201 of the roller brush housing 20 is at a first edge height, the rotating roller brush 10 is suspended at a first calibrated height H1 suitable for hard ground;

[0075] When the first housing edge 201 of the roller brush housing 20 is at a second edge height lower than the first edge height, the rotating roller brush 10 is suspended at a second calibrated height H2 suitable for a hairy floor.

[0076] For example, the first edge height may not be lower than the mobile chassis 50, that is, when the first cover edge 201 of the roller brush cover 20 is at the first edge height, the roller brush cover 20 can be located as a whole above the chassis opening 500 of the mobile chassis 50; and the second edge height may be lower than the mobile chassis 50, that is, when the first cover edge 201 of the roller brush cover 20 is at the second edge height, the roller brush cover 20 can be partially (for example, a small part where the cover opening 22 is located) sunk from the chassis opening 500 to the bottom of the mobile chassis 50.

[0077] In this case, the fulcrum for the pitch and tilt swing of the roller brush housing 20 can be located at the second housing edge 202 of the roller brush housing 20, and the first housing edge 201 and the second housing edge 202 of the roller brush housing 20 can be the edges on opposite sides of the roller brush housing 20 in the direction of travel of the sweeping robot. For example, the first housing edge 201 of the roller brush housing 20 can be the front housing edge of the roller brush housing 20 in the direction of travel of the sweeping robot, and the pitch and tilt swing of the roller brush housing 20 can be based on the rear housing edge of the roller brush housing 20 in the direction of travel of the sweeping robot, that is, the second housing edge 202 of the roller brush housing 20 can be the rear housing edge of the roller brush housing 20 in the direction of travel of the sweeping robot.

[0078] In the embodiment of the present application, the height change of the rotating roller brush 10 can change the rolling intensity of the rolling operation performed by the rotating roller brush 10 based on the rolling brush 12, and can also control the activation and deactivation of the rotating roller brush 10's flapping operation based on the auxiliary sheet 13. The rolling intensity of the rolling operation is not only related to the rotation speed of the rotating roller brush 10, but also to the interference depth of the interference contact between the rolling brush 12 and the target ground area below the mobile chassis 50. The activation and deactivation of the flapping operation is related to whether interference contact occurs between the auxiliary sheet 13 and the target ground area below the mobile chassis 50.

[0079] That is, in the embodiment of the present application, it can be considered that: the hoisting operation can at least include intermittent interference contact between the hoisting brush 12 and the target ground area below the mobile chassis 50, and the hoisting operation can further include the auxiliary sheet 13 following the rotation of the rotating roller brush 10 (roller brush shaft 11) to accelerate the airflow to quickly bring the dirt to the cover opening 22, and the patting operation can include intermittent interference contact between the auxiliary sheet 13 and the target ground area below the mobile chassis 50.

[0080] Referring to FIG. 5 a and FIG. 5 b , in the embodiment of the present application, if the roller brush housing 20 suspends the rotating roller brush 10 at a first calibrated height H1 suitable for hard ground, then:

[0081] The rotating roller brush 10 can perform a hoisting operation with a first hoisting intensity on the target ground area below the mobile chassis 50 by rotating at the first calibrated height H1.

[0082] For example, during the rotation period when the rotating roller brush 10 is at the first calibrated height H1, the hoisting brush 12 can intermittently interfere with the target ground area below the moving chassis 50 (the target ground area is represented by a dotted line in Figure 5a) at a first interference depth t1 (for example, 1 mm), and the auxiliary sheet 13 is continuously spaced from the target ground area below the moving chassis 50 (for example, the minimum spacing between the target ground area and the bottom end of the outer contour of the rotating roller brush 10 is 1 mm). Therefore, the rotating roller brush 10 can perform a hoisting operation with a first hoisting intensity on the target ground area below the moving chassis 50 based on the intermittent interference contact of the hoisting brush 12 with the target ground area at the first interference depth t1 and the contactless idling of the auxiliary sheet 13.

[0083] 6a and 6b , in the embodiment of the present application, if the roller brush housing 20 suspends the rotating roller brush 10 at a second calibrated height H2 suitable for a rough floor, then:

[0084] The rotating roller brush 10 can perform a combined operation of a second hoisting intensity and a slapping operation on the target ground area below the mobile chassis 50 by rotating at the second calibrated height H2, and the second hoisting intensity is higher than the first hoisting intensity.

[0085] For example, during the rotation period when the rotating roller brush 10 is at the second calibrated height H2, the hoisting brush 12 intermittently interferes with the target ground area below the moving chassis 50 (the target ground area is represented by a dotted line in Figure 6a) with a second interference depth t2 (for example, 3 mm) greater than the first interference depth t1, and the auxiliary sheet 13 intermittently interferes with the target ground area below the moving chassis 50 with a third interference depth t3 (for example, 1 mm) less than the second interference depth t2. Therefore, the rotating roller brush 10 can perform a combined operation of a second intensity of hoisting operation and a patting operation on the target ground area below the moving chassis 50 based on the intermittent interference contact of the hoisting brush 12 with the target ground area with the second interference depth t2 and the intermittent interference contact of the auxiliary sheet 13 with the target ground area with the third interference depth t3.

[0086] That is, in the embodiments of the present application, the sweeping robot is supported to perform a patting operation, but no attempt is made to synchronize the patting operation with the hoisting operation. This is because, if the patting operation is synchronized with the hoisting operation, then when the target ground area is a hard ground such as a cement floor, a tiled floor with tiles, or a board floor with abutment boards, even if the hoisting operation does not require the assistance of the patting operation, the patting operation will still occur synchronously with the occurrence of the hoisting operation. As a result, the patting operation on the hard ground will continue to generate patting noise, and the components performing the patting operation will also produce unnecessary wear.

[0087] Based on the above-mentioned embodiments of the present application, the sweeping robot may include a rotating roller brush 10 and an adjustment mechanism 30 for adjusting the suspension height of the rotating roller brush 10. Therefore, the sweeping robot can selectively use the rotating roller brush 10 to implement a winding operation suitable for hard floors, or a winding and beating combination operation suitable for rough floors. For example, if the sweeping robot adjusts the height of the rotating roller brush 10 (i.e., adjusts it to a relatively low second calibration height H2) when traveling on a hairy floor and performs a relatively high-intensity hoisting operation, supplemented by a slapping operation, then the hoisting operation can penetrate into the hair clumps of the hairy floor (e.g., the hoisting brush 12 can penetrate into the hair clumps of the hairy floor to perform hoisting). At the same time, the dirt stored in the hair clumps of the hairy floor can be slapped (e.g., by the slapping operation of the auxiliary sheet 13) and be in a floating state that is easy to be lifted, which is more conducive to lifting the dirt stored in the hair clumps of the hairy floor, thereby improving the cleaning efficiency of the sweeping robot on the hairy floor; if the sweeping robot adjusts the height of the rotating roller brush 10 (i.e., adjusts it to a relatively high first calibration height H1) when traveling on a hard floor and performs a relatively low-intensity hoisting operation, and disables the slapping operation, then the noise and wear generated by the rotating roller brush 10 can be reduced.

[0088] In an embodiment of the present application, in order to enable the sweeping robot to realize autonomous lifting and lowering control of the rotating roller brush 10, the sweeping robot may further include a ground feature detection module, wherein:

[0089] The ground feature detection module can be used to send a ground feature detection signal generated by it to the drive control module. The ground feature detection signal can indicate whether the target ground area below the mobile chassis 50 is a rough ground or a hard ground, so that:

[0090] When the sweeping robot is traveling on a hard surface, the rotating roller brush 10 is suspended at a first calibrated height H1 suitable for the hard surface, so as to perform a hoisting operation with a first hoisting intensity on the target ground area below the mobile chassis 50 by rotating;

[0091] When the sweeping robot travels on a hairy floor, the rotating roller brush 10 is suspended at a second calibrated height H2 suitable for the hairy floor, so as to perform a combined operation of a second intensity of a hoisting operation and a slapping operation on the target floor area below the mobile chassis 50 through rotation.

[0092] Therefore, in the embodiment of the present application, the driving control module of the sweeping robot can be used for:

[0093] Detecting (e.g., based on a ground feature detection signal) ground features of a target ground area below the mobile chassis 50 of the sweeping robot. That is, the driving control module of the sweeping robot can receive a ground feature detection signal generated by the ground feature detection module. The ground feature detection signal is used to indicate whether the target ground area is a rough ground or a hard ground.

[0094] The suspension height of the rotary roller brush 10 of the cleaning robot is determined based on the ground features of the target ground area below the mobile chassis 50, wherein:

[0095] When the sweeping robot is traveling on a hard surface, the adjusting mechanism 30 is controlled to suspend the rotating roller brush 10 at a first calibrated height H1 suitable for the hard surface, so as to perform a hoisting operation of a first hoisting intensity on the target ground area below the mobile chassis 50 through rotation;

[0096] When the sweeping robot moves on a rough floor, the adjusting mechanism 30 is controlled to suspend the rotating roller brush 10 at a second calibrated height H2 suitable for the rough floor, so as to perform a combined operation of a second intensity of hoisting operation and a slapping operation on the target floor area below the mobile chassis 50 through rotation.

[0097] Exemplarily, referring to FIG. 1 , the ground feature detection module may include at least one of an ultrasonic detection module 75 and a current detection module.

[0098] For example, the ultrasonic detection module 75 can be fixedly mounted on the mobile chassis 50, and the ultrasonic detection module 75 can be located on the front side of the chassis opening 500 in the traveling direction of the sweeping robot. The ultrasonic detection module 75 can include an ultrasonic transmitter and an ultrasonic receiver. The ultrasonic transmitter is used to generate an ultrasonic transmission signal to the target ground area below the mobile chassis 50, and the ultrasonic receiver can be used to receive the ultrasonic echo signal returned from the target ground area below the mobile chassis 50.

[0099] Since the echo energy and / or echo duration of the ultrasonic echo signal will be different when the target ground area under the mobile chassis 50 is a hard ground and a rough ground respectively, if the ground feature detection module includes an ultrasonic detection module 75, the ground feature detection signal may include an ultrasonic echo signal.

[0100] For another example, the current detection module can be used to generate a current detection signal for the driving current of the roller brush drive motor 15 and / or the side brush drive motor, wherein:

[0101] The rotation of the rotating roller brush 10 is triggered by the start-up of the roller brush drive motor 15, which is started when the sweeping robot is traveling on hard and rough surfaces.

[0102] The side brush drive motor is used to drive the horizontally rotating side brush 73 installed below the mobile chassis 50 (in order to simplify the diagram in the embodiment of the present application, only the installation position of the horizontally rotating side brush 73 is indicated by a dotted line in FIG1 , but the brush body of the horizontally rotating side brush 73 is not shown). The horizontally rotating side brush 73 is located in front of the chassis opening 500 in the direction of travel of the sweeping robot. The horizontally rotating side brushes 73 are arranged in pairs on both sides in the width direction perpendicular to the direction of travel of the sweeping robot. The side brush drive motor is started and operated when the sweeping robot is traveling on hard and rough floors.

[0103] Since the resistances experienced by the rotating roller brush 10 and the rotating side brush 73 are different when the target ground areas below the mobile chassis 50 are hard ground and hairy ground respectively, and the difference in resistance may cause a current difference in the driving currents of the roller brush drive motor 15 and the side brush drive motor, if the ground feature detection module includes a current detection module, the ground feature detection signal may include a current detection signal.

[0104] In an embodiment of the present application, the driving control module of the sweeping robot can also be used for:

[0105] Based on the ground features (eg, ground feature signals) detected by the ground feature detection module, the traveling speed of the cleaning robot and / or the rotation speed of the rotating roller brush 10 are determined.

[0106] For example, the sweeping robot can have a first travel speed when traveling on a hard floor, and can have a second travel speed lower than the first travel speed when traveling on a rough floor; and / or, the rotating roller brush 10 can have a first rotation speed when the sweeping robot travels on a hard floor, and the rotating roller brush 10 can have a second rotation speed higher than the first rotation speed when the sweeping robot travels on a rough floor, that is, the first hoisting strength is also associated with the first rotation speed, and the second hoisting strength is also associated with the second rotation speed.

[0107] Figure 7 is a schematic diagram of the disassembled state of the roller brush cover and the adjustment mechanism of the sweeping robot in the embodiment of the present application. Figure 8 is a schematic diagram of the matching relationship between the roller brush cover and the adjustment mechanism of the sweeping robot in the embodiment of the present application. Figure 9 is a cross-sectional view of the assembled state of the roller brush cover and the adjustment mechanism of the sweeping robot in the embodiment of the present application. Please refer to Figures 7 to 9. In the embodiment of the present application, if the adjustment mechanism 30 selectively suspends the rotating roller brush 10 at a first calibrated height H1 suitable for hard floors or a second calibrated height H2 suitable for rough floors by adjusting the edge height of the first cover edge 201 of the roller brush cover 20, then the adjustment mechanism 30 may include a translation member 31, a toggle member 32 and an adjustment drive motor 35. For example, the adjustment drive motor 35 may be a stepper motor, and the adjustment drive motor 35 may be fixedly connected to the mobile chassis 50.

[0108] In the embodiment of the present application, the translation member 31 can be slidably engaged with the first housing edge 201 (e.g., the front housing edge) of the roller brush housing 20, the toggle member 32 can be slidably engaged with the translation member 31, and the toggle member 32 can trigger the translation position switching of the translation member 31 in response to the power output generated by the adjustment drive motor 35, so that:

[0109] When the translation member 31 is in the first translation position, the first housing edge 201 (e.g., the front housing edge) of the roller brush housing 20 is at a first edge height, so that the rotating roller brush 10 is suspended at a first calibrated height H1 suitable for hard floors.

[0110] When the translation member 31 is in the second translation position, the first cover edge 201 (for example, the front cover edge) of the roller brush cover 20 is at a second edge height, so that the rotating roller brush 10 is suspended at a second calibrated height H2 suitable for hairy floors.

[0111] Exemplarily, in an embodiment of the present application, the translation member 31 may include a translation block 311 and a drive rod 312, the translation block 311 may be slidably engaged with the toggle member 32, and the drive rod 312 extends from the translation block 311 parallel to the travel direction of the sweeping robot toward the first cover edge 201 (for example, the front cover edge) of the roller brush cover 20, that is, the drive rod 312 is used to slidably engage with the first cover edge 201 (for example, the front cover edge) of the roller brush cover 20.

[0112] For example, in the illustrated representation of the embodiment of the present application, the toggle member 32 may include a cam 320, which may be in the shape of a teardrop, and the translation block 311 may include a wheel groove 313, which is in the shape of a quarter circle, and the end of the arc close to the roller brush cover 20 and connected to the straight line is a straight line, and the sliding fit between the translation block 311 and the toggle member 32 may include: when the cam 320 changes phase in response to adjusting the power output of the drive motor 35, the sliding fit between the wheel groove 313 and the hole wall.

[0113] For example, in the illustrated representation of the embodiment of the present application, the first cover edge 201 (for example, the front cover edge) of the roller brush cover 20 may have a cover groove 25 extending parallel to the travel direction of the sweeping robot, and the sliding fit between the drive rod 312 and the cover groove 25 may be used to convert the translational position switching of the translation member 31 into adjustment of the edge height of the first cover edge 201 (for example, the front cover edge) of the roller brush cover 20.

[0114] For example, in the illustrated embodiment of the present application, the opening of the housing chute 25 can face downward, the inner wall of the top of the housing chute 25 can have a top inclined step 255, the outer wall of the top of the driving rod 312 can have a top inclined step 315, and the sliding fit between the driving rod 312 and the housing chute 25 can include: a sliding fit between the top inclined step 255 and the top inclined step 315. The height difference (e.g., 4 mm) formed by the sliding fit between the top inclined step 255 and the top inclined step 315 is used to trigger the edge height switching of the first housing edge 201 (e.g., the front housing edge) of the roller brush housing 20 between the first edge height and the second edge height.

[0115] For example, in the illustrated embodiment of the present application, the drive rod 312 and the cover slide groove 25 can be arranged in pairs to enhance the stability of the linkage between the adjustment mechanism 30 (such as the translation member 31) and the roller brush cover 20.

[0116] Figure 10a is a schematic diagram of the housing frame structure of the sweeping robot in an embodiment of the present application, and Figure 10b is a partially enlarged schematic diagram of Figure 10a. Referring to Figures 10a and 10b, in an embodiment of the present application, the roller brush housing 20 may further be equipped with a housing frame 60 at the housing opening 22. The housing frame 60 has a frame window 600. The suction airflow entering the housing opening 22 passes through the frame window 600. The airflow flow area provided by the frame window 600 for the suction airflow causes the suction airflow to be concentrated and pressurized upon entering the housing opening 22.

[0117] Still referring to Figures 10a and 10b, in an embodiment of the present application, the frame window 600 of the housing frame 60 may have a front edge and a rear edge in the direction of travel of the sweeping robot. A front overhanging baffle 61 is disposed on the front edge of the frame window 600, and a rear overhanging scraper 62 is disposed on the rear edge of the frame window 600. In this case, the suction airflow generated in the semi-enclosed space between the front overhanging baffle 61 and the rear overhanging scraper 62 can have a greater airflow intensity than that generated in a completely open space.

[0118] In the embodiment of the present application, if, as described above, the adjustment mechanism 30 causes the rotating roller brush 10 to switch between the first calibrated height H1 and the second calibrated height H2 by adjusting the edge height of the first housing edge 201 (i.e., the front housing edge) of the roller brush housing 20, then:

[0119] The front edge of the window of the guard frame window 600 of the cover frame 60 rises and falls synchronously with the edge height change of the first cover edge 201 (i.e., the front cover edge) of the roller brush cover 20, and the front side overhanging baffle 61 can change its state due to the rise and fall of the window front edge of the guard frame window 600, that is, the front side overhanging baffle 61 with a certain hardness can switch between a free extension state and an interference bending state, for example, the hardness of the front side overhanging baffle 61 can be within the Rockwell hardness range of about 35 to 45A (preferably 40A); the front edge of the window of the guard frame window 600 of the cover frame 60 can maintain a constant height like the second cover edge 202 (i.e., the rear cover edge) where the swing fulcrum of the roller brush cover 20 is located, and the rear side overhanging scraper 62 can be in normal contact with the target ground area below the movable chassis 50.

[0120] Please refer to Figures 11a and 11b. Figure 11a is a schematic diagram of the connection structure of the roller brush deceleration mechanism of the sweeping robot in an embodiment of the present application; Figure 11b is a schematic diagram of the connection structure of the roller brush deceleration mechanism of the sweeping robot shown in Figure 11a from another angle;

[0121] As shown in Figures 11a and 11b, the roller brush deceleration mechanism 16 is fixedly connected to one end of the housing frame 60, for example, by screws. The roller brush deceleration mechanism 16 is fixedly connected to the roller brush drive motor 15, and the top of the front edge of the frame window 600 of the housing frame 60 is fixedly connected to the first housing edge 201 of the roller brush housing 20. Therefore, the roller brush deceleration mechanism 16, the roller brush drive motor 15, and the front edge of the frame window 600 of the housing frame 60 can rise and fall synchronously with the height change of the first housing edge 201 (i.e., the front housing edge) of the roller brush housing 20.

[0122] As shown in Figures 11a and 11b, the second cover edge 202 of the roller brush cover 20 extends a cover shaft 23 to the side, and the second cover edge 202 of the roller brush cover 20 can be rotatably connected to the movable chassis 50 through the cover shaft 23. When the roller brush cover 20 swings up and down relative to the chassis opening 500, the first cover edge 201 of the roller brush cover 20 can swing up and down relative to the movable chassis 50 through the cover shaft 23, that is, the swing fulcrum of the roller brush cover 20 is the connection between the cover shaft 23 of the second cover edge 202 and the movable chassis 50.

[0123] In the embodiment of the present application, the roller brush cover 20, the rotating roller brush 10, the roller brush driving motor 15, the roller brush speed reducing mechanism 16 and the cover frame 60 perform pitching and tilting swings together.

[0124] Figure 12 is a schematic diagram of the front overhanging flexible sheet of the sweeping robot in an embodiment of the present application in a freely extended state. Referring to Figure 10a in conjunction with Figure 12, when the first housing edge 201 (i.e., the front housing edge) of the roller brush housing 20 is at a relatively high first edge height, the rotating roller brush 10 is suspended at a first calibrated height H1 adapted for hard floors, and the front overhanging flap 61 can be in a freely extended state, separated from the target floor area below the mobile chassis 50 and tilted outward from the guard frame window 600. For example, in the illustrated representation of the embodiment of the present application, the front overhanging flap 61 can be in an arc shape that arches outward from the guard frame window 600 in the freely extended state. For example, the diameter of the arc can be 45±5 mm.

[0125] In this case, the front overhanging baffle 61 in the freely extended state forms minimum obstruction to the frame window 600 in the flow direction of the suction airflow, so that the airflow flow surface of the frame window 600 at this time is configured as the first airflow flow area that is minimum obstructed by the front overhanging baffle 61.

[0126] Figure 13 is a schematic diagram of the front overhanging flexible sheet of the sweeping robot in an embodiment of the present application in an interference-bent state. Referring to Figure 10a in conjunction with Figure 13, when the first housing edge 201 (i.e., the front housing edge) of the roller brush housing 20 is at a second edge height lower than the first edge height, the rotating roller brush 10 is suspended at a second calibrated height H2 suitable for rough floors, and the front overhanging flap 61 is in a bent state (i.e., an interference-bent state) in which it makes interference contact with the target floor area below the mobile chassis 50.

[0127] In this case, the front side overhanging baffle 61 blocking the frame window 600 in the flow direction of the suction airflow will further increase the blocking increment of the bent part, so that the airflow flow surface of the frame window 600 at this time is configured to be a second airflow flow area smaller than the first airflow flow area, thereby enhancing the effect of gathering and pressurizing the suction airflow when entering the cover opening 22 for the wooly ground.

[0128] Still referring to FIG. 10 a to FIG. 13 , in the embodiment of the present application, the front overhanging baffle 61 may have a first bending groove 611 and a second bending groove 612 , wherein the first bending groove 611 is close to the top end of the front overhanging baffle 61 where it connects to the front edge of the guard frame window 600 , and the second bending groove 612 is close to the overhanging end of the front overhanging baffle 61 , that is, the second bending groove 612 is located below the first bending groove 611 . Therefore:

[0129] The first bending groove 611 can be used to guide the front overhanging baffle 61 to bend to avoid an obstacle in front of the sweeping robot (i.e., obstacle avoidance bending);

[0130] The second bending groove 612 can be used to guide the front side overhanging baffle 61 to generate an incremental bending (i.e., interference bending) to the guard frame window 600 when the first cover edge 201 (i.e., the front cover edge) of the roller brush cover 20 is at a second edge height lower than the first edge height and when the front side overhanging baffle 61 is in interference contact with the target ground area below the mobile chassis 50.

[0131] For example, in an embodiment of the present application, the depth of the second bending groove 612 can be greater than the depth of the first bending groove 611, so that interference bending is easier to occur and obstacle-avoiding bending occurs, thereby facilitating controlling the incremental obstruction of the front overhanging baffle 61 on the frame window 600 of the housing frame 60. For example, the depth of the first bending groove 611 can be one-quarter of the thickness of the front overhanging baffle 61, and the depth of the second bending groove 612 can be one-half of the thickness of the front overhanging baffle 61. In other words, assuming the thickness of the front overhanging baffle 61 is 0.8 mm, the depth of the first bending groove 611 can be 0.2 mm, and the depth of the second bending groove 612 can be 0.4 mm.

[0132] For example, in the illustrated representation of the embodiment of the present application, the first bending groove 611 can be located on the rear surface of the front overhanging baffle 61, the second bending groove 612 can be located on the front surface of the front overhanging baffle 61, and the cross-sectional shape of the second bending groove 612 can be an arc.

[0133] Figure 14 is a schematic diagram illustrating the deployment position of the flexible edge strips of the robot vacuum cleaner in an embodiment of the present application. Referring to Figure 10a and Figure 14 , in this embodiment of the present application, the frame window 600 of the housing frame 60 further includes a pair of window side edges extending between the front and rear edges of the window, and flexible edge strips 63 made of a flexible material such as felt may be deployed on the window side edges of the frame window 600.

[0134] In the embodiment of the present application, as can be seen from FIG. 14 , the frame window 600 is arranged obliquely on the lower frame surface of the housing frame 60 near the target ground area below the mobile chassis 50. For example, the frame window 600 may have an inclination angle of 6° to 8° (preferably 7°) relative to the upper frame surface of the housing frame 60. In this case:

[0135] When the first cover edge 201 (i.e., the front cover edge) of the roller brush cover 20 is at a relatively high first edge height, the guard frame window 600 is tilted relative to the target ground area below the mobile chassis 50. For example, if the upper frame surface of the cover frame 60 is parallel to the target ground area below the mobile chassis 50, the guard frame window 600 has an inclination angle of 6° to 8° (preferably 7°) relative to the target ground area below the mobile chassis 50, and the flexible edge strip 63 can be separated from the target ground area below the mobile chassis 50.

[0136] When the first cover shell edge 201 (i.e., the front cover shell edge) of the roller brush cover shell 20 is at a second edge height lower than the first edge height, the guard frame window 600 can be parallel to the target ground area below the movable chassis 50, so that the flexible edge strip 63 contacts the target ground area below the movable chassis 50. Therefore, since the front side overhanging baffle 61 is in interference contact with the target ground area below the movable chassis 50 at this time, and the rear side overhanging scraper 62 is in interference contact with the target ground area below the movable chassis 50 normally, the flexible edge strip 63 and the front side overhanging baffle 61 and the rear overhanging scraper 62 can contact the target ground area together at this time to form a closed-loop shielding fence surrounding the guard frame window 600, thereby further improving the airflow intensity of the suction airflow for the hairy ground.

[0137] FIG15 is a schematic diagram of an exemplary flow chart of a cleaning control method for a sweeping robot in an embodiment of the present application. Referring to FIG15 , in an embodiment of the present application, a cleaning control method for a sweeping robot is also provided, and the cleaning control method may include:

[0138] S1410: Detecting ground features of a target ground area below a mobile chassis of the sweeping robot, wherein the ground features are used to characterize whether the target ground area below the mobile chassis is a rough ground or a hard ground.

[0139] For example, the robot vacuum cleaner may include a floor feature detection module configured to generate a floor feature detection signal. Furthermore, S1410 may specifically include determining, based on the floor feature detection signal generated by the floor feature detection module, whether the target floor area is a rough floor or a hard floor. The specific implementation of the floor feature detection module can be found in the previous section and will not be further described here.

[0140] S1430: Determine a suspension height of a rotating roller brush of the cleaning robot based on the ground features of the target ground area below the mobile chassis of the cleaning robot, so that:

[0141] When the sweeping robot is traveling on a hard surface, the rotating roller brush is suspended at a first calibrated height suitable for the hard surface, so as to perform a hoisting operation with a first hoisting intensity on a target ground area below the mobile chassis through rotation;

[0142] When the sweeping robot moves on a rough floor, the rotating roller brush is suspended at a second calibrated height suitable for the rough floor, so as to perform a combination of a second-intensity hoisting operation and a patting operation on the target floor area through rotation. The second calibrated height is lower than the first calibrated height, and the second hoisting intensity is higher than the first hoisting intensity.

[0143] For example, if the mobile chassis has a chassis opening, the sweeping robot also includes a roller brush cover, the roller brush cover is installed on the mobile chassis, and the rotating roller brush is suspended at the chassis opening by the roller brush cover, then S1430 may specifically include: based on the ground characteristics of the target ground area under the mobile chassis of the sweeping robot, the rotating roller brush is selectively suspended at the first calibrated height or the second calibrated height by adjusting the roller brush cover (for example, adjusting the edge height of the first cover edge 201 of the roller brush cover).

[0144] Based on the above-mentioned embodiments of the present application, the cleaning control method can adjust the height of the rotating roller brush to implement a relatively high-intensity winding operation and supplement it with a patting operation when the sweeping robot is moving on a rough floor, so as to improve the cleaning efficiency of the sweeping robot on the rough floor; moreover, if the sweeping robot is moving on a hard floor, the height of the rotating roller brush can be adjusted to implement a relatively low-intensity winding operation and disable the patting operation to reduce the noise and wear generated by the rotating roller brush.

[0145] In an embodiment of the present application, the cleaning control method may further include:

[0146] Determining a travel speed of the sweeping robot based on ground features of a target ground area below the mobile chassis of the sweeping robot (e.g., a ground feature detection signal generated by a ground feature detection module), such that the sweeping robot can have a first travel speed when traveling on a hard ground surface, and a second travel speed lower than the first travel speed when traveling on a rough ground surface;

[0147] and / or,

[0148] Based on the ground features of the target ground area under the mobile chassis of the sweeping robot (for example, the ground feature detection signal generated by the ground feature detection module), the rotation speed of the rotating roller brush is determined so that the rotating roller brush has a first rotation speed when the sweeping robot is moving on a hard ground, and the rotating roller brush has a second rotation speed higher than the first rotation speed when the sweeping robot is moving on a rough ground.

[0149] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A sweeping robot, characterized in that: include: A movable chassis (50), wherein the movable chassis (50) has a chassis opening (500); A roller brush cover (20), wherein the roller brush cover (20) is mounted on the mobile chassis (50); A rotating roller brush (10), the rotating roller brush (10) being suspended on the chassis opening (500) by the roller brush cover (20); An adjusting mechanism (30) is mounted on the mobile chassis (50), and the adjusting mechanism (30) drives the roller brush cover (20) to selectively suspend the rotating roller brush (10) at a first calibrated height suitable for hard ground or a second calibrated height suitable for rough ground by cooperating with the roller brush cover (20); The second calibrated height is lower than the first calibrated height, and: The rotating roller brush (10) performs a hoisting operation with a first hoisting intensity on a target ground area below the mobile chassis (50) by rotating at the first calibrated height; The rotating roller brush (10) performs a combined operation of the hoisting operation and the slapping operation at a second intensity on the target ground area by rotating at the second calibrated height, wherein the second hoisting intensity is higher than the first hoisting intensity.

2. The sweeping robot according to claim 1, characterized in that: The rotating roller brush (10) comprises a rolling brush (12) and an auxiliary sheet (13), wherein the rolling operation comprises intermittent interference contact between the rolling brush (12) and the target ground area, the slapping operation comprises intermittent interference contact between the auxiliary sheet (13) and the target ground area, the rolling intensity of the rolling operation is associated with the interference depth of the interference contact between the rolling brush (12) and the target ground area, and: During the rotation period when the rotating roller brush (10) is located at the first calibrated height, the hoisting brush (12) is in intermittent interference contact with the target ground area at a first interference depth, and the auxiliary sheet (13) is continuously spaced from the target ground area; During the rotation period when the rotating roller brush (10) is located at the second calibrated height, the hoisting brush (12) is in intermittent interference contact with the target ground area at a second interference depth greater than the first interference depth, and the auxiliary sheet (13) is in intermittent interference contact with the target ground area at a third interference depth less than the second interference depth.

3. The sweeping robot according to claim 1, characterized in that: The adjusting mechanism (30) causes the roller brush cover (20) to swing in pitch and tilt relative to the chassis opening (500) through linkage with the roller brush cover (20), and the pitch and tilt swing causes the rotating roller brush (10) to switch between the first calibrated height and the second calibrated height.

4. The sweeping robot according to claim 3, characterized in that: The adjustment mechanism (30) is linked with the first cover edge (201) of the roller brush cover (20) to induce the pitching swing by adjusting the edge height of the first cover edge (201); The swing fulcrum of the pitching swing is located at the second cover edge (202) of the roller brush cover (20); The first housing edge (201) and the second housing edge (202) are respectively the edges on opposite sides of the roller brush housing (20) in the direction of travel of the sweeping robot, and: When the first housing edge (201) is at a first edge height, the rotating roller brush (10) is suspended at the first calibrated height; When the first housing edge (201) is at a second edge height lower than the first edge height, the rotating roller brush (10) is suspended at the second calibrated height.

5. The sweeping robot according to claim 4, characterized in that: The regulating mechanism (30) comprises: a translation member (31), the translation member (31) being in sliding engagement with the first cover edge (201) of the roller brush cover (20); A toggle member (32) is slidably engaged with the translation member (31), and the toggle member (32) triggers the translation position switching of the translation member (31) in response to the power output generated by the adjustment drive motor (35), so that: When the translation member (31) is in a first translation position, the first cover edge (201) is at the first edge height; When the translation member (31) is in the second translation position, the first housing edge (201) is at the second edge height.

6. The sweeping robot according to claim 5, characterized in that: The translation member (31) comprises: A translation block (311), the translation block (311) slidingly cooperates with the toggle member (32); a driving rod (312), the driving rod (312) extending parallel to the travel direction of the sweeping robot from the translation block (311) toward the first housing edge (201) of the roller brush housing (20); Wherein, the first cover edge (201) of the roller brush cover (20) has a cover slide groove (25) extending parallel to the moving direction of the sweeping robot, and the sliding cooperation between the driving rod (312) and the cover slide groove (25) is used to convert the translation position switching of the translation member (31) into the adjustment of the edge height of the first cover edge (201).

7. The sweeping robot according to claim 6, characterized in that: The toggle member (32) includes a cam (320), the translation block (311) includes a wheel groove (313), and the sliding fit between the translation block (311) and the toggle member (32) includes the sliding fit between the cam (320) and a hole wall of the wheel groove (313); and / or, The housing slide groove (25) has a slide groove opening facing downward, the inner wall of the groove top of the housing slide groove (25) has a groove top inclined step (255), the outer wall of the rod top of the driving rod (312) has a rod top inclined step (315), and the sliding fit between the driving rod (312) and the housing slide groove (25) includes the sliding fit between the groove top inclined step (255) and the rod top inclined step (315); and / or, The driving rod (312) and the cover housing slide groove (25) are arranged in pairs; and / or, The first edge height is not lower than the moving chassis (50), and the second edge height is lower than the moving chassis (50).

8. The sweeping robot according to claim 1, characterized in that: The roller brush housing (20) comprises a housing inner cavity (21) and a housing opening (22), wherein the housing opening (22) is exposed to the chassis opening (500), the hoisting operation is used to hoist dirt toward the housing opening (22), the housing inner cavity (21) is also connected to a suction channel of the sweeping robot, and the suction airflow generated by the suction channel is used to transport the dirt from the housing opening (22) through the housing inner cavity (21) to the dust collecting component of the sweeping robot; The roller brush housing (20) is provided with a housing guard frame (60) at the housing opening (22), and the air flow area of ​​the guard frame window (600) of the housing guard frame (60) enables the suction airflow to be gathered and pressurized when entering the housing opening (22).

9. The sweeping robot according to claim 8, characterized in that: The adjusting mechanism (30) adjusts the edge height of a first housing edge (201) of the roller brush housing (20) by cooperating with the roller brush housing (20), and the adjustment of the edge height of the first housing edge (201) causes the rotating roller brush (10) to switch between the first calibrated height and the second calibrated height, and the first housing edge (201) is the front side housing edge of the roller brush housing (20) in the direction of travel of the sweeping robot; The guard frame window (600) has a front window edge and a rear window edge in the direction of travel of the sweeping robot, the front window edge rises and falls synchronously following the edge height change of the first cover shell edge (201), and a front side overhanging baffle (61) is disposed on the front window edge, wherein: When the first housing edge (201) is at a first edge height, the rotating roller brush (10) is suspended at the first calibrated height, and the front hanging baffle (61) is in a freely extended state separated from the target ground area and tilted outward from the guard frame window (600), so that the airflow flow surface is configured as a first airflow flow area; When the first housing edge (201) is at a second edge height lower than the first edge height, the rotating roller brush (10) is suspended at the second calibrated height, and the front overhanging baffle (61) is in a bent state in interference contact with the target ground area, so that the airflow surface is configured to have a second airflow area smaller than the first airflow area.

10. The sweeping robot according to claim 9, characterized in that: The front side overhanging baffle (61) has a first bending groove (611) and a second bending groove (612), wherein the second bending groove (612) is located below the first bending groove (611), the first bending groove (611) is used to guide the front side overhanging baffle (61) to bend to avoid the obstacle when it is blocked by the obstacle, and the second bending groove (612) is used to guide the front side overhanging baffle (61) to bend when it is in interference contact with the target ground area.

11. The sweeping robot according to claim 10, characterized in that: The frame window (600) further comprises a pair of window side edges extending between the window front edge and the window rear edge, the window side edges being provided with flexible edge strips (63), and the window rear edge being provided with a rear overhanging scraper (62); The guard frame window (600) is arranged obliquely on the lower frame surface of the housing guard frame (60) close to the target ground area, the rear overhanging scraper (62) is in normal contact with the target ground area, and: When the first cover edge (201) is at the first edge height, the guard frame window (600) tilts upward relative to the target ground area, and the flexible edge strip (63) is separated from the target ground area; When the first cover shell edge (201) is at the second edge height, the guard frame window (600) is parallel to the target ground area, and the flexible edge strip (63) contacts the target ground area together with the front overhanging baffle (61) and the rear overhanging scraper (62) to form a closed-loop shielding fence that surrounds the guard frame window (600).

12. The sweeping robot according to claim 1, characterized in that: The invention also includes a driving control module and a ground feature detection module, wherein the ground feature detection module is used to generate a ground feature detection signal to the driving control module, and the ground feature detection signal indicates that the target ground area is a hairy ground or a hard ground, so that: the adjustment mechanism (30) drives the roller brush cover (20) to suspend the rotating roller brush (10) at the first calibrated height while the sweeping robot is moving on the hard ground, and the adjustment mechanism (30) drives the roller brush cover (20) to suspend the rotating roller brush (10) at the second calibrated height while the sweeping robot is moving on the hairy ground.

13. The sweeping robot according to claim 12, characterized in that: The ground feature detection module includes: an ultrasonic detection module (75), the ultrasonic detection module (75) being fixedly mounted on the mobile chassis (50), the ultrasonic detection module (75) being located in front of the chassis opening (500) in the direction of travel of the sweeping robot, the ultrasonic detection module (75) comprising an ultrasonic transmitter and an ultrasonic receiver, the ultrasonic transmitter being used to generate an ultrasonic transmission signal toward the target ground area, the ultrasonic receiver being used to receive an ultrasonic echo signal returned from the target ground area, and the ground feature detection signal comprising the ultrasonic echo signal; and / or, A current detection module, the current detection module is used to generate a current detection signal for the driving current of the roller brush drive motor (15) and / or the side brush drive motor, wherein: the power output generated by the roller brush drive motor (15) causes the rotating roller brush (10) to rotate; and / or, the side brush drive motor is used to drive a flat-rotating side brush (73) installed below the mobile chassis (50), the flat-rotating side brush (73) is located on the front side of the chassis opening (500) in the direction of travel of the sweeping robot, and the ground feature detection signal includes the current detection signal.

14. A cleaning control method for a sweeping robot, characterized in that: include: Detecting ground features of a target ground area below the mobile chassis of the sweeping robot, wherein the ground features are used to characterize whether the target ground area is a rough ground or a hard ground; Based on the ground features, a suspension height of the rotary brush of the sweeping robot is determined, wherein: When the sweeping robot travels on a hard ground, the rotating roller brush is suspended at a first calibrated height suitable for the hard ground, so as to perform a hoisting operation with a first hoisting intensity on a target ground area below the mobile chassis through rotation; When the sweeping robot moves on a rough floor, the rotating roller brush is suspended at a second calibrated height suitable for the rough floor, so as to perform a combined operation of the hoisting operation and the patting operation of a second intensity on the target floor area through rotation. The second calibrated height is lower than the first calibrated height, and the second hoisting intensity is higher than the first hoisting intensity.

15. The cleaning control method according to claim 14, characterized in that: The sweeping robot includes a ground feature detection module, the ground feature detection module is used to generate a ground feature detection signal, and the detecting of the ground feature of the target ground area below the mobile chassis of the sweeping robot includes: determining that the target ground area is a rough ground or a hard ground based on the ground feature detection signal; and / or, The mobile chassis has a chassis opening, the sweeping robot further comprises a roller brush cover, the roller brush cover is mounted on the mobile chassis, and the rotating roller brush is suspended at the chassis opening by the roller brush cover, and determining the suspension height of the rotating roller brush of the sweeping robot based on the ground characteristics comprises: adjusting the roller brush cover based on the ground characteristics so that the rotating roller brush is selectively suspended at the first calibrated height or the second calibrated height; and / or, The cleaning control method also includes: determining the travel speed of the sweeping robot and / or the rotation speed of the rotating roller brush based on the ground characteristics, wherein the sweeping robot has a first travel speed when traveling on a hard ground, and has a second travel speed lower than the first travel speed when traveling on a hairy ground, the rotating roller brush has a first rotation speed when the sweeping robot travels on a hard ground, and the rotating roller brush has a second rotation speed higher than the first rotation speed when the sweeping robot travels on a hairy ground.

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