ROBOT CLEANER AND AUTOMATIC CLEANING METHOD
A cleaning robot and an automatic cleaning method thereof, to implement automatic cleaning. The cleaning robot includes a lifting mechanism and a cleaning base, where the cleaning base includes a base body, a scraping mechanism disposed on the base body, and a spraying assembly provided with nozzles. The nozzles are arranged along a mopping component of the cleaning robot and formed into a structure for spraying water or mist to the mopping component. The scraping mechanism includes a scraper, and the scraper comes into contact with and moves relative to the mopping component, to scrape off the attachment on the mopping component while squeezing out the water. The lifting mechanism causes the mopping component to lift or move down by causing the mopping component to come into contact with or separate from the scraper.
This application is a National Phase filing in the United States, under 35 USC § 371, of PCT International Patent Application PCT/CN2019/119512, filed on 19 Nov. 2019, which claims the priority of: Chinese Patent Application CN 201811377831.5, filed 19 Nov. 2018; Chinese Patent Application CN 201811379037.4, filed 19 Nov. 2018; and Chinese Patent Application CN201910580461.3, filed 28 Jun. 2019.
These applications listed above are hereby incorporated by reference herein in their entirety and all are made a part hereof, including but not limited to those portions which specifically appear hereinafter.
BACKGROUND OF THE INVENTION Field of the InventionThis invention relates to a cleaning robot and an automatic cleaning method thereof.
Discussion of Related ArtA cleaning robot is one of intelligent household appliances, and can automatically complete floor clearing work in a room by specific artificial intelligence. Sundries on a floor are usually sucked into a trash storage box of the cleaning robot in a brush sweeping and vacuum manner, thereby completing a floor sweeping function. When a user is using the cleaning robot, the cleaning robot usually only needs to be placed on the floor, and the cleaning robot may perform roller brushing and collection on dirty matters on the floor through rotation of a hairbrush, and then suck the dirty matters into the storage box through a dust suction inlet. However, the cleaning robot usually can clear only dusts on the floor and some relatively small and relatively light smudges, and has a non-ideal clearing effect on some relatively stubborn stains.
In the current market, a rag is disposed at the bottom of a cleaning robot, such as in a previous cleaning robot mopping mechanism shown in
In particular, a current sweeping-mopping all-in-one machine simultaneously performs sweeping and mopping work and has a relatively high requirement for a use environment. For example, there cannot be objects that cannot be wetted such as a carpet in the use environment. Also, in the prior art, the rag disposed at the bottom of the cleaning robot is designed parallel to the floor, the pressure of the rag on the floor is relatively small, and the mopping effect is not ideal.
Also, the current sweeping-mopping all-in-one machine cannot select mopping modes for different environments, cannot perform selective mopping, and cannot separate mopping in a bathroom or kitchen from mopping in a living room or bedroom.
Additionally, a mopping solution used by an existing household cleaning robot is to directly install a cleaning water tank at the bottom of the robot, the cleaning water tank includes a water tank and a cleaning rag stuck at the bottom of the water tank, and when the robot marches, water in the water tank continuously permeates into the rag, to clean a floor. That is to say, a mopping cloth is disposed at the bottom of the cleaning robot, for mopping the floor. The water tank is disposed above the mopping cloth, and the water in the water tank is always permeating into the mopping cloth, thereby implementing wet mopping. However, a mopping device, such as the cleaning water tank of this cleaning robot is installed at the bottom of the robot, and the pressure on the floor is insufficient, which affects the cleaning effect of the rag. Also, after mopping has been performed for a relatively long time, automatic cleaning cannot be performed, water and smudges are attached to the flat mop, and may further cause secondary pollution to the floor during subsequent floor clearing, which instead wastes more time of the user. Also, after cleaning, the mopping cloth needs to be detached and manually cleaned, which affects the user experience.
Furthermore, for the existing cleaning robot, after mopping ends, the rag of cleaning robot is cleaned manually and directly flushed with water, and the water is not recycled for reuse, which causes water waste.
In the prior art, when the cleaning robot returns to a base to clean the rag or to be charged, because there is no guiding and limit structure, the main body of the cleaning robot has some location deviation during returning, and cannot accurately return to a designed location point to perform a rag cleaning or charging action, and consequently the main body of the cleaning robot cannot normally complete the next work.
Also, a scraper on the cleaning base reciprocates to clean the rag. In this process, movement of the rag relatively hindering the scraper generates a friction force in a direction opposite to that of movement of the scraper, and the direction of the friction force also alternately changes as the scraper reciprocates.
Under the action of the alternate friction force, a rag bracket moves left or right as the force acts. Thus, the movement of the rag bracket drives the main body of the cleaning robot to move together, to cause the main body of the cleaning robot to continuously move forward fiercely and to slowly deviate from the cleaning location, such as, the leftward or rightward movement of the main body of the cleaning robot further causes the cleaning robot to move in a direction far away from the base. Finally, when the acting force of the scraper on the rag bracket is zero, the main body of the cleaning robot stops moving, and the scraper loses the cleaning effect on the rag.
SUMMARY OF THE INVENTIONThis invention provides a cleaning robot and an automatic cleaning method thereof, to implement automatic cleaning.
One aspect of this invention provides a cleaning robot, including a lifting mechanism and a cleaning base, where the cleaning base includes a base body, a scraping mechanism disposed on the base body, and a spraying assembly provided with nozzles. The nozzles are arranged along a mopping component of the cleaning robot and formed into a structure for spraying water or mist to the mopping component. The scraping mechanism includes a scraper, and the scraper comes into contact with and moves relative to the mopping component, to scrape off the attachment on the mopping component while squeezing out the water. The lifting mechanism causes the mopping component to lift or go down by causing the mopping component to come into contact with or separate from the scraper.
Optionally, the mopping component includes a roller brush, and the roller brush is configured to be rotatable under driving of a motor. The scraper is strip-shaped and the scraper and the roller brush are configured axially parallel to each other.
Optionally, the roller brush is configured to lift by a specific height in a vertical direction through control of the lifting mechanism and then come into contact with the scraper.
Optionally, the mopping component includes a flat mop, and the scraping mechanism further includes a transmission mechanism driven by a driving motor assembly, to cause the scraper to reciprocate straightly along the flat mop.
Optionally, the scraping mechanism has an inclination angle, and the mopping component is configured to rotate by a corresponding inclination angle while lifting through control of the lifting mechanism.
Optionally, the lifting mechanism includes a crank rocker mechanism, a gear pair or a lead screw mechanism.
Optionally, the cleaning base is provided with or has a charging device configured to charge the cleaning robot.
A method for automatically cleaning a mopping component with the cleaning robot of this invention is provided, including the following steps:
step 1: lifting a mopping component through a lifting mechanism, and causing the mopping component to gradually approach a scraper of a cleaning base;
step 2: stopping approaching when the mopping component interferes with the scraper;
step 3: rotating the mopping component, spraying, by nozzles, water to flush or mist to wet the mopping component, and scraping off, by the scraper, objects attached to the mopping component and meanwhile or also squeezing out water on the mopping component;
step 4: stopping, by the nozzles, spraying water or mist, continuously rotating, by the mopping component, and continuously squeezing out, by the scraper, water on the mopping component; and
step 5: stopping rotating the mopping component when no water drips from the mopping component.
A method for automatically cleaning a mopping component with the cleaning robot of this invention is provided, including the following steps:
step 1: causing a mopping component to gradually lift to adapt to an angle of a scraper of a cleaning base and to approach the scraper;
step 2: stopping approaching when the mopping component interferes with the scraper;
step 3: spraying, by nozzles, water to flush or mist to wet the mopping component, to move the scraper, and scraping off, by the scraper, objects attached to the mopping component and meanwhile or also squeezing out water on the mopping component;
step 4: stopping, by the nozzles, spraying water or mist, and continuously squeezing out, by the scraper, water on the mopping component; and
step 5: stopping moving the scraper when no water drips from the mopping component.
Optionally, the method further includes step 6: causing, by a lifting mechanism after no water drips from the mopping component, the mopping component to move down and continue to mop.
Optionally, the step 1 to the step 6 are cyclically performed until cleaning work ends.
Optionally, the method further includes returning, by the mopping component each time the mopping component cleans a specific area or for a specific time, to the cleaning base to perform back-washing.
This invention further provides a lifting mechanism for a cleaning robot and a working method thereof, to resolve a problem that a current cleaning robot cannot selectively mop an indoor comprehensive environment.
According to one embodiment of this invention, the lifting mechanism in this invention includes a driving assembly, a lifting assembly, and a cleaning assembly sequentially connected. The driving assembly is configured to drive the lifting assembly. The lifting assembly enables the cleaning assembly to lift or move down relative to a to-be-cleaned surface. When the cleaning assembly moves down to contact or come into contact with the to-be-cleaned surface, the cleaning assembly is configured to be capable of cleaning on the to-be-cleaned surface. After lifting, the cleaning assembly is capable of not coming into contact with the to-be-cleaned surface.
With the foregoing structure, this invention can sweep and mop independently of each other, for example, only mop but not sweep, or only sweep but not mop, and can improve the obstacle crossing capability, and can further perform pressurized mopping.
Preferably, the cleaning assembly is a flat mop configured to be capable of overturning outward by a specific angle when a cleaning working face lifts.
When the cleaning assembly lifts by a specific angle as a rocker swings, the mopping cloth can be cleaned more easily.
The cleaning assembly may overturn while lifting or down, or may overturn after lifting. A benefit of such a setting is that it is easy to clear or clean the cleaning assembly, or replace the cleaning assembly.
Preferably but not necessarily, the lifting mechanism further includes a processor and a driving assembly actuating mechanism, the processor receives a triggering signal and determines a location of the cleaning assembly according to location information, to transmit an actuating signal to the driving assembly actuating mechanism, and the driving assembly actuating mechanism is configured to control the driving assembly according to the obtained actuating signal.
Preferably but not necessarily, the lifting mechanism further includes a location detection device, and the location detection device is configured to detect the location of the cleaning assembly, and feed back a location signal to the processor.
Preferably but not necessarily, the lifting mechanism is further provided with a recognition module, the processor is connected to the recognition module, the recognition module can recognize the to-be-cleaned surface and transmit information about the to-be-cleaned surface to the processor, and the processor can form a cleaning strategy according to the information about the to-be-cleaned surface.
The driving assembly may be a motor assembly, a pneumatic assembly, or a hydraulic assembly.
The lifting assembly may be a link mechanism, a linear motion mechanism, or a gear pair.
More preferably, the link mechanism may be a crank link mechanism, where the crank link mechanism includes a crank, a link, and a rocker sequentially connected, the crank is configured to be capable of fully rotating under the action of the driving assembly, at least one of the link and the rocker is configured to have a displacement in a vertical direction, and the cleaning assembly is connected to the rod member having the displacement in the vertical direction.
Alternatively, the crank link mechanism includes a spatial link mechanism, and at least one spherical pair is included among the crank, the link, and the rocker.
Preferably but not necessarily, the linear motion mechanism includes a screw and a nut that are fit and connected, and the screw is configured to have a displacement in the vertical direction.
Preferably but not necessarily, the cleaning assembly includes a roller brush component.
Preferably but not necessarily, the cleaning assembly includes a flat board component.
Another embodiment of this invention further provides a cleaning robot, provided with the foregoing lifting mechanism.
Preferably but not necessarily, the cleaning robot is a household cleaning robot.
Also, this invention further provides a working method of the foregoing cleaning robot, including the following steps:
step 1: recognizing, by the cleaning robot, a to-be-cleaned surface, and transferring information to a processor;
step 2: determining, by the processor, a cleaning strategy for the to-be-cleaned surface according to the received information; and
step 3: when the cleaning strategy in step 2 is to only sweep but not mop the to-be-cleaned surface, transmitting, by the processor, a first actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, a second actuating signal to a sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface;
when the cleaning strategy in step 2 is to only mop but not sweep the to-be-cleaned surface, transmitting, by the processor, a third actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, a fourth actuating signal to a sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface;
when the cleaning strategy in step 2 is to both sweep and mop the to-be-cleaned surface, transmitting, by the processor, a third actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, a second actuating signal to a sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface; and
when the cleaning strategy in step 2 is to neither sweep nor mop the to-be-cleaned surface, transmitting, by the processor, a first actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, a fourth actuating signal to a sweeping module, and stopping, by the sweeping module, and cleaning the to-be-cleaned surface.
Thus, the cleaning robot provided in this invention can control sweeping and mopping independently of each other, for example, only mop but not sweep, or only sweep but not mop, and can improve the obstacle crossing capability, and can further perform pressurized mopping.
Also, this invention further provides a working method of the foregoing cleaning robot, including the following steps:
step 1: recognizing, by the cleaning robot, a to-be-cleaned surface, and transferring information to a processor;
step 2: determining, by the processor, a cleaning strategy for the to-be-cleaned surface according to the received information; and
step 3: when the cleaning strategy in step 2 is to mop the to-be-cleaned surface, sending, by the processor, a mopping actuating signal to the driving assembly, and driving, by the driving assembly, the lifting assembly and causing the cleaning assembly to come into contact with the to-be-cleaned surface; and
when the cleaning strategy in step 2 is not to mop the to-be-cleaned surface, sending, by the processor, a non-mopping actuating signal to the driving assembly, and driving, by the driving assembly, the lifting assembly and causing the cleaning assembly to separate from the to-be-cleaned surface.
Thus, this invention may only mop.
Another embodiment of this invention further provides a pressurized mopping mechanism for a cleaning robot, where the pressurized mopping mechanism includes a driving assembly, a lifting assembly, and a cleaning assembly sequentially connected. The driving assembly is configured to drive the lifting assembly. The lifting assembly enables the cleaning assembly to lift or move down relative to a to-be-cleaned surface. When the cleaning assembly moves down to come into contact with the to-be-cleaned surface, the cleaning assembly is configured to be capable of cleaning on the to-be-cleaned surface. When the cleaning assembly lifts to separate from the to-be-cleaned surface, the cleaning assembly is configured to not hinder movement of the cleaning robot. The lifting assembly is provided with or has a telescopic mechanism and the telescopic mechanism connects the lifting assembly and the cleaning assembly to enable the cleaning assembly to always fit the to-be-cleaned surface through a telescoping performance of the telescopic mechanism.
Preferably but not necessarily, the telescopic mechanism includes an elastic element.
Preferably but not necessarily, the lifting assembly includes a crank link mechanism, the crank link mechanism includes a crank, a link, and a rocker sequentially connected, the crank is configured to be capable of fully rotating under the action of the driving assembly, at least one of the link and the rocker is configured to have a displacement in a vertical direction, the cleaning assembly is connected to the rod member having the displacement in the vertical direction, and the telescopic mechanism is disposed on the link.
Preferably but not necessarily, the cleaning assembly includes a roller brush component or a flat mop component.
A working method of a pressurized mopping mechanism for a cleaning robot is provided, where the working method includes the following steps:
step 1: driving, by a lifting assembly, a cleaning assembly to move down, until the cleaning assembly comes into contact with a to-be-cleaned surface, and cleaning, by the cleaning assembly, the to-be-cleaned surface; and
step 2: driving, by the lifting assembly, the cleaning assembly to lift, and separating, by the cleaning assembly, from the to-be-cleaned surface.
Preferably but not necessarily, in step 1, after the cleaning assembly comes into contact with the to-be-cleaned surface, the lifting assembly continues to drive the cleaning assembly to move down by a first height, and an elastic element in a telescopic mechanism is compressed and deformed to apply a first acting force to the cleaning assembly.
Preferably but not necessarily, the lifting mechanism drives the cleaning assembly to move down by the first height, the elastic element in the telescopic mechanism is compressed and deformed without exceeding maximum working deformation to avoid a case that the cleaning robot is lifted because the first acting force applied to the cleaning assembly is excessively large and a counter-acting force corresponding to the first acting force is excessively large.
The cleaning assembly involved in this invention or application may include an active cleaning assembly (the cleaning assembly is provided with or has a driving device to actively clean the to-be-cleaned surface, for example, a roller brush provided with a driving motor), or may include a passive cleaning assembly (to clean the to-be-cleaned surface with the aid of walking of the cleaning robot).
This invention further provides a cleaning base and a working method thereof, to automatically clean a mopping mechanism of a cleaning robot.
The cleaning base includes a base body, a scraping mechanism disposed on the base body, and a spraying assembly provided with nozzles. The nozzles are arranged along a mopping component of the cleaning robot and formed into a structure for spraying water or mist to the mopping component. The scraping mechanism includes a scraper, and the scraper comes into contact with and moves relative to the mopping component, to scrape off the attachment on the mopping component while squeezing out the water.
Preferably but not necessarily, the mopping component includes a roller brush, and the roller brush is configured to be rotatable under driving of a motor and the scraper is strip-shaped, and the scraper and the roller brush are configured axially parallel to each other.
Preferably but not necessarily, the mopping component includes a flat mop, and the scraping mechanism further includes a transmission mechanism driven by a driving motor assembly, to cause the scraper to reciprocate straightly along the flat mop.
Preferably but not necessarily, the mopping component is configured to rotate around a point and lift through control of a lifting mechanism. Optionally, the scraping mechanism has an inclination angle, and the mopping component is configured to rotate by a corresponding inclination angle while lifting through control of the lifting mechanism.
The lifting mechanism can be a crank rocker mechanism, a gear pair, or a lead screw mechanism.
The transmission mechanism can include a synchronous belt mechanism, a crank slider mechanism, or an eccentric cam mechanism.
When the mechanism is a crank slider mechanism, the crank slider mechanism can be connected to the scraper.
Optionally, a scraper automatic reversing mechanism is further provided, the transmission mechanism is a belt-type transmission mechanism, and the belt-type transmission mechanism rotates along a direction under the action of the driving motor assembly, where a belt is connected to the scraper automatic reversing mechanism, to drive the scraper disposed on the scraper automatic reversing mechanism to reciprocate straightly.
When the transmission mechanism is a belt-type transmission mechanism, the scraper is fixed onto the belt-type transmission mechanism, a location detection device, a processor, and a motor actuating device are further included, the location detection device is configured to detect whether a location of the scraper reaches a returning location, thereby sending a location detection signal to the processor, and the processor controls the motor actuating device to cause the motor to reverse, thereby driving the belt-type transmission mechanism to reverse.
Preferably but not necessarily, the cleaning base is provided with or has a charging device configured to charge the cleaning robot.
Preferably but not necessarily, a serrated portion is disposed on the scraper.
This invention further provides a method for automatic cleaning with the foregoing cleaning base, where the method includes the following steps:
step 1: causing a mopping component to gradually approach a scraper of the cleaning base;
step 2: stopping approaching when the mopping component interferes with the scraper;
step 3: lifting the mopping component to match the scraper, spraying, by nozzles, water to flush the mopping component or wet the mopping component, and scraping off, by the scraper, objects attached to the mopping component and meanwhile squeezing out water on the mopping component;
step 4: stopping, by the nozzles, spraying water, continuously rotating, by the mopping component, and continuously squeezing out, by the scraper, water on the mopping component; and
step 5: stopping rotating the mopping component when no water drips from the mopping component.
This invention further provides a method for automatic cleaning with the foregoing cleaning base, where the method includes the following steps:
step 1: causing a mopping component to gradually approach a scraper of the cleaning base;
step 2: stopping approaching when the mopping component interferes with the scraper;
step 3: spraying, by nozzles, water to flush or wet the mopping component, to move the scraper, and scraping off, by the scraper, objects attached to the mopping component and meanwhile squeezing out water on the mopping component;
step 4: stopping, by the nozzles, spraying water, and continuously squeezing out, by the scraper, water on the mopping component; and
step 5: stopping moving the scraper when no water drips from the mopping component.
The foregoing method may further include returning, by the mopping component of the cleaning robot each time the mopping component cleans a specific area or for a specific time, to the cleaning base through navigation to perform back-washing.
Preferably but not necessarily, automatic back-washing is performed after 12 to 20 square meters are cleaned each time.
Thus, this invention may perform automatic back-washing when the mopping cloth is dirty, to prevent dirty mopping.
Preferably but not necessarily, a smudge separation system is further provided, where a clean water tank, a clean water pump, and a spraying assembly are sequentially connected. A water filtering tank, a sewage pump, and a sewage tank are sequentially connected. The water filtering tank is configured to receive dirty water remaining after the rag is cleaned and filter the dirty water is provided with or has a filtering element. The sewage pump transfers water in the water filtering tank to the sewage tank, and the clean water tank provides a water source to the spraying assembly. Water in the clean water tank is transferred to the spraying assembly through the clean water pump. The spraying assembly sprays water onto the rag.
