CN107253205B

CN107253205B - Mobile robot

Info

Publication number: CN107253205B
Application number: CN201710654106.7A
Authority: CN
Inventors: 卢权龙
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2017-08-03
Filing date: 2017-08-03
Publication date: 2023-06-20
Anticipated expiration: 2037-08-03
Also published as: CN107253205A

Abstract

The invention discloses a mobile robot, which comprises a robot shell and a container device, wherein the robot shell is provided with a first shell wall and a second shell wall which are opposite, the first shell wall and the second shell wall are exposed to the external environment, and the container device penetrates through the first shell wall and the second shell wall of the robot shell. The height of the container device of the mobile robot can be free from the limitation of the robot shell, so that the volume of the container device is increased, the frequency of processing the content of the container device by a user is reduced, and the workload of processing the container device by the user is greatly reduced.

Description

Mobile robot

Technical Field

The invention relates to the field of cleaning equipment, in particular to a mobile robot.

Background

A mobile robot is a device that intelligently controls movement to perform various tasks. Mobile robots, especially service robots, such as cleaning robots, mowing robots, are becoming increasingly common in everyday life. Taking a cleaning robot as an example, the cleaning robot is a service robot for treating a surface to be cleaned (e.g., floor, glass, etc.). Cleaning robots are increasingly being used in everyday household life, especially in western countries. The cleaning robots are provided with container means, such as a waste bin, a carrier liquid bin or a sewage recovery bin, etc. The garbage box is used for collecting garbage during floor cleaning. The liquid carrying tank is used for containing water or disinfectant, and when the cleaning robot runs, the water or the liquid of the liquid carrying tank flows to the surface to be cleaned, so that the stains on the surface to be cleaned are cleaned more easily or the surface to be cleaned is disinfected conveniently, and the sewage recovery tank is used for recovering sewage on the surface to be cleaned.

In the prior art, the cleaning robot comprises a top shell and a bottom plate, the container device is arranged between the top shell and the bottom plate, and the container device is arranged at the tail part or the upper part of the cleaning robot. In the solution that the container device is arranged at the tail part of the cleaning robot, the top shell is a continuous entity, the part of the bottom plate corresponding to the container device is also a continuous entity, so that the height of the container device is limited, the volume of the container device is limited, and an operator installs and removes the container device through drawing. In the scheme that the container device is arranged on the upper part of the cleaning robot, an openable and closable surface cover is arranged above the container device, and the part of the chassis corresponding to the container device is a continuous entity, so that the height of the container device is limited, and the volume of the container device is limited.

That is, in the prior art, the capacity of the container device is too small, and when the container device is a trash box, such a structure causes that the user needs to frequently treat trash in the container device, and when the container device is a carrier liquid box, the user needs to frequently add cleaning liquid or water, so that various kinds of workload of the user is increased, and the meaning of using the cleaning robot by the user is weakened. In addition, the container device in the prior art is covered by the upper cover or the face cover, the upper cover or the face cover is required to be opened to take out the container device when the container device is dismounted, and the container device is inconvenient to dismount and mount.

Disclosure of Invention

The object of the present invention is to provide a mobile robot in which the height of a container device is not limited by the robot housing of the mobile robot, and the volume of the container device is increased.

In order to solve the technical problems, the invention adopts the following technical scheme:

an embodiment of the present invention provides a mobile robot including:

the robot shell is provided with a first shell wall and a second shell wall which are opposite to each other, and the first shell wall and the second shell wall are exposed to the external environment; a kind of electronic device with high-pressure air-conditioning system

And a container device penetrating the first and second walls of the robot housing.

In one embodiment, the container device comprises opposing top and bottom shells, the top shell being flush with or protruding beyond the first shell wall, the top shell being provided as a transparent body to enable a user to view the conditions within the container device through the top shell when the mobile robot is in operation.

In one embodiment, the first and second housing walls are configured to: when the mobile robot works normally, the first shell wall is far away from the surface to be cleaned, and the second shell wall is close to the surface to be cleaned; the container apparatus includes opposing top and bottom shells, the top shell being adjacent the first shell wall, the bottom shell being flush with or adjacent the second shell wall.

In one embodiment, the container means is a transparent body.

In one embodiment, the first housing wall is provided with a lighting lamp or a color bar lamp at a position close to the container device.

In one embodiment, the mobile robot further comprises two moving assemblies mounted to the second housing wall, the container means being located between the two moving assemblies.

In one embodiment, each of the moving assemblies includes a wheel, a gear box, and a motor, the wheel being located at one end of the gear box, the motor being located at the other end of the gear box, and the wheel and the motor being located on the same side of the gear box, the wheel being located near a midline of the mobile robot perpendicular to the direction of advance.

In one embodiment, the mobile robot further comprