Cleaning robot
By introducing sensors into the cleaning robot to detect the state of garbage suction, and adaptively adjusting the roller brush speed and cleaning time, the problems of poor cleaning effect and high energy consumption caused by the single cleaning mode are solved, achieving more efficient cleaning and longer battery life.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- BEIJING ROCKROBO TECH CO LTD
- Filing Date
- 2025-10-31
- Publication Date
- 2026-05-15
AI Technical Summary
Existing cleaning robots have a single cleaning mode and cannot automatically adjust according to the degree of dirt in the cleaning area, resulting in poor cleaning effect and high energy consumption.
Sensors are used to detect the state of debris suction in the cleaning duct. By detecting the quantity, volume or mass of debris, the speed of the roller brush and the cleaning time are adaptively adjusted to improve the cleaning effect and reduce energy consumption.
It enables adaptive adjustment of the cleaning mode based on the degree of dirt in the cleaning area, improving cleaning effectiveness, reducing energy consumption, and extending the battery life and service life of the cleaning robot.
Smart Images
Figure CN2025131907_15052026_PF_FP_ABST
Abstract
Description
Cleaning robots Cross-reference to related applications
[0001] This disclosure claims priority and benefits to Chinese Patent Application No. 202422731851.5, filed on November 8, 2024, the entire contents of which are hereby incorporated by reference. Technical Field
[0002] This disclosure relates to the field of household appliance technology, and more specifically, to cleaning robots. Background Technology
[0003] The emergence of cleaning robots, such as sweeping robots, floor scrubbers, and combined sweeping and mopping robots, has made floor cleaning more convenient and reduced labor intensity. Cleaning robots can move automatically within a room and simultaneously suck up dust or debris from the surrounding area to complete the floor cleaning. Summary of the Invention
[0004] The cleaning robot of this disclosure includes: a housing, wherein a cleaning air duct for collecting waste is provided inside the housing, the cleaning air duct including a dust collection pipe and a roller brush cavity, the dust collection pipe communicating with the roller brush cavity; a roller brush disposed within the roller brush cavity; and a detection module including a sensor disposed in the cleaning air duct, the sensor being used to detect the state of waste suction within the cleaning air duct, the sensor having a sensing surface with a sensing area S, where S ≥ 0.5 cm². 2 .
[0005] In some embodiments, the sensor is a piezoelectric sensor, the sensing surface is in contact with the outer wall surface of the roller brush cavity, and the detection pressure range of the piezoelectric sensor is P, 0≤P≤250KPa.
[0006] In some embodiments, the outer wall of the roller brush cavity has a first mounting base, the first mounting base has a first receiving cavity, the sensor is a piezoelectric sensor, the piezoelectric sensor is arranged in the first receiving cavity, the sensing surface is in contact with the outer wall of the roller brush cavity, the detection module also includes a wire, the first mounting base has a first wire hole, the wire passes through the first wire hole and is electrically connected to the piezoelectric sensor, and there is a sealing structure between the wire and the first wire hole.
[0007] In some embodiments, the detection module further includes a cover plate, a movable bracket, and an elastic element. The first receiving cavity has an opening at one end away from the piezoelectric sensor. The cover plate seals the opening and is connected to the roller brush cavity. The movable bracket and the elastic element are both installed in the first receiving cavity. The elastic element presses the movable bracket toward the piezoelectric sensor.
[0008] In some embodiments, the sensor is a piezoelectric sensor, and the sensing surface is in contact with the outer wall surface of the dust collection tube.
[0009] In some embodiments, the outer wall of the dust collection pipe has a second mounting base, the second mounting base has a second receiving cavity, the sensor is a piezoelectric sensor, the piezoelectric sensor is arranged in the second receiving cavity, the detection module also includes a wire, the second mounting base has a second wire hole, the wire passes through the second wire hole and is electrically connected to the piezoelectric sensor, and there is a sealing structure between the wire and the second wire hole.