Preferably but not necessarily, a water cycling filtering system is further provided, and the water cycling filtering system is provided with a water filtering tank for receiving dirty water remaining after the rag is cleaned and filter the dirty water, where the water filtering tank is provided with a filtering element. Water in the water filtering tank is transferred to a water cycling tank through a sewage pump. The water cycling tank is for receiving water from a sewage tank while providing a water source to the spraying assembly. A water cycling pump is for transferring water in the water cycling tank to the spraying assembly. The spraying assembly is where the spraying assembly is configured to spray water onto the rag. The water filtering tank, the sewage pump, the water cycling tank, the water cycling pump, and the spraying assembly are sequentially connected.
The description or term “the cleaning assembly is configured to be capable of cleaning on the to-be-cleaned surface” as used in this application should be understood as follows: The cleaning assembly itself can actively clean the to-be-cleaned surface, and under driving of an external force, the cleaning assembly can clean the to-be-cleaned surface and reference may be made to embodiments described below in detail.
This invention can implement automatic cleaning. The foregoing and other objectives, features, and advantages of this invention will be better understood below according to the following specification and specific implementations and with reference to accompanying drawings.
This invention is further described below with reference to the accompanying drawings and the following implementations. It should be understood that, the accompanying drawings and the following implementations are provided only for teaching how to perform optimal aspects of this invention to a person skilled in the art, but not intended to limit the scope of this invention. The same or corresponding accompanying drawing tags in the diagrams represent the same component, and repeated descriptions are omitted.
For the problem that a sweeping-mopping all-in-one machine in the prior art simultaneously performs sweeping and mopping work and has a relatively high requirement for a use environment, this invention discloses a lifting mechanism for a cleaning robot, where the lifting mechanism includes a driving assembly, a lifting assembly, and a cleaning assembly sequentially connected. The driving assembly is configured to drive the lifting assembly. The lifting assembly enables the cleaning assembly to lift or move down relative to a to-be-cleaned surface. When the cleaning assembly moves down to contact or come into contact with the to-be-cleaned surface, the cleaning assembly is configured to be capable of cleaning on the to-be-cleaned surface. After lifting, the cleaning assembly is capable of not coming into contact with the to-be-cleaned surface.
Preferably, after the cleaning assembly lifts, a lowest location of the cleaning assembly is higher than a bottom surface of the cleaning robot, thereby improving the obstacle crossing capability of the cleaning robot after the cleaning assembly lifts.
The lifting mechanism is applied to the field of cleaning robots, to resolve the problem in the prior art that a technical solution of combining a water tank and a rag cannot adapt to an indoor comprehensive environment, and particularly a more complex household indoor environment. Also, by adjusting a pressure between the cleaning assembly and the to-be-cleaned surface, pressurized mopping may be performed on a stubborn stain, to achieve an unexpected beneficial effect compared with the prior art.
The lifting mechanism has a relatively good expansion performance, and particularly after being combined with artificial intelligence, can select, according to an indoor environment and a to-be-cleaned surface, whether to clean the to-be-cleaned surface.
In an implementation, the lifting mechanism further includes a processor and a driving assembly actuating mechanism. The processor receives triggering signals, including a moving-up triggering signal and a moving-down triggering signal, determines a location of the cleaning assembly according to location information, including preset location information or location information obtained from a location detection device, and transmits actuating signals, including a moving-up actuating signal and a moving-down actuating signal, to the driving assembly actuating mechanism. The driving assembly actuating mechanism is configured to control the driving assembly, causing the lifting assembly to lift or move down, according to the obtained actuating signal. When the processor obtains adjusted location information, including preset adjusted location information and adjusted location information detected by the location detection device or the like, the processor transmits an actuating stop signal to the driving assembly actuating mechanism.
The adjusted location information should be explained as information about a location of the lifting assembly after lifting or moving down, and the information may be preset location information that is stored or location information that is obtained by the location detection device.
In a case that the location information is preset location information, the preset location information includes moving-up location information and moving-down location information that respectively correspond to a moving-up location and a moving-down location of the cleaning assembly. The location of the cleaning assembly is pre-adjusted to be consistent with the preset location information, and the process may be adjusted during pre-delivery setting.
In a case that the location information is location information detected by, for example, the location detection device, the location information includes moving-up location information and moving-down location information, and the processor sends a moving-up or moving-down actuating signal according to the triggering signal and the location information. After obtaining the moving-up actuating signal, the driving assembly actuating mechanism controls the driving assembly to drive the lifting assembly to lift the cleaning assembly. Correspondingly, after obtaining the moving-down actuating signal, the driving assembly actuating mechanism controls the driving assembly to drive the lifting assembly to move down the cleaning assembly.
In some embodiments of this invention, when the triggering signal is the moving-up triggering signal, the location detection device detects that the location information of the cleaning assembly is the moving-down location, and the processor sends the moving-up actuating signal to the driving assembly actuating mechanism. When the processor learns that the location information of the cleaning assembly is the moving-up location, the processor sends the actuating stop signal to the driving assembly actuating mechanism.
In some embodiments of this invention, when the triggering signal is the moving-down triggering signal, the location detection device detects that the location information of the cleaning assembly is the moving-up location, and the processor sends the moving-down actuating signal to the driving assembly actuating mechanism. When the processor learns that the location information of the cleaning assembly is the moving-down location, the processor sends the actuating stop signal to the driving assembly actuating mechanism.
In some embodiments of this invention, when the triggering signal is the moving-up triggering signal, the location detection device detects that the location information of the cleaning assembly is the moving-up location, and the processor sends no actuating signal to the driving assembly actuating mechanism.
In some embodiments of this invention, when the triggering signal is the moving-down triggering signal, the location detection device detects that the location information of the cleaning assembly is the moving-down location, and the processor sends no actuating signal to the driving assembly actuating mechanism.
A beneficial effect of the foregoing setting includes objectives of the action and the triggering signal of the lifting assembly are consistent, to avoid incorrect operations. Referring to the foregoing third and fourth cases, for example, the triggering signal is the moving-up triggering signal, and the cleaning assembly is at the moving-up location. In this case, if the processor does not determine the location of the cleaning assembly, but directly sends a moving-up instruction to the driving assembly actuating mechanism, the cleaning assembly continues to lift from the moving-up location, which will damage the lifting mechanism.
The location information of the cleaning assembly may be obtained by the location detection device or a location sensor and transmitted to the processor, where the location detection device is preferably a Hall sensor, and referring to
In this invention, the lifting assembly may be any motion mechanism that can implement moving-up and moving-down actions. The lifting assembly is provided with or has a lifting portion that can generate a displacement in a vertical direction, perpendicular to the to-be-cleaned surface. The cleaning assembly is connected to the lifting portion. The generated displacement in the vertical direction includes a linear displacement generated in the vertical direction or a displacement with a component in the vertical direction.
The lifting assembly may be a link mechanism, a linear motion mechanism, for example, a lead screw mechanism, or a gear pair provided with or having the lifting portion generating a displacement in the vertical direction. The link mechanism may be a spatial link mechanism or a planar link mechanism, where when the link mechanism is a spatial link mechanism, at least one spherical pair is included among the crank, the link, and the rocker.
In Embodiment 1, the lifting assembly is a crank link mechanism, and the cleaning assembly is a flat mop or a roller brush.
In the implementation aspect shown in
The motor drives the reduction gearbox 1, an output shaft of the reduction gearbox 1 drives the crank 2 to rotate, and the crank 2 drives the link assembly to move, to swing the cleaning assembly 4.
Specifically, an output shaft of the motor is connected to the reduction gearbox 1. The output shaft of the reduction gearbox 1 is connected to the crank 2, and the crank 2 can rotate by 360 degrees with the output shaft of the reduction gearbox 1. The other end of the crank 2 is connected to the link assembly 3, and the link assembly 3 and the crank 2 can rotate relative to each other. The link assembly 3 and the cleaning assembly 4 are connected, and can rotate relative to each other. At least one of the link assembly and the rocker (the cleaning assembly 4) is configured to have a displacement in the vertical direction (referring to
Preferably but not necessarily, the crank link mechanisms are two symmetrically arranged planar link mechanisms, respectively connected to two ends of the cleaning assembly. The crank link mechanism includes a crank, a link, and a rocker (a connecting part of the cleaning robot is used as a rack) sequentially connected, and the rocker is used as a lifting rod. It can be known from the principle of the crank link mechanism that, when the crank is used as a driving member and configured to be capable of fully rotating under the action of the driving assembly, continuous rotation of the crank may be transformed into reciprocating motion of the rocker, and the rocker is configured to swing in a vertical direction.
When the lifting assembly is a crank link mechanism, the rocker swings in the vertical direction, as shown in
Two ends of the roller brush are connected to two ends of the roller brush cover through bearings, where one end of the roller brush is provided with or has a driving shaft connected to the motor, thereby driving the roller brush to rotate.
In the embodiment shown in
When the cleaning assembly is a flat mop, and when the flat mop lifts by a specific angle as the rocker swings, the mopping cloth can be cleaned more easily.
In Embodiment 2, the lifting assembly is a lead screw, and the cleaning assembly is a flat mop or a roller brush.
There may be a plurality of lead screws connected to the cleaning assembly, and the lead screws are distributed along a length direction of the cleaning assembly. Preferably, 1 lead screw is connected to the cleaning assembly, and the lead screw moves in a vertical direction. It can be known from the principle of the lead screw mechanism that, when the motor drives the nut 11 of the lead screw to rotate clockwise or counterclockwise, the screw can correspondingly move upward or downward in the vertical direction.
As shown in
As shown in
In one embodiment, the cleaning assembly is a roller brush, the roller brush includes a roller brush cover and a roller brush body, the roller brush is in a hollow sleeve structure, the mopping cloth is wound around an outer surface of the hollow sleeve, and the roller brush cover is connected to a lower end of the screw.
Linear motion of the screw has two extreme locations in the vertical direction. When the screw is at a first extreme location, the roller brush lifts to a highest place. When the screw is at a second extreme location, the roller brush moves down to contact or come into contact with the to-be-cleaned surface.
Embodiment 3 describes a pressurized mopping system of this invention.
Another aspect of this invention further provides a pressurized mopping mechanism for a cleaning robot, where the pressurized mopping mechanism includes a driving assembly, a lifting assembly, and a cleaning assembly sequentially connected. The driving assembly is configured to drive the lifting assembly. The lifting assembly enables the cleaning assembly to lift or move down relative to a to-be-cleaned surface. When the cleaning assembly moves down to come into contact with the to-be-cleaned surface, the cleaning assembly is configured to be capable of cleaning on the to-be-cleaned surface. When the cleaning assembly lifts to separate from the to-be-cleaned surface, the cleaning assembly is configured to not hinder movement of the cleaning robot. The lifting assembly is provided with or has a telescopic mechanism, and the telescopic mechanism connects the lifting assembly and the cleaning assembly to enable the cleaning assembly to always fit the to-be-cleaned surface through telescoping performance of the telescopic mechanism and apply a specific pressure to the to-be-cleaned surface.
Preferably but not necessarily, the telescopic mechanism includes an elastic element.
Preferably but not necessarily, the lifting assembly includes a crank link mechanism, the crank link mechanism includes a crank, a link, and a rocker sequentially connected, the crank is configured to be capable of fully rotating under the action of the driving assembly, at least one of the link and the rocker is configured to have a displacement in a vertical direction, the cleaning assembly is connected to the rod member having the displacement in the vertical direction, and the telescopic mechanism is disposed on the link.
Specifically, in
Preferably but not necessarily, the cleaning assembly includes a roller brush component or a flat mop component.
Also, this invention further provides or has a working method of a pressurized mopping mechanism for a cleaning robot, where the working method includes the following steps.
Step 1: A lifting assembly drives a cleaning assembly to move down, until the cleaning assembly contacts or comes into contact with a to-be-cleaned surface, and the cleaning assembly cleans the to-be-cleaned surface.
Step 2: The lifting assembly drives the cleaning assembly to lift, and the cleaning assembly separates from the to-be-cleaned surface.
Preferably but not necessarily, in step 1, after the cleaning assembly comes into contact with the to-be-cleaned surface, the lifting assembly continues to drive the cleaning assembly to move down by a first height, and an elastic element in a telescopic mechanism is compressed and deformed to apply a first acting force to the cleaning assembly. A moving-down maximum height preferably cannot cause the robot to lift.
Preferably but not necessarily, the lifting mechanism drives the cleaning assembly to move down by the first height, the elastic element in the telescopic mechanism is compressed and deformed without exceeding a maximum working deformation to avoid a case that the cleaning robot is lifted because the first acting force applied to the cleaning assembly is excessively large and a counter-acting force corresponding to the first acting force is excessively large.
Thus, moving-up or moving-down mopping, cleaning of the mopping cloth, and pressurized mopping may be implemented, and the magnitude of the pressure may be adjusted as required. The cleaning robot provided in this invention is provided with or has the foregoing lifting mechanism. In a preferable aspect, the cleaning robot may be a household cleaning robot.
A cleaning assembly of each cleaning robot in the current market is a flat rag, connected to the bottom of a water tank, and water is supplied to the rag through the water tank. To increase the water feed time and the water feed amount, the water tank and the rag basically occupy all space on a side of the cleaning robot. However, a spacing between the rag and the floor cannot be adjusted, and sweeping and mopping processes cannot be performed independently of each other.
Compared with the previous household cleaning robots, the cleaning robot provided in this invention is provided with or has the foregoing lifting mechanism, and therefore can sweep and mop independently of each other, for example, only mop but not sweep, or only sweep but not mop, and can improve the obstacle crossing capability, and can further perform pressurized mopping.
This invention further provides a working method of the foregoing cleaning robot, including the following steps.
Step 1: The cleaning robot recognizes a to-be-cleaned surface through a sensor (for example, a camera), and transfers information to a processor.
Step 2: The processor determines a cleaning strategy for the to-be-cleaned surface according to the received information.
Step 3: When the cleaning strategy in step 2 is to only sweep but not mop the to-be-cleaned surface, the processor transmits a first actuating signal to a driving assembly, the driving assembly drives a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, the processor transmits a second actuating signal to a sweeping module, and the sweeping module cleans the to-be-cleaned surface.
When the cleaning strategy in step 2 is to only mop but not sweep the to-be-cleaned surface, the processor transmits a third actuating signal to a driving assembly, the driving assembly drives a lifting assembly and causes a cleaning assembly to contact or come into contact with the to-be-cleaned surface, the cleaning assembly mops the to-be-cleaned surface, the processor transmits a fourth actuating signal to a sweeping module, and the sweeping module stops cleaning the to-be-cleaned surface.
When the cleaning strategy in step 2 is to both sweep and mop the to-be-cleaned surface, the processor transmits a third actuating signal to a driving assembly, the driving assembly drives a lifting assembly and causes a cleaning assembly to contact or come into contact with the to-be-cleaned surface, the cleaning assembly mops the to-be-cleaned surface, the processor transmits a second actuating signal to a sweeping module, and the sweeping module cleans the to-be-cleaned surface.
When the cleaning strategy in step 2 is to neither sweep nor mop the to-be-cleaned surface, the processor transmits a first actuating signal to a driving assembly, the driving assembly drives a lifting assembly and causes a cleaning assembly to separate from the to-be-cleaned surface, the processor transmits a fourth actuating signal to a sweeping module, and the sweeping module stops cleaning the to-be-cleaned surface.
This invention further provides a working manner of a cleaning robot for only mopping.
Step 1: The cleaning robot recognizes a to-be-cleaned surface through a sensor (for example, a camera), and transfers information to a processor.
Step 2: The processor determines a cleaning strategy for the to-be-cleaned surface according to the received information.
Step 3: When the cleaning strategy in step 2 is to mop the to-be-cleaned surface, the processor sends a mopping actuating signal to the driving assembly, and the driving assembly drives the lifting assembly and causes the cleaning assembly to contact or come into contact with the to-be-cleaned surface.
When the cleaning strategy in step 2 is not to mop the to-be-cleaned surface, the processor sends a non-mopping actuating signal to the driving assembly, and the driving assembly drives the lifting assembly and causes the cleaning assembly to separate from the to-be-cleaned surface.
A cleaning base for a cleaning robot includes a base body, a scraping mechanism disposed on the base body, and a spraying assembly provided with or having nozzles. The nozzles are arranged along a mopping component of the cleaning robot and formed into a structure for spraying water or mist to the mopping component. The scraping mechanism includes a scraper, and the scraper contacts or comes into contact with and moves relative to the mopping component, to scrape off the attachment on the mopping component while squeezing out the water. The mopping component on the cleaning robot can be lifted by the lifting mechanism and interfere with the scraping mechanism.
A first implementation aspect is described.
In this invention, the mopping component may be a flat mop, and the mopping component is configured to rotate around a point and lift through control of a lifting mechanism. Optionally, the scraping mechanism has an inclination angle, and the mopping component is configured to rotate by a corresponding inclination angle while lifting through control of the lifting mechanism. The lifting mechanism may be a crank rocker mechanism, a gear pair, or a lead screw mechanism. The scraping mechanism further includes a transmission mechanism driven by a driving motor assembly, to cause the scraper to reciprocate straightly along the flat mop. The mopping component is controlled by the lifting mechanism and interferes with the scraping mechanism. The transmission mechanism may be a synchronous belt mechanism, a crank slider mechanism and/or an eccentric cam mechanism. A scraper automatic reversing mechanism is further provided, the transmission mechanism is a belt-type transmission mechanism, and the belt-type transmission mechanism rotates along a direction under the action of the driving motor assembly, where a belt is connected to the scraper automatic reversing mechanism, to drive the scraper disposed on the scraper automatic reversing mechanism to reciprocate straightly. A serrated portion may be disposed on the scraper.
Specifically, the cleaning robot to which the cleaning base in the first implementation aspect is applicable is provided with or has the flat mopping component (the flat mop). The mopping component may be controlled by the lifting mechanism to lift or move down, rotate around a point and lift, and by rotating by a specific angle, can fit in with a scraper with a specific inclination angle on the cleaning base.
The rotation angle ranges from 20° to 90°, and preferably from 30° to 60°, and the angle is an angle between the flat mop and a horizontal plane.
As shown in
The flat mopping mechanism of this invention owns a power source, and may increase the pressure of the flat board on the floor through a mechanical mechanism, to improve the cleaning effect.
A description is made above by using the crank rocker mechanism as an example, but the mopping component may be alternatively lifted or moved down by using a gear pair, a lead screw mechanism and/or the like as the lifting mechanism.
When the rag on the cleaning robot needs to be cleaned and return to the location of the base, the spraying assembly 23 first flushes the rag. Meanwhile, the driving motor assembly 26 drives, through the transmission mechanism 25, the scraper 22 to reciprocate straightly, to clean the rag back and forth, thereby clearing away smudges on the rag. After the spraying time ends, the scraper 22 may continue to work, to clear away water stains on the rag. During cleaning, the water stains may be uniformly collected into a water tank 27 in the base, and water filtered through a water pump is re-collected and reused.
Specifically, the spraying assembly 23 is arranged along the flat mop, to spray water to the flat mop, so that water flow sprayed out from the nozzles can cover the flat mop. Also, the spraying assembly 23 can generate water flow with a specific pressure, and flush the flat mop. The spraying assembly 23 may alternatively spray mist, and wet the flat mop. The spraying direction (longitudinal direction or transverse direction) of the nozzles is adjustable. The shape of the water flow of the nozzles may include a cone shape, a sector shape and/or the like, and is not limited to a row shape shown in the diagram. When the rag on the flat mop fits the scraper of the scraping mechanism, the scraper 22 can scrape off objects attached to the flat mop, and meanwhile can squeeze out water on the flat mop. A serrated portion may be disposed on the scraper 22.
The transmission mechanism can cause the scraper to reciprocate straightly along a longitudinal or transverse direction of a side surface of the flat mop provided with or having the rag. The implementation of the transmission mechanism includes but not limited to a synchronous belt mechanism, a crank slider mechanism and/or an eccentric cam mechanism.
In an implementation aspect, the transmission mechanism may include a belt transmission mechanism, and under the action of the driving motor assembly 26, the belt transmission mechanism can rotate forward or reversely. Correspondingly, the belt on the belt transmission mechanism can rotate forward or reversely, thereby driving the scraper disposed on the belt.
The cleaning base may be further provided with or have a water filtering trough. The nozzles may be disposed above or in the water filtering trough. The scraping mechanism can also be disposed in the water filtering trough. A filtering member for filtering sewage can be further disposed in the water filtering trough. The scraper 22 is disposed above the filtering member, the objects attached to the flat mop that are scraped off by the scraper 22 are intercepted by the filtering member, and the water on the flat mop squeezed out by the scraper flows through the filtering member into the water filtering trough disposed in the downstream of the filtering member. The water filtering trough is connected to the water tank through a first water pump, and the water tank is connected to the nozzles through a second water pump. The bottom of the water filtering trough can have a slope playing a role of causing the water in the water filtering trough to be quickly concentrated to the bottom of the slope, thereby preventing air from entering the first water pump to generate bubbles. At the time of cleaning a mopping cloth sleeve, the mopping cloth sleeve is placed in the water filtering trough, and the nozzles spray water to wet the mopping cloth sleeve. Under driving of the motor, the mopping cloth sleeve rotates, the scraper contacts or comes into contact with the mopping cloth sleeve to scrape off sewage. At the time of squeezing and drying the mopping cloth sleeve, the nozzles are first stopped from spraying water, and the scraper continues to scrape water, until water stains on the mopping cloth sleeve are scraped off (none of the water stains on the mopping cloth sleeve drips without the aid of an external force).
The automatic cleaning method for a cleaning base in this implementation aspect can include the following steps.
Step 1: Cause a mopping component to gradually approach a scraper of the cleaning base.
Step 2: Stop approaching when the mopping component interferes with the scraper.
Step 3: Nozzles spray water to flush or wet the mopping component, to move the scraper, and the scraper scrapes off objects attached to the mopping component and meanwhile squeezes out water on the mopping component.
Step 4: The nozzles stop spraying water, and the scraper continuously squeezes out water on the mopping component.
Step 5: Stop moving the scraper when the water stains on the mopping component are scraped off (none of the water stains on the mopping component drips without the aid of an external force, but it does not only mean that there is no water on the mopping component).
A second implementation aspect is described.
The mopping component is configured to rotate around a point and lift through control of a lifting mechanism. Optionally, the scraping mechanism has an inclination angle, and the mopping component is configured to rotate by a corresponding inclination angle while lifting through control of the lifting mechanism. The lifting mechanism may be a crank rocker mechanism, a gear pair and/or a lead screw mechanism.
The scraping mechanism may include a scraper, the scraper may be strip-shaped, and the scraper and the roller brush are configured axially parallel to each other.
The mopping component (the roller brush 74) may be controlled to lift or move down, and lifting by a specific height in a vertical direction, can contact or come into contact with the scraper of the scraping mechanism 72. There is a cylindrical mopping cloth sleeve in the mopping component, and the mopping cloth sleeve may rotate under driving of the motor.
The nozzles 73 can spray water to the roller brush 74, and meanwhile the nozzles 73 can generate water flow with a specific pressure and flush the roller brush 74. The nozzles 73 can alternatively spray mist and wet the roller brush 74.
In this implementation aspect, the nozzles 73 are arranged along the axial direction of the roller brush 74, and the water flow sprayed out by the nozzles 73 can cover the roller brush (can at least cover a closed linear region on the roller brush).
The spraying direction (longitudinal direction or transverse direction) of the nozzles 73 is adjustable, and an extension direction of the spraying direction can be perpendicular to the axis of the roller brush 74. The shape of the water flow of the nozzles includes a cone shape, a sector shape and/or the like, and is not limited to a row shown in the diagram.
The scraping mechanism 72 may be provided with or have a strip-shaped scraper. The scraper and the roller brush 74 are configured axially parallel to each other. The scraper may have an inclination angle, so that bristles of the roller brush can gradually contact or come into contact with and gradually interfere with the scraper. The “interference” in this invention means that the scraper is inserted into the bristles of the mopping component or forms a pressure on a surface of the mopping component.
The inclined surface of the scraper can be a plane or a cambered surface. When the roller brush rotates, lifts, and fits the scraper, the scraper can scrape off objects attached to the roller brush, and meanwhile can squeeze out water on the roller brush.
A serrated portion can be further disposed on the scraper. When the roller brush and the scraper interfere, the serrated portion can cause the load to become smaller, to reduce resistance of rotation of the roller brush, thereby reducing power consumption.
Also, the cleaning base in this implementation aspect can alternatively be further provided with a water filtering trough. The nozzles 73 can be disposed above or in the water filtering trough. The scraping mechanism 72 can also be disposed in the water filtering trough. A filtering member for filtering sewage can be further disposed in the water filtering trough. The scraper is disposed above the filtering member, the objects attached to the roller brush that are scraped off by the scraper are intercepted by the filtering member, and the water on the roller brush squeezed out by the scraper flows through the filtering member into the water filtering trough disposed in the downstream of the filtering member. The water filtering trough is connected to the water tank through a first water pump, and the water tank is connected to the nozzles through a second water pump. The bottom of the water filtering trough can have a slope playing a role of causing the water in the water filtering trough to be quickly concentrated to the bottom of the slope, thereby preventing air from entering the first water pump to generate bubbles. At the time of cleaning a mopping cloth sleeve, the mopping cloth sleeve is placed in the water filtering trough, and the nozzles spray water to wet the mopping cloth sleeve. Under driving of the motor, the mopping cloth sleeve rotates, the scraper contacts or comes into contact with the mopping cloth sleeve to scrape off sewage. At the time of squeezing and drying the mopping cloth sleeve, the nozzles are first stopped from spraying water, and the scraper continues to scrape water, until water stains on the mopping cloth sleeve are scraped off (none of the water stains on the mopping cloth sleeve drips without the aid of an external force, but it does not only mean that there is no water on the mopping component).
A cleaning method is described.
The automatic cleaning method for a cleaning base in this implementation aspect may include the following steps.
Step 1: Cause a mopping component (roller brush) to gradually approach a scraper of the cleaning base.
Step 2: Stop approaching when the mopping component interferes with the scraper.
Step 3: Rotate the mopping component, nozzles spray water to flush the mopping component or wet the mopping component, and the scraper scrapes off objects attached to the mopping component and meanwhile squeezes out water on the mopping component.
Step 4: The nozzles stop spraying water, the mopping component continuously rotates, and the scraper continuously squeezes out water on the mopping component.
Step 5: Stop rotating the mopping component when the water stains on the mopping component are scraped off (none of the water stains on the mopping cloth sleeve drips without the aid of an external force).
According to this invention, the nozzles are arranged along the transverse direction of the mopping component, aiming to enable the water flow sprayed out from the nozzles to cover the mopping component, and the nozzles can spray water to the mopping component. Meanwhile, the nozzles can generate the water flow with a specific pressure, and flush the mopping component or the nozzles can spray mist and wet the mopping component. Also, when the mopping component fits the scraper of the scraping mechanism, the scraper can scrape off objects attached to the mopping component, and meanwhile can squeeze out water on the mopping component. Thus, the cleaning base of this invention can effectively automatically clean the mopping mechanism of the cleaning robot, and meanwhile prevent secondary pollution from being caused to the floor during floor clearing.
Additionally, the foregoing water filtering trough can correspond to the following water filtering tank, the filtering member can correspond to the following filtering element and can be, for example, a component such as a filter screen, the first water pump can correspond to the following sewage pump, the water tank can correspond to the following water cycling tank or sewage tank, and the second water pump can correspond to the following water cycling pump.
A water cycling manner and a smudge separation system are described.
An implementation aspect of this invention can be further provided with a smudge separation system, where a clean water tank, a clean water pump, and a spraying assembly (including, for example, nozzles) are sequentially connected. A water filtering tank, a sewage pump, and a sewage tank are sequentially connected. The water filtering tank is configured to receive dirty water remaining after the rag is cleaned and filter the dirty water is provided with or has a filtering element. The sewage pump transfers water in the water filtering tank to the sewage tank. The clean water tank provides a water source to the spraying assembly. Water in the clean water tank is transferred to the spraying assembly through the clean water pump. The spraying assembly sprays water onto the rag.
The cleaning base of this invention is provided with or has a water supply system and a sewage collection system, the water supply system is configured to supply water to the spraying assembly, and the sewage collection system is configured to collect dirty water after the mopping component is cleaned.
As shown in
The water filtering tank includes a filtering trough 104 and a sewage receiving trough 103. The filtering trough 104 is configured to receive dirty water remaining after the rag is cleaned, and is provided with or has a water guiding pipe, the sewage receiving trough 103 is configured to filter the dirty water, and is provided with a water guiding hole, and the water guiding pipe and the water guiding hole hermetically fit, thereby enabling the filtering trough 104 to be detachably connected to the sewage receiving trough 103.
The filtering trough 104 is provided with or has an inclined surface, and the inclined surface can guide the water entering the filtering trough 104 to flow to the water guiding pipe, thereby entering the sewage receiving trough 103. A water level detection sensor 201 is disposed in the sewage receiving trough, thereby adjusting a corresponding water pump according to a water level in the sewage receiving trough, so that the water level in the sewage receiving trough 103 is always lower than a lower edge of the water guiding hole. Therefore, water in the filtering trough can always flow to the sewage receiving trough 103.
Specifically, the water level sensor 201 is configured to detect whether the water level of the sewage receiving trough 103 is higher than an upper limit, and adjust the motor according to the detection of the water level. If the water level is higher than the upper limit, suction is enlarged through the sewage pump to adjust the water level. In an embodiment, the upper limit height is the height of a lowest point of a water inlet pipe.
The water inlet pipe is disposed on the filtering trough 104, the sewage receiving trough 103 is provided with or has a water inlet hole, and the water inlet pipe and the water inlet hole hermetically fit. A sewage receiving trough water outlet 202 of the sewage receiving trough 103 is connected to the sewage pump.
The sewage pump 101 is configured to transfer water in the water filtering tank to the sewage tank. The sewage pump 101 is provided with or has a sewage pump water inlet pipe 1011 and a sewage pump water outlet pipe 1012, and water discharged from the sewage pump water outlet pipe 1012 flows to the sewage tank.
The clean water tank 102 is configured to provide a water source to the spraying assembly. The water cycling pump is configured to transfer water in the clean water tank 102 to the spraying assembly. The spraying assembly is configured to spray water onto the rag. In an embodiment, the structure of the water filtering tank includes a filtering trough 104 and a sewage receiving trough 103, the filtering trough 104 is configured to receive dirty water remaining after the rag is cleaned, and the sewage receiving trough 103 is configured to filter the dirty water. A filtering trough filter screen 1041 is a part of the filtering trough 104, and the filtering trough filter screen 1041 is disposed at the top of the filtering trough 104. During use, the filtering trough filter screen 1041 in the filtering trough 104 first intercepts large-particle smudges, hairs, and the like. A sewage receiving trough filter screen 1031 is a part of the sewage receiving trough 103. The sewage receiving trough filter screen 1031 is disposed at the bottom of the sewage receiving trough 103. Through a secondary filtering function of the sewage receiving trough filter screen 1031 in the sewage receiving trough, small-particle substances in the sewage are intercepted.
In an embodiment, the sewage receiving trough 103 is provided with or has a water level sensor, and the water level sensor is configured to detect whether a water level of the sewage receiving trough is higher than an upper limit. If the water level is higher than the upper limit, suction is enlarged through the sewage pump to adjust the water level. In an embodiment, the upper limit height is the height of a lowest point of a water inlet pipe (water guiding pipe).
The water inlet pipe is disposed on the filtering trough, the sewage receiving trough is provided with or has a water inlet hole, and the water inlet pipe and the water inlet hole hermetically fit.
In an embodiment, the clean water tank may be detachably connected to the water cycling filtering system, and the sewage tank is provided with or has a water filling opening, so that water may be changed. In an embodiment, the clean water tank is provided with or has a water level lower limit identifier. In an embodiment, the clean water tank is provided with or has a water lack alarm.
In an embodiment, the water pressure of the spraying opening can be controlled through the clean water pump connected to the spraying assembly. The spraying direction (longitudinal direction or transverse direction) of the nozzles is adjustable. An extension direction of the spraying direction can be perpendicular to the axis of the roller brush 74. The shape of the water flow of the nozzles includes a cone shape, a sector shape and/or the like, and is not limited to a row.
The sewage tank is configured to be detachable, and is provided with or has a water full alarm sensor.
The filtering trough 104 can be freely taken out from the base. After each time of cleaning, the filtering trough can be taken out, and large-particle smudges and hairs in the filter screen are cleared, to avoid blockage. The sewage receiving trough 103 can also be detached. After a specific quantity of times of cleaning, the sewage receiving trough can be dismantled, to clear or replace the filter screen in the sewage receiving trough, and avoid degradation in the filtering effect of the sewage receiving trough or blockage.
Also, after the sewage flows through the filtering trough, smudges on the rag are intercepted on a filtering sheet, to facilitate clearing of the smudges.
In an embodiment, the water supply system includes a faucet and a water inlet pipe, and the sewage collection system includes a water filtering tank, a sewage pump, a water outlet pipeline, and a floor drain sequentially connected. As shown in
A benefit of the cyclic manner is that, the water cycling system of the cleaning base is directly combined with household hardware, thereby reducing manual intervention and implementing a smart home.
In an embodiment, the water supply system includes a faucet 66, a water inlet pipe, a clean water tank 102, and a clean water pump 105 sequentially connected, and the sewage collection system includes a water filtering tank, a sewage pump 101, and a floor drain 88 sequentially connected. As shown in
In the foregoing implementation aspects, the cleaning base may be further additionally provided with or have a charging device configured to charge the household cleaning robot. Water is supplied to the spraying assembly through the clean water tank, to avoid a case that when the faucet directly supplies water to the spraying assembly, the spraying effect is uncontrollable or the cleaning effect is non-ideal because the pressure at the faucet is unstable.
In this invention, the interference means that the scraper comes into contact with the rag, and a front end of the scraper is deeply inserted into the surface of the rag by a specific distance.
A cleaning robot in an implementation aspect of this invention is provided with or has a lifting mechanism and a cleaning base. The cleaning base includes a base body, a scraping mechanism disposed on the base body, and a spraying assembly provided with nozzles. The nozzles are arranged along a mopping component of the cleaning robot and formed into a structure for spraying water or mist to the mopping component. The scraping mechanism includes a scraper, and the scraper comes into contact with and moves relative to the mopping component, to scrape off the attachment on the mopping component while squeezing out the water. The lifting mechanism causes the mopping component to lift or go down by causing the mopping component to contact or come into contact with or separate from the scraper. The entire cleaning robot of this invention is further described below with reference to several implementation aspects.
A first implementation aspect, including the cleaning base passively scrapes water is described.
Specifically, a tail portion of the cleaning robot to which the cleaning base in the first implementation aspect is applicable is provided with or has a cylindrical mopping component (roller brush). The mopping component can be controlled by a lifting mechanism (the structure of the lifting mechanism is described below) to lift or move down, and lifting by a specific height in a vertical direction, can contact or come into contact with the scraper of the scraping mechanism. There is a cylindrical mopping cloth sleeve in the mopping component, and the mopping cloth sleeve may rotate under driving of the motor.
The nozzles can spray water to the roller brush, and meanwhile the nozzles can generate water flow with a specific pressure, and flush the roller brush. The nozzles can alternatively spray mist, and wet the roller brush.
In this implementation aspect, the nozzles are arranged along the axial direction of the roller brush, and the water flow sprayed out by the nozzles can cover the roller brush (can at least cover a closed linear region on the roller brush).
The spraying direction (longitudinal direction or transverse direction) of the nozzles is adjustable, and an extension direction of the spraying direction can be perpendicular to the axis of the roller brush. The shape of the water flow of the nozzles includes a cone shape, a sector shape and/or the like, and is not limited to a row shown in the diagram.
The scraping mechanism is provided with or has a strip-shaped scraper. The scraper and the roller brush are configured axially parallel to each other. The scraper can have an inclination angle, so that bristles of the roller brush can gradually contact or come into contact with and gradually interfere with the scraper. The “interference” in this invention means that the scraper is inserted into the bristles of the mopping component or forms a pressure on a surface of the mopping component. The inclined surface of the scraper can be a plane or a cambered surface. When the roller brush rotates, lifts, and fits the scraper, the scraper can scrape off objects attached to the roller brush, and meanwhile can squeeze out water on the roller brush. A serrated portion can be disposed on the scraper. When the roller brush and the scraper interfere, the serrated portion can cause the load to become smaller, to reduce resistance of rotation of the roller brush, and thereby reducing power consumption.
The automatic cleaning method for a cleaning base in this embodiment may include the following steps.
Step 1: Lift a roller brush through a lifting mechanism, and cause the roller brush to gradually approach a scraper of a cleaning base.
Step 2: Stop approaching when the roller brush interferes with the scraper.
Step 3: The roller brush rotates, the nozzles spray water to flush the roller brush or wet the roller brush, and the scraper scrapes off objects attached to the roller brush, and meanwhile squeezes out water on the roller brush.
Step 4: The nozzles stop spraying water, the roller brush continuously rotates, and the scraper continuously squeezes out water on the roller brush.
Step 5: Stop rotating the roller brush when the water stains on the roller brush are scraped off (none of the water stains on the roller brush drips without the aid of an external force).
Also, the cleaning base can be further provided with or have a water filtering trough. The cleaning base is provided with a charging device configured to charge the household cleaning robot.
The nozzles can be disposed above or in the water filtering trough. The scraping mechanism can also be disposed in the water filtering trough. A filtering member for filtering sewage can be further disposed in the water filtering trough. The scraper is disposed above the filtering member, the objects attached to the roller brush that are scraped off by the scraper are intercepted by the filtering member, and the water on the roller brush squeezed out by the scraper flows through the filtering member into the water filtering trough disposed in the downstream of the filtering member. The water filtering trough is connected to the water tank through a first water pump, and the water tank is connected to the nozzles through a second water pump. The bottom of the water filtering trough can have a slope playing a role of causing the water in the water filtering trough to be quickly concentrated to the bottom of the slope, thereby preventing air from entering the first water pump to generate bubbles. At the time of cleaning a mopping cloth sleeve, the mopping cloth sleeve is placed in the water filtering trough, and the nozzles spray water to wet the mopping cloth sleeve. Under driving of the motor, the mopping cloth sleeve rotates, and the scraper contacts or comes into contact with the mopping cloth sleeve to scrape off sewage. At the time of squeezing and drying the mopping cloth sleeve, the nozzles are first stopped from spraying water, and the scraper continues to scrape water, until water stains on the mopping cloth sleeve are scraped off (none of the water stains on the mopping cloth sleeve drips without the aid of an external force, but it does not mean that there is no water on the mopping component).
A second implementation aspect or the cleaning base actively scrapes water is described.
The cleaning base in the second implementation aspect is applicable to a cleaning robot on which a mopping component (flat mop) is installed.
Specifically, the cleaning robot to which the cleaning base in the second implementation aspect is applicable is provided with or has the flat mopping component (flat mop). The mopping component can be controlled by the lifting mechanism to lift or move down, rotate around a point and lift, and by rotating by a specific angle, can fit in with a scraper with a specific inclination angle on the cleaning base.
The lifting mechanism can include a driving motor assembly, a crank, a link, a flat board, and a base, where the crank, the base, the link, and the flat board form a crank rocker mechanism. The flat board is disposed at the link. When the rag on the flat board needs to be cleaned, and when the driving motor assembly drives the crank to perform circular motion, the crank drives the link to move, and in a state of being subject to a force, the flat board rotates around a rotation point S, and can move from a location point C of the flat board to a location point c of the flat board. The cleaning robot returns to the cleaning base, to clean the rag. After the rag is cleaned, the cleaning robot continues to clean the floor. Under the action of the lifting mechanism, the flat board moves down to a location parallel to the horizontal plane and is kept motionless. Under the action of the lifting mechanism, interference between the rag and the floor is kept and the pressure between the rag and the floor is kept unchanged or remains.
The flat mopping mechanism of this invention owns a power source, and may increase the pressure of the flat board on the floor through a mechanical mechanism, to improve the cleaning effect.
A description is made above by using the crank rocker mechanism as an example, but the mopping component can be alternatively lifted or moved down by using a gear pair, a lead screw mechanism and/or the like as the lifting mechanism.
The cleaning base according to the second implementation aspect of the present invention includes a base body, a scraping mechanism disposed on the base body, and a spraying assembly provided with nozzles. The scraping mechanism includes a scraper and a transmission mechanism, and the transmission mechanism is driven by a driving motor assembly, so that the scraper disposed on the transmission mechanism can reciprocate straightly along a flat mop.
When the rag on the cleaning robot needs to be cleaned and return to the location of the base, the spraying assembly first flushes the rag. Meanwhile, the driving motor assembly drives, through the transmission mechanism, the scraper to reciprocate straightly, to clean the rag back and forth, thereby clearing away smudges on the rag. After the spraying time ends, the scraper can continue to work, to clear away water stains on the rag. During leaning, the water stains can be uniformly collected into a water tank in the base, and water filtered through a water pump is re-collected and reused.
Specifically, the spraying assembly is arranged along the flat mop, to spray water to the flat mop, so that water flow sprayed out from the nozzles can cover the flat mop. Moreover, the spraying assembly can generate water flow with a specific pressure, and flush the flat mop. The spraying assembly may alternatively spray mist, and wet the flat mop. The spraying direction (longitudinal direction or transverse direction) of the nozzles is adjustable. The shape of the water flow of the nozzles can include a cone shape, a sector shape and/or the like, and is not limited to a row shown in the diagram. When the rag on the flat mop fits the scraper of the scraping mechanism, the scraper can scrape off objects attached to the flat mop, and meanwhile can squeeze out water on the flat mop. A serrated portion can be disposed on the scraper.
The transmission mechanism can cause the scraper to reciprocate straightly along a longitudinal or transverse direction of a side surface of the flat mop provided with or having the rag. The implementation of the transmission mechanism includes but is not limited to a synchronous belt mechanism, a crank slider mechanism and/or an eccentric cam mechanism.
In an implementation aspect, the transmission mechanism can include a belt transmission mechanism, and under the action of the driving motor assembly, the belt transmission mechanism can rotate forward or reversely. Correspondingly, the belt on the belt transmission mechanism can rotate forward or reversely, thereby driving the scraper disposed on the belt.
Also, the implementation aspect of the flat mop of this invention can further own an automatic cleaning water tank, to clean the rag that completes cleaning and scrape off water stains remaining on the rag, thereby resolving problems of accumulation of water stains and manual cleaning of the rag when the existing robot cleans the floor.
The cleaning base can be provided with a charging device configured to charge the household cleaning robot.
The cleaning base can be further provided with a water filtering trough. The nozzles can be disposed above or in the water filtering trough. The scraping mechanism can also be disposed in the water filtering trough. A filtering member for filtering sewage can be further disposed in the water filtering trough. The scraper is disposed above the filtering member, the objects attached to the flat mop that are scraped off by the scraper are intercepted by the filtering member, and the water on the flat mop squeezed out by the scraper flows through the filtering member into the water filtering trough disposed in the downstream of the filtering member. The water filtering trough is connected to the water tank through a first water pump, and the water tank is connected to the nozzles through a second water pump. The bottom of the water filtering trough can have a slope playing a role of causing the water in the water filtering trough to be quickly concentrated to the bottom of the slope, thereby preventing air from entering the first water pump to generate bubbles. At the time of cleaning a mopping cloth sleeve, the mopping cloth sleeve is placed in the water filtering trough, and the nozzles spray water to wet the mopping cloth sleeve. Under driving of the motor, the mopping cloth sleeve rotates, the scraper contacts or comes into contact with the mopping cloth sleeve to scrape off sewage. At the time of squeezing and drying the mopping cloth sleeve, the nozzles are first stopped from spraying water, and the scraper continues to scrape water, until water stains on the mopping cloth sleeve are scraped off (none of the water stains on the mopping cloth sleeve drips without the aid of an external force).
The automatic cleaning method for a cleaning base in this embodiment may include the following steps.
Step 1: A flat mop gradually approaches a scraper of the cleaning base.
Step 2: Stop approaching when the flat mop interferes with the scraper.
Step 3: Nozzles spray water to flush or wet the flat mop, to move the scraper, and the scraper scrapes off objects attached to the flat mop and meanwhile squeezes out water on the flat mop.
Step 4: The nozzles stop spraying water, and the scraper continuously squeezes out water on the flat mop.
Step 5: Stop moving the scraper when the water stains on the flat mop are scraped off (none of the water stains on the flat mop drips without the aid of an external force, but it does not mean that there is no water on the mopping component).
According to this invention, the nozzles are arranged along the transverse direction of the mopping component, aiming to enable the water flow sprayed out from the nozzles to cover the mopping component, and the nozzles can spray water to the mopping component. Meanwhile, the nozzles can generate the water flow with a specific pressure, and flush the mopping component, or the nozzles can spray mist, and wet the mopping component. Also, when the mopping component fits the scraper of the scraping mechanism, the scraper can scrape off objects attached to the mopping component, and meanwhile can squeeze out water on the mopping component. Thus, the cleaning base of this invention can effectively automatically clean the mopping mechanism of the cleaning robot, and meanwhile prevent secondary pollution from being caused to the floor during floor clearing.
A structure of a lifting mechanism is described.
The following further shows a lifting mechanism for a cleaning robot, where the lifting mechanism includes a driving assembly, a lifting assembly, and a cleaning assembly sequentially connected. The driving assembly is configured to drive the lifting assembly. The lifting assembly enables the cleaning assembly to lift or move down relative to a to-be-cleaned surface. When the cleaning assembly moves down to come into contact with the to-be-cleaned surface, the cleaning assembly is configured to be capable of cleaning on the to-be-cleaned surface; and when the cleaning assembly lifts to separate from the to-be-cleaned surface, the cleaning assembly is configured to not hinder movement of the cleaning robot.
The lifting mechanism in the aspect is, for example, applicable to the cleaning robot in the foregoing implementation aspect. A driving assembly used in the implementation aspect is a motor assembly, the motor assembly includes a motor actuating device, a motor, and a reduction gearbox, and the reduction gearbox is configured to adjust a rotational speed outputted by the motor. The lifting assembly is a crank link mechanism, and the cleaning assembly includes a roller brush component.
In an implementation aspect, the crank link mechanism includes a crank, a link assembly, and a rocker sequentially connected.
The motor drives the reduction gearbox, an output shaft of the reduction gearbox drives the crank to rotate, and the crank drives the link to move, to swing the cleaning assembly.
Specifically, an output shaft of the motor is connected to the reduction gearbox. The output shaft of the reduction gearbox is connected to the crank, and the crank can rotate by 360 degrees with the output shaft of the reduction gearbox. The other end of the crank is connected to the link assembly, and the link assembly and the crank can rotate relative to each other. The link assembly and the cleaning assembly are connected, and can rotate relative to each other. At least one of the link and the rocker (the cleaning assembly) is configured to have a displacement in the vertical direction, and the cleaning assembly may be lifted from a second extreme location to a first extreme location. In this implementation aspect, the cleaning assembly is located on the rocker. The cleaning assembly can be fixed to the “middle” of the rocker. A first end of two ends of the rocker is rotatably connected to the link, and a second end is rotatably connected to the machine body. The location of the cleaning assembly can be determined through a limit switch or an infrared sensor.
Like the foregoing implementation aspect, a driving assembly used in another implementation aspect is a motor assembly, the motor assembly includes a motor actuating device, a motor, and a reduction gearbox, and the reduction gearbox is configured to adjust a rotational speed outputted by the motor. In this implementation aspect, the lifting assembly is a gear pair mechanism. The cleaning assembly includes a flat board component. The motor drives the reduction gearbox, an output shaft of the reduction gearbox is connected to a supporting rod through the gear pair, the output shaft of the reduction gearbox rotates, and the supporting rod lifts or moves down. Specifically, an output shaft of the motor is connected to the reduction gearbox. The output shaft of the reduction gearbox is connected to the supporting rod through the gear pair, the supporting rod is connected to the cleaning assembly, and the cleaning assembly may rotate forward, backward, leftward, or rightward relative to the supporting rod.
A person skilled in the art may understand a plurality of improvements or other implementation aspects of this invention according to the foregoing descriptions. Therefore, the foregoing descriptions should be explained as only exemplary descriptions and are provided to teach a person skilled in the art to perform optimal aspects of this invention. Without departing from the spirit of this invention, one or more details of structures and functions thereof may be substantially changed.
Claims
1. A cleaning robot, comprising a lifting mechanism and a cleaning base, wherein the cleaning base comprises:
- a base body, a scraping mechanism disposed on the base body, and a spraying assembly having nozzles;
- the nozzles arranged along a mopping component of the cleaning robot and formed into a structure for spraying water or mist to the mopping component;
- the scraping mechanism comprises a scraper, and the scraper comes into contact with and moves relative to the mopping component, to scrape off an attachment on the mopping component while squeezing out the water;
- the cleaning base having a water supply system and a sewage collection system, the water supply system configured to supply water to the spraying assembly, and the sewage collection system configured to collect dirty water after the mopping component is cleaned; and
- the lifting mechanism causing the mopping component to lift or down by causing the mopping component to come into contact with or separate from the scraper.
2. The cleaning robot according to claim 1, wherein the mopping component comprises a roller brush, and the roller brush is configured to be rotatable under driving of a motor, the scraper is strip-shaped, and the scraper and the roller brush are configured axially parallel to each other.
3. The cleaning robot according to claim 2, wherein the roller brush is configured to lift by a specific height in a vertical direction through a control of the lifting mechanism and then come into contact with the scraper.
4. The cleaning robot according to claim 1, wherein the mopping component comprises a flat mop, and the scraping mechanism comprises a transmission mechanism driven by a driving motor assembly, to cause the scraper to reciprocate straightly along the flat mop.
5. The cleaning robot according to claim 4, wherein the scraping mechanism has an inclination angle, and the mopping component is configured to rotate by a corresponding inclination angle while lifting through a control of the lifting mechanism.
6. The cleaning robot according to claim 5, wherein the lifting mechanism comprises: a driving assembly, a lifting assembly, and a cleaning assembly sequentially connected, the driving assembly is configured to drive the lifting assembly, the lifting assembly enables the cleaning assembly to lift or move down relative to a to-be-cleaned surface, when the cleaning assembly moves down to come into contact with the to-be-cleaned surface, the cleaning assembly is configured to be capable of cleaning on the to-be-cleaned surface, and after lifting, the cleaning assembly is capable of not coming into contact with the to-be-cleaned surface.
7. The cleaning robot according to claim 6, wherein the lifting assembly has a telescopic mechanism, the telescopic mechanism connects the lifting assembly and the cleaning assembly to enable the cleaning assembly to always fit the to-be-cleaned surface through a telescoping performance of the telescopic mechanism and apply a specific pressure to the to-be-cleaned surface.
8. The cleaning robot according to claim 7, wherein the cleaning base has a charging device configured to charge the cleaning robot.
9. The cleaning robot according to claim 1, wherein the water supply system comprises a clean water tank and a clean water pump, and the sewage collection system comprises a water filtering tank, a sewage pump, and a sewage tank, wherein the clean water tank, the clean water pump, and the spraying assembly are sequentially connected, and the water filtering tank, the sewage pump, and the sewage tank are sequentially connected, the water filtering tank is configured to receive dirty water remaining after the mopping component is cleaned and filter the dirty water with a filtering element, the sewage pump transfers water in the water filtering tank to the sewage tank, the clean water tank provides a water source to the spraying assembly, water in the clean water tank is transferred to the spraying assembly through the clean water pump, and the spraying assembly sprays water onto the mopping component.
10. The cleaning robot according to claim 1, wherein the water supply system comprises a faucet and a water inlet pipe, the sewage collection system comprises a water filtering tank, a sewage pump, a water outlet pipeline, and a floor drain sequentially connected, the spraying assembly is connected to the faucet through the water inlet pipe, the water filtering tank is connected to the water outlet pipeline through the sewage pump, and the water outlet pipeline is connected to the floor drain.
11. The cleaning robot according to claim 1, wherein the water supply system comprises a faucet, a water inlet pipe, a clean water tank, and a clean water pump sequentially connected, and the sewage collection system comprises a water filtering tank, a sewage pump, and a floor drain sequentially connected, wherein a water inlet valve capable of opening or closing the water inlet pipe is disposed in the clean water tank, the faucet is connected to the clean water tank through the water inlet pipe, the clean water tank is connected to the spraying assembly through the clean water pump, and the water filtering tank is connected to the floor drain through the sewage pump.
12. A method for automatically cleaning a mopping component with the cleaning robot according to claim 11, comprising the steps of:
- step 1: lifting a mopping component through a lifting mechanism, and causing the mopping component to gradually approach a scraper of a cleaning base;
- step 2: stopping approaching when the mopping component interferes with the scraper;
- step 3: rotating the mopping component, spraying, by the nozzles, water to flush or mist to wet the mopping component, and scraping off, by the scraper, objects attached to the mopping component and meanwhile squeezing out water on the mopping component;
- step 4: stopping, by the nozzles, spraying water or mist, continuously rotating, by the mopping component, and continuously squeezing out, by the scraper, water on the mopping component; and
- step 5: stopping rotating the mopping component when water stops dripping from the mopping component.
13. A method for automatically cleaning a mopping component with the cleaning robot according to claim 11, comprising the following steps:
- step 1: causing a mopping component to gradually lift to adapt to an angle of a scraper of a cleaning base and to approach the scraper;
- step 2: stopping approaching when the mopping component interferes with the scraper;
- step 3: spraying, by the nozzles, water to flush or mist to wet the mopping component, to move the scraper, and scraping off, by the scraper, objects attached to the mopping component and squeezing out the water on the mopping component;
- step 4: stopping, by the nozzles, spraying the water or mist, and continuously squeezing out, by the scraper, the water on the mopping component; and
- step 5: stopping moving the scraper when water chips stops dripping from the mopping component.
14. The automatic cleaning method according to claim 13, further comprising step 6: causing, by a lifting mechanism after water stops dripping from the mopping component, the mopping component to move down and continue to mop.
15. The automatic cleaning method according to claim 14, wherein the step 1 to the step 6 are cyclically performed until cleaning work ends.
16. The automatic cleaning method according to claim 15, further comprising: returning, by the mopping component each time the mopping component cleans a specific area or for a specific time, to the cleaning base to perform a back-washing.
17. A working method of the cleaning robot according to claim 7, comprising the following steps:
- step 1: recognizing, by the cleaning robot, a to-be-cleaned surface, and transferring information to a processor;
- step 2: determining, by the processor, a cleaning strategy for the to-be-cleaned surface according to the received information; and
- step 3: when the cleaning strategy in step 2 is to only sweep but not mop the to-be-cleaned surface, transmitting, by the processor, a first actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, a second actuating signal to a sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface;
- when the cleaning strategy in step 2 is to only mop but not sweep the to-be-cleaned surface, transmitting, by the processor, a third actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, a fourth actuating signal to a sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface;
- when the cleaning strategy in step 2 is to both sweep and mop the to-be-cleaned surface, transmitting, by the processor, the third actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, the second actuating signal to the sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface; and
- when the cleaning strategy in step 2 is to neither sweep nor mop the to-be-cleaned surface, transmitting, by the processor, the first actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, the fourth actuating signal to the sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface.
18. The cleaning robot according to claim 1, wherein the lifting mechanism comprises: a driving assembly, a lifting assembly, and a cleaning assembly sequentially connected, the driving assembly is configured to drive the lifting assembly, the lifting assembly enables the cleaning assembly to lift or move down relative to a to-be-cleaned surface, when the cleaning assembly moves down to come into contact with the to-be-cleaned surface, the cleaning assembly is configured to be capable of cleaning on the to-be-cleaned surface, and after lifting, the cleaning assembly is capable of not coming into contact with the to-be-cleaned surface.
19. The cleaning robot according to claim 1, wherein the cleaning base has a charging device configured to charge the cleaning robot.
20. A method for automatically cleaning a mopping component with the cleaning robot according to claim 6, comprising the steps of:
- step 1: lifting a mopping component through a lifting mechanism, and causing the mopping component to gradually approach a scraper of a cleaning base;
- step 2: stopping approaching when the mopping component interferes with the scraper;
- step 3: rotating the mopping component, spraying, by the nozzles, water to flush or mist to wet the mopping component, and scraping off, by the scraper, objects attached to the mopping component and meanwhile squeezing out water on the mopping component;
- step 4: stopping, by the nozzles, spraying water or mist, continuously rotating, by the mopping component, and continuously squeezing out, by the scraper, water on the mopping component; and
- step 5: stopping rotating the mopping component when water stops dripping from the mopping component.
21. A method for automatically cleaning a mopping component with the cleaning robot according to claim 3, comprising the steps of:
- step 1: lifting a mopping component through a lifting mechanism, and causing the mopping component to gradually approach a scraper of a cleaning base;
- step 2: stopping approaching when the mopping component interferes with the scraper;
- step 3: rotating the mopping component, spraying, by the nozzles, water to flush or mist to wet the mopping component, and scraping off, by the scraper, objects attached to the mopping component and meanwhile squeezing out water on the mopping component;
- step 4: stopping, by the nozzles, spraying water or mist, continuously rotating, by the mopping component, and continuously squeezing out, by the scraper, water on the mopping component; and
- step 5: stopping rotating the mopping component when water stops dripping from the mopping component.
22. A method for automatically cleaning a mopping component with the cleaning robot according to claim 1, comprising the steps of:
- step 1: lifting a mopping component through a lifting mechanism, and causing the mopping component to gradually approach a scraper of a cleaning base;
- step 2: stopping approaching when the mopping component interferes with the scraper;
- step 3: rotating the mopping component, spraying, by the nozzles, water to flush or mist to wet the mopping component, and scraping off, by the scraper, objects attached to the mopping component and meanwhile squeezing out water on the mopping component;
- step 4: stopping, by the nozzles, spraying water or mist, continuously rotating, by the mopping component, and continuously squeezing out, by the scraper, water on the mopping component; and
- step 5: stopping rotating the mopping component when water stops dripping from the mopping component.
23. A method for automatically cleaning a mopping component with the cleaning robot according to claim 4, comprising the following steps:
- step 1: causing a mopping component to gradually lift to adapt to an angle of a scraper of a cleaning base and to approach the scraper;
- step 2: stopping approaching when the mopping component interferes with the scraper;
- step 3: spraying, by the nozzles, water to flush or mist to wet the mopping component, to move the scraper, and scraping off, by the scraper, objects attached to the mopping component and squeezing out the water on the mopping component;
- step 4: stopping, by the nozzles, spraying the water or mist, and continuously squeezing out, by the scraper, the water on the mopping component; and
- step 5: stopping moving the scraper when water stops dripping from the mopping component.
24. A method for automatically cleaning a mopping component with the cleaning robot according to claim 1, comprising the following steps:
- step 1: causing a mopping component to gradually lift to adapt to an angle of a scraper of a cleaning base and to approach the scraper;
- step 2: stopping approaching when the mopping component interferes with the scraper;
- step 3: spraying, by the nozzles, water to flush or mist to wet the mopping component, to move the scraper, and scraping off, by the scraper, objects attached to the mopping component and squeezing out the water on the mopping component;
- step 4: stopping, by the nozzles, spraying the water or mist, and continuously squeezing out, by the scraper, the water on the mopping component; and
- step 5: stopping moving the scraper when water stops dripping from the mopping component.
25. The automatic cleaning method according to claim 12, further comprising step 6: causing, by a lifting mechanism after water stops dripping from the mopping component, the mopping component to move down and continue to mop.
26. The automatic cleaning method according to claim 12, further comprising: returning, by the mopping component each time the mopping component cleans a specific area or for a specific time, to the cleaning base to perform a back-washing.
27. A working method of the cleaning robot according to claim 6, comprising the following steps:
- step 1: recognizing, by the cleaning robot, a to-be-cleaned surface, and transferring information to a processor;
- step 2: determining, by the processor, a cleaning strategy for the to-be-cleaned surface according to the received information; and
- step 3: when the cleaning strategy in step 2 is to only sweep but not mop the to-be-cleaned surface, transmitting, by the processor, a first actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, a second actuating signal to a sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface;
- when the cleaning strategy in step 2 is to only mop but not sweep the to-be-cleaned surface, transmitting, by the processor, a third actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, a fourth actuating signal to a sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface;
- when the cleaning strategy in step 2 is to both sweep and mop the to-be-cleaned surface, transmitting, by the processor, the third actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, the second actuating signal to the sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface; and
- when the cleaning strategy in step 2 is to neither sweep nor mop the to-be-cleaned surface, transmitting, by the processor, the first actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, the fourth actuating signal to the sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface.
28. A working method of the cleaning robot according to claim 1, comprising the following steps:
- step 1: recognizing, by the cleaning robot, a to-be-cleaned surface, and transferring information to a processor;
- step 2: determining, by the processor, a cleaning strategy for the to-be-cleaned surface according to the received information; and
- step 3: when the cleaning strategy in step 2 is to only sweep but not mop the to-be-cleaned surface, transmitting, by the processor, a first actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, a second actuating signal to a sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface;
- when the cleaning strategy in step 2 is to only mop but not sweep the to-be-cleaned surface, transmitting, by the processor, a third actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, a fourth actuating signal to a sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface;
- when the cleaning strategy in step 2 is to both sweep and mop the to-be-cleaned surface, transmitting, by the processor, the third actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, the second actuating signal to the sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface; and
- when the cleaning strategy in step 2 is to neither sweep nor mop the to-be-cleaned surface, transmitting, by the processor, the first actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, the fourth actuating signal to the sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface.
Type: Application
Filed: Nov 19, 2019
Publication Date: Jan 6, 2022
Inventors: Kejia ZHANG (Shanghai), Sihai ZHOU (Shanghai), Fei LIU (Shanghai), Wei LI (Shanghai)
Application Number: 17/294,993