[0010] In some embodiments, the detection module further includes a cover plate, a movable bracket, and an elastic element. The second accommodating cavity has an opening at one end away from the piezoelectric sensor. The cover plate seals the opening and is connected to the dust collection pipe. The movable bracket and the elastic element are both installed in the second accommodating cavity. The elastic element presses the movable bracket toward the piezoelectric sensor.
[0011] In some embodiments, the sensor has a sensing surface that forms at least a portion of the inner wall surface of the cleaning duct.
[0012] In some embodiments, the sensor is one of a thin-film sensor and a pressure sensor.
[0013] In some embodiments, the sensing surface forms at least a portion of the inner wall surface of the brush cavity.
[0014] In some embodiments, the brush cavity has an opening, the sensor is disposed on the outer wall of the brush cavity and covers the opening, and the outer periphery of the sensor and the outer periphery of the opening are provided with a sealing structure.
[0015] In some embodiments, the cleaning robot further includes a support frame, on which the sensor covers, the support frame being detachably mounted to the opening, and the outer periphery of the sensor being clamped between the roller brush cavity and the support frame.
[0016] In some embodiments, the detection module further includes a wire, the sensor has a lead portion, both the lead portion and the wire are located on the side of the support frame away from the brush cavity, and one end of the wire is electrically connected to the lead portion. Attached Figure Description
[0017] Figure 1 is a schematic diagram of a cleaning robot according to an embodiment of the present disclosure.
[0018] Figure 2 is a schematic diagram of the installation of the cleaning air duct and detection module of the cleaning robot according to an embodiment of the present disclosure.
[0019] Figure 3 is an enlarged view of A in Figure 2.
[0020] Figure 4 is an installation cross-sectional view of the cleaning air duct and detection module of the cleaning robot according to an embodiment of the present disclosure.
[0021] Figure 5 is an enlarged view of B in Figure 4.
[0022] Figure 6 is a cross-sectional view of the detection module of a cleaning robot according to an embodiment of the present disclosure.
[0023] Figure 7 is a schematic diagram of the installation of the cleaning duct and detection module of a cleaning robot according to another embodiment of the present disclosure.
[0024] Figure 8 is a schematic diagram of the installation of the dust collection pipe and detection module of a cleaning robot according to another embodiment of the present disclosure.
[0025] Figure 9 is a schematic diagram of the dust collection pipe of a cleaning robot according to another embodiment of the present disclosure.
[0026] Figure 10 is a schematic diagram of the installation of the brush cavity and detection module of a cleaning robot according to another embodiment of the present disclosure.
[0027] Figure 11 is an enlarged view of C in Figure 10.
[0028] Figure 12 is a partial installation cross-sectional view of the brush cavity and detection module of a cleaning robot according to another embodiment of the present disclosure.
[0029] Figure 13 is an enlarged view of D in Figure 12.
[0030] Figure 14 is a schematic diagram of the brush cavity of a cleaning robot according to yet another embodiment of the present disclosure from another perspective.
[0031] Reference numerals: 1. Housing; 2. Cleaning air duct; 21. Brush cavity; 212. Lower opening; 213. Opening; 214. Dust collection port; 215. First mounting base; 2151. First receiving cavity; 2152. First wire hole; 216. First connecting post; 22. Dust collection pipe; 222. Second mounting base; 2221. Second receiving cavity; 2222. Second wire hole; 223. Second connecting post; 3. Brush; 4. Detection module; 41. Sensor; 411. Sensing surface; 412. Lead wire; 42. Support frame; 43. Cover plate; 44. Movable bracket; 45. Elastic element; 46. Buffer pad; 47. Wire; 5. Sealing structure; 6. Drive motor. Detailed Implementation
[0032] Embodiments of this disclosure are described in detail below, with examples of these embodiments illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting it.
[0033] The cleaning robots in related technologies have a single cleaning mode and cannot automatically adjust according to the degree of dirt in the cleaning area, resulting in poor cleaning effect and high energy consumption.
[0034] The cleaning robot of the present disclosure is described below with reference to Figures 1 to 14.
[0035] As shown in Figures 1 to 5, the cleaning robot of this embodiment includes: a housing 1, a roller brush 3, and a detection module 4. The housing 1 is provided with a cleaning air duct 2 for collecting garbage. The cleaning air duct 2 includes a dust collection pipe 22 and a roller brush cavity 21, and the dust collection pipe 22 is connected to the roller brush cavity 21.
[0036] The roller brush 3 is disposed inside the roller brush cavity 21. The detection module 4 includes a sensor 41, which is disposed in the cleaning air duct 2. The sensor 41 is used to detect the state of garbage suction in the cleaning air duct 2. The sensor 41 has a sensing surface 411, and the sensing area of the sensing surface 411 is S, where S ≥ 0.5 cm². 2 .
[0037] It should be noted that the degree of dirtiness of the area to be cleaned (e.g., the ground) can be represented by the "garbage suction state" of the area to be cleaned. The "garbage suction state" can be used to represent the "quantity of garbage", the "volume of garbage", or the "mass of garbage", and this disclosure does not limit it in this way.
[0038] In some embodiments, the waste can be liquid waste (grease, sludge) and solid waste (paper scraps, hair, sand).
[0039] According to the embodiments of the present disclosure, the cleaning robot, because sensor 41 can detect the state of debris suction within the cleaning duct 2, allows the robot to adaptively adjust the rotation speed and / or cleaning time of the roller brush 3 based on the detected debris suction state, such as the size, quantity, or volume of the suctioned debris. This improves the cleaning effect, reduces energy consumption, and enhances the robot's endurance. Furthermore, since the sensing area of the sensing surface 411 is within the aforementioned range, the detection accuracy of sensor 41 is guaranteed, resulting in good detection performance.
[0040] In some embodiments, the dust collection port 214 of the roller brush cavity 21 is located on the upper side of the roller brush cavity 21, and the dust collection pipe 22 is installed on the upper side of the roller brush cavity 21 and communicates with the dust collection port 214. In other embodiments, the dust collection port 214 may also be located on the front or rear side of the roller brush cavity 21, and this disclosure does not limit this.
[0041] Understandably, the rotational speed and / or cleaning time of the roller brush 3 can be adaptively adjusted according to the state of debris suction. When the quantity, volume, or mass of debris suction increases, the rotational speed of the roller brush 3 also increases. Alternatively, when the quantity, volume, or mass of debris suction increases, the cleaning time of the roller brush 3 (which can also be understood as the residence time of the roller brush 3 in the clean area) also increases. Similarly, when the quantity, volume, or mass of debris suction decreases, the rotational speed of the roller brush 3 also decreases. Alternatively, when the quantity, volume, or mass of debris suction decreases, the cleaning time of the roller brush 3 (which can also be understood as the residence time of the roller brush 3 in the clean area) also decreases.
[0042] In some embodiments, the sensing area S of the sensing surface 411 can be 0.5 cm². 2 1cm 2 1.5cm 2 2cm 2 2.5cm 2 3cm 2 3.5cm 2 4cm 2 .
[0043] The inventors of this disclosure discovered through experimental research that when the sensing area S of the sensing surface 411 is less than 0.5 cm², 2 At this time, sensor 41 exhibits problems such as low sensitivity, large detection error, and low detection accuracy, resulting in sensor 41's inability to accurately identify and determine the state of garbage suction. However, when the sensing area S of the sensing surface 411 is greater than or equal to 0.5 cm²... 2 This can greatly improve the detection accuracy and sensitivity of sensor 41, ensuring the cleaning effect of the cleaning robot.
[0044] In the embodiments of this disclosure, as shown in FIG4, the lower end of the roller brush cavity 21 has a lower opening 212, and the roller brush 3 is disposed inside the roller brush cavity 21 and protrudes outside the lower opening 212. The garbage on the ground can be sucked into the roller brush cavity 21 through the lower opening 212 under the action of negative pressure and the rotation of the roller brush 3, and then passed into the dust collection pipe 22 through the dust collection port 214.
[0045] In some embodiments, as shown in FIG5, sensor 41 is a piezoelectric sensor 41, with sensing surface 411 in contact with the outer wall of the roller brush cavity 21. The detection pressure range of piezoelectric sensor 41 is P, 0≤P≤250KPa. Since sensing surface 411 is in contact with the outer wall of roller brush cavity 21, piezoelectric sensor 41 detects the vibration of the shell wall of roller brush cavity 21 and converts the vibration change into a detection signal of the garbage suction state. When the suctioned garbage is large or heavy, it will cause greater vibration; or when there is more garbage, it will cause more frequent vibration. The cleaning robot adaptively adjusts the rotation speed and / or cleaning time of roller brush 3 according to the detection signal.
[0046] The inventors of this disclosure discovered through experimental research that when the detection pressure range P of the piezoelectric sensor 41 is within the aforementioned range, it can meet the detection requirements for most types of waste and the cleaning scenarios of most cleaning robots, with good detection results. It is understood that when the maximum detection pressure of the piezoelectric sensor 41 exceeds 250 kPa, it will additionally increase the production cost of the piezoelectric sensor 41 and reduce the detection accuracy of the sensor 41. Therefore, a detection pressure range P of 0-250 kPa is preferable.
[0047] When debris is sucked into the roller brush chamber 21, the vibration generated by the roller brush chamber 21 in sucking up the debris is transmitted to the piezoelectric sensor 41. The piezoelectric sensor 41 converts the mechanical vibration of the debris into an electrical signal, i.e., a voltage change. Then, by analyzing and processing the voltage change, the controller analyzes and processes the amplitude and frequency changes of the voltage signal to accurately identify the size and quantity of the debris. After data analysis, the controller actively changes the cleaning mode of the cleaning robot, thereby completing the floor cleaning more scientifically, economically, and effectively, shortening the cleaning time per cycle, improving the machine's endurance, extending the overall service life of the machine, and enhancing the intelligence level of the cleaning robot.
[0048] In the embodiments of this disclosure, as shown in Figures 3 and 4, the sensor 41 is located on the upper side of the roller brush 3 and is arranged adjacent to the dust collection port 214. It is understood that when the roller brush 3 cleans up the debris, the debris can move from bottom to top along the direction of the rotation tangent of the roller brush 3. Therefore, arranging the sensor 41 on the upper side of the roller brush 3 can further improve the detection accuracy of the sensor 41.
[0049] In some embodiments, as shown in Figures 3 to 5, the outer wall of the roller brush cavity 21 has a first mounting base 215, and the first mounting base 215 has a first receiving cavity 2151. The sensor 41 is a piezoelectric sensor 41, which is arranged in the first receiving cavity 2151. The sensing surface 411 is in contact with the outer wall of the roller brush cavity 21. The detection module 4 also includes a wire (not shown). The first mounting base 215 has a first wire hole 2152. The wire passes through the first wire hole 2152 and is electrically connected to the piezoelectric sensor 41. There is a sealing structure (not shown) between the wire and the first wire hole 2152.
[0050] Understandably, the wire is connected to the first through hole 2152 through a sealing structure to reduce the probability of dust entering the connection point, thereby improving the detection accuracy of the piezoelectric sensor 41 and extending the service life of the piezoelectric sensor 41.
[0051] In some embodiments, the sealing structure 5 may be a structure such as a sealant, a soft sealing plug, or a sealing gasket.
[0052] In some embodiments, as shown in Figures 5 and 6, the detection module 4 further includes a cover plate 43, a movable bracket 44, and an elastic element 45. The first receiving cavity 2151 has an opening at one end away from the piezoelectric sensor 41. The cover plate 43 covers the opening and is connected to the roller brush cavity 21. The movable bracket 44 and the elastic element 45 are both installed in the first receiving cavity 2151. The elastic element 45 presses the movable bracket 44 in the direction of the piezoelectric sensor 41.
[0053] Understandably, when the piezoelectric sensor 41 moves slightly during operation, the elastic element 45 can push the movable bracket 44 to move, so that the movable bracket 44 presses the piezoelectric sensor 41 towards the roller brush cavity 21, thereby maintaining the piezoelectric sensor 41 in contact with the outer wall of the roller brush cavity 21 and improving the detection accuracy of the piezoelectric sensor 41.
[0054] In some embodiments, the movable bracket 44 is bonded and fixed to the piezoelectric sensor 41.
[0055] In some embodiments, as shown in FIG3, the outer wall surface of the roller brush cavity 21 is provided with a first connecting post 216, and the two sides of the cover plate 43 are installed on the first connecting post 216 by threaded parts, thereby fixing the cover plate 43 and making it easy to assemble and disassemble.
[0056] In some embodiments, as shown in FIG6, the detection module 4 further includes a buffer pad 46, which is installed between the cover plate 43 and the first mounting base 215. On the one hand, it can prevent dust from entering the first receiving cavity 2151, and on the other hand, it can reduce the impact of the vibration of the dust collection pipe 22 on the cover plate 43 and the movable bracket 44.
[0057] In other embodiments, as shown in Figures 7 to 9, sensor 41 is a piezoelectric sensor 41, with sensing surface 411 in contact with the outer wall of dust collection pipe 22. It is understood that the piezoelectric sensor 41 can indirectly contact the waste sucked into the dust collection pipe 22; that is, the vibration generated when the dust collection pipe 22 sucks up waste can be transmitted to the piezoelectric sensor 41, thereby indirectly detecting the waste suction status of the cleaning duct 2.
[0058] In some embodiments, as shown in Figures 6, 8 and 9, the outer wall of the dust collection pipe 22 has a second mounting base 222, and the second mounting base 222 has a second receiving cavity 2221. The piezoelectric sensor 41 is arranged in the second receiving cavity 2221. The detection module 4 also includes a wire (not shown). The second mounting base 222 has a second wire hole 2222. The wire passes through the second wire hole 2222 and is electrically connected to the piezoelectric sensor 41. There is a sealing structure (not shown) between the wire and the second wire hole 2222.
[0059] Understandably, the wire is connected to the second wire hole 2222 through a sealing structure to reduce the probability of dust entering the connection point, thereby improving the detection accuracy of the piezoelectric sensor 41 and extending the service life of the piezoelectric sensor 41.
[0060] In some embodiments, the sealing structure may be a sealant, a soft sealing plug, or a gasket.
[0061] In some embodiments, as shown in Figures 6 and 9, the detection module 4 further includes a cover plate 43, a movable bracket 44, and an elastic element 45. The second receiving cavity 2221 has an opening at one end opposite to the piezoelectric sensor 41. The cover plate 43 seals the opening and is connected to the dust collection pipe 22. The movable bracket 44 and the elastic element 45 are both installed in the second receiving cavity 2221. The elastic element 45 presses the movable bracket 44 towards the piezoelectric sensor 41. It can be understood that when the piezoelectric sensor 41 moves slightly during operation, the elastic element 45 can push the movable bracket 44 to move, so that the movable bracket 44 presses the piezoelectric sensor 41 towards the dust collection pipe 22, thereby maintaining the piezoelectric sensor 41 in contact with the outer wall of the dust collection pipe 22 and improving the detection accuracy of the piezoelectric sensor 41.
[0062] In some embodiments, the movable bracket 44 is bonded and fixed to the piezoelectric sensor 41.
[0063] As shown in Figures 6 and 8, the detection module 4 also includes a buffer pad 46, which is installed between the cover plate 43 and the second mounting base 222. On the one hand, it can prevent dust from entering the second receiving cavity 2221, and on the other hand, it can reduce the impact of the vibration of the dust collection pipe 22 on the cover plate 43 and the movable bracket 44.
[0064] As shown in Figure 9, the dust collection pipe 22 is provided with a second connecting post 223. The two sides of the cover plate 43 are installed on the second connecting post 223 by threaded parts, which can fix the cover plate 43 and make it easy to disassemble and assemble.
[0065] In other embodiments, as shown in Figures 10 to 13, the sensor 41 has a sensing surface 411, which forms at least a portion of the inner wall surface of the cleaning duct 2. It is understood that the sensing surface 411 can directly contact the debris within the cleaning duct 2 to detect the debris suction status of the cleaning duct 2, thereby enabling the detection module 4 to achieve high detection accuracy. Since the sensing surface 411 forms at least a portion of the inner wall surface of the cleaning duct 2, the sensor 41 will not interfere with the airflow during vacuuming in the cleaning duct 2; that is, the sensor 41 will not affect the normal vacuuming operation of the cleaning duct 2.
[0066] In one embodiment, sensor 41 is a thin-film sensor 41, and the sensing surface 411 of the thin-film sensor 41 forms part of the inner wall surface of the cleaning duct 2. When debris is sucked into the cleaning duct 2, it directly impacts the sensing surface 411 of the thin-film sensor 41. The thin-film sensor 41 converts the mechanical vibration generated by the debris impacting the sensing surface 411 into an electrical signal, i.e., a voltage change. The controller then analyzes and processes the amplitude and frequency changes of the voltage signal to accurately identify the size and quantity of the debris. After data analysis, the controller actively changes the cleaning mode of the cleaning robot, thereby enabling more scientific, economical, and effective floor cleaning, shortening the cleaning time per cycle, improving the machine's endurance, extending the overall lifespan of the machine, and enhancing the intelligence level of the cleaning robot.
[0067] In another embodiment, sensor 41 is a pressure sensor 41, and the sensing surface 411 of the pressure sensor 41 forms part of the inner wall surface of the cleaning duct 2. When debris is sucked into the cleaning duct 2, it directly impacts the pressure-sensitive conductive rubber of the pressure sensor 41. The pressure-sensitive conductive rubber converts the mechanical vibration generated by the debris impacting the sensing surface 411 into a resistance signal, i.e., a change in resistance. The controller then analyzes and processes the change in resistance value to accurately identify the size and quantity of the debris. After data analysis, the controller actively changes the cleaning mode of the cleaning robot, thereby enabling more scientific, economical, and effective floor cleaning, shortening the cleaning time per cycle, improving the machine's endurance, extending the overall lifespan of the machine, and enhancing the intelligence level of the cleaning robot.
[0068] In some embodiments, as shown in Figures 12 and 13, the sensing surface 411 forms at least a portion of the inner wall surface of the roller brush cavity 21. In other words, the sensor 41 is mounted on the wall surface of the roller brush cavity 21. Compared to placing the sensor 41 in other locations in the cleaning air duct 2, this allows for full utilization of the space surrounding the roller brush cavity 21, facilitates the arrangement of components within the housing 1, and results in a compact structure and reasonable layout.
[0069] In some embodiments, as shown in Figures 12 and 13, the sensing surface 411 is an arc-shaped surface protruding away from the roller brush 3, and the arc-shaped surface extends along the axial direction of the roller brush 3. It can be understood that the inner wall surface of the roller brush cavity 21 is generally an arc-shaped surface, and the sensing surface 411 constitutes part of the inner wall surface of the roller brush cavity 21, and the curvature of the two is generally consistent, so as to improve the guiding effect of waste.
[0070] In addition, since the curved surface extends along the axial direction of the roller brush 3, the sensor 41 can detect the debris swept at various positions along the axial direction of the roller brush 3, which helps to improve the detection accuracy of the sensor 41 and improve the cleaning effect of the cleaning robot.
[0071] In some embodiments, as shown in Figures 13 and 14, the roller brush cavity 21 has an opening 213, and the sensor 41 is disposed on the outer wall of the roller brush cavity 21 and covers the opening 213. A sealing structure 5 is provided between the outer periphery of the sensor 41 and the outer periphery of the opening 213. This seals the connection between the sensor 41 and the opening 213, preventing debris or dust from entering the housing 1 through the gap between the sensor 41 and the opening 213. Furthermore, since the corners of the sensor 41 are sealed to the edge of the opening 213, the problem of the corners of the sensor 41 warping can be prevented, which helps extend the service life of the sensor 41 and ensures the detection accuracy of the sensor 41 after long-term use.
[0072] In some embodiments, the sealing structure 5 may be a sealing adhesive, double-sided tape, sealing foam, sealing gasket, etc., and this disclosure does not limit it.
[0073] In some embodiments, as shown in FIG13, the cleaning robot further includes a support frame 42, with a sensor 41 covering the support frame 42. The support frame 42 is detachably mounted on the opening 213, and the outer periphery of the sensor 41 is clamped between the roller brush cavity 21 and the support frame 42. Since the support frame 42 is detachably connected to the roller brush cavity 21 and the sensor 41 covers the support frame 42, when assembling the cleaning robot, the sensor 41 can be covered on the support frame 42 first, and then assembled onto the roller brush cavity 21 together. This simplifies the installation process of the sensor 41 and facilitates subsequent disassembly and replacement. On the other hand, since the outer periphery of the sensor 41 is clamped between the roller brush cavity 21 and the support frame 42, the support frame 42 can further constrain and limit the outer edge of the sensor 41 to prevent the corners of the sensor 41 from lifting up or dust from entering the connection position between the corners of the sensor 41 and the opening 213.
[0074] In some embodiments, as shown in FIG11, the detection module 4 further includes a wire 47, and the sensor 41 has a lead portion 412. Both the lead portion 412 and the wire 47 are located on the side of the support frame 42 away from the roller brush cavity 21, and one end of the wire 47 is electrically connected to the lead portion 412. Since the lead portion 412 and the wire 47 are both located on the side of the support frame 42 away from the roller brush cavity 21 (i.e., the outside of the support frame 42), direct contact between the lead portion 412 and the wire 47 and the waste can be avoided, thereby improving the electrical safety of the detection module 4 and extending its service life.
[0075] In embodiments of this disclosure, the cleaning robot includes a controller (not shown) that is electrically connected to a sensor 41. The controller can adjust the rotation speed and / or cleaning time of the roller brush 3 according to the detection signal of the sensor 41. The quantity, volume, or mass of garbage sucked in is positively correlated with the rotation speed and / or cleaning time of the roller brush 3.
[0076] It should be noted that the quantity, volume, or mass of garbage sucked in is positively correlated with the rotation speed of the roller brush 3 and / or the cleaning time, that is, the quantity, volume, or mass of garbage sucked in changes in the same direction as the rotation speed of the roller brush 3 (or the cleaning time of the roller brush 3).
[0077] In other words, when the quantity, volume, or mass of debris increases, the rotational speed of the roller brush 3 also increases. Alternatively, when the quantity, volume, or mass of debris increases, the cleaning time of the roller brush 3 (which can also be understood as the dwell time of the roller brush 3 in the clean area) also increases. Similarly, when the quantity, volume, or mass of debris decreases, the rotational speed of the roller brush 3 also decreases. Alternatively, when the quantity, volume, or mass of debris decreases, the cleaning time of the roller brush 3 (which can also be understood as the dwell time of the roller brush 3 in the clean area) also decreases.
[0078] Specifically, the cleaning robot also includes a drive motor 6, which is connected to the roller brush 3 to drive the roller brush 3 to rotate. The controller is electrically connected to the drive motor 6, thereby controlling the rotational speed of the roller brush 3.
[0079] When the detection module 4 of the cleaning robot detects an increase in the quantity, volume, or mass of debris sucked into the cleaning duct 2, it can increase the rotation speed of the roller brush 3 or extend the cleaning time of the roller brush 3, thereby improving the cleaning effect of the cleaning robot on the ground. When the detection module 4 of the cleaning robot detects a decrease in the quantity, volume, or mass of debris sucked into the cleaning duct 2, it can decrease the rotation speed of the roller brush 3 or shorten the cleaning time of the roller brush 3, thereby reducing the energy consumption of the cleaning robot while ensuring the cleaning effect and improving the endurance of the cleaning robot.
[0080] Therefore, the cleaning robot proposed in the embodiments of this disclosure is beneficial to improving cleaning effect, reducing working energy consumption, and improving the battery life of the cleaning robot.
[0081] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.
[0082] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0083] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.
[0084] In this disclosure, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0085] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of this disclosure.
Claims
1. A cleaning robot, characterized in that, include: The housing has a cleaning air duct for collecting waste inside. The cleaning air duct includes a dust collection pipe and a roller brush cavity, and the dust collection pipe is connected to the roller brush cavity. A roller brush, wherein the roller brush is disposed within the roller brush cavity; The detection module includes a sensor disposed in the cleaning air duct. The sensor is used to detect the state of debris suction within the cleaning air duct. The sensor has a sensing surface with a sensing area of S, where S ≥ 0.5 cm². 2 .
2. The cleaning robot according to claim 1, characterized in that, The sensor is a piezoelectric sensor, and the sensing surface is in contact with the outer wall of the roller brush cavity. The detection pressure range of the piezoelectric sensor is P, where 0 ≤ P ≤ 250 kPa.
3. The cleaning robot according to claim 1 or 2, characterized in that, The outer wall of the roller brush cavity has a first mounting base, and the first mounting base has a first receiving cavity. The sensor is a piezoelectric sensor, which is arranged in the first receiving cavity. The sensing surface is in contact with the outer wall of the roller brush cavity. The detection module also includes a wire. The first mounting base has a first wire hole. The wire passes through the first wire hole and is electrically connected to the piezoelectric sensor. There is a sealing structure between the wire and the first wire hole.
4. The cleaning robot according to claim 3, characterized in that, The detection module further includes a cover plate, a movable bracket, and an elastic element. The first receiving cavity has an opening at the end opposite to the piezoelectric sensor. The cover plate seals the opening and is connected to the roller brush cavity. The movable bracket and the elastic element are both installed in the first receiving cavity. The elastic element presses the movable bracket toward the piezoelectric sensor.
5. The cleaning robot according to any one of claims 1 to 4, characterized in that, The sensor is a piezoelectric sensor, and the sensing surface is in contact with the outer wall surface of the dust collection tube.
6. The cleaning robot according to claim 5, characterized in that, The outer wall of the dust collection pipe has a second mounting base, and the second mounting base has a second receiving cavity. The sensor is a piezoelectric sensor, which is arranged in the second receiving cavity. The detection module also includes a wire. The second mounting base has a second wire hole. The wire passes through the second wire hole and is electrically connected to the piezoelectric sensor. There is a sealing structure between the wire and the second wire hole.
7. The cleaning robot according to claim 6, characterized in that, The detection module also includes a cover plate, a movable bracket, and an elastic element. The second accommodating cavity has an opening at the end opposite to the piezoelectric sensor. The cover plate seals the opening and is connected to the dust collection pipe. The movable bracket and the elastic element are both installed in the second accommodating cavity. The elastic element presses the movable bracket toward the piezoelectric sensor.
8. The cleaning robot according to any one of claims 1 to 7, characterized in that, The sensor has a sensing surface that forms at least a portion of the inner wall surface of the cleaning duct.
9. The cleaning robot according to claim 8, characterized in that, The sensor is one of a thin-film sensor and a pressure sensor.
10. The cleaning robot according to claim 8, characterized in that, The sensing surface forms at least a portion of the inner wall surface of the roller brush cavity.
11. The cleaning robot according to claim 10, characterized in that, The roller brush cavity has an opening, the sensor is located on the outer wall of the roller brush cavity and covers the opening, and the outer periphery of the sensor and the outer periphery of the opening are provided with a sealing structure.
12. The cleaning robot according to claim 11, characterized in that, The cleaning robot also includes a support frame, on which the sensor covers the support frame, which is detachably mounted on the opening, and the outer periphery of the sensor is clamped between the roller brush cavity and the support frame.
13. The cleaning robot according to claim 12, characterized in that, The detection module also includes a wire, the sensor has a lead portion, the lead portion and the wire are both located on the side of the support frame away from the roller brush cavity, and one end of the wire is electrically connected to the lead portion.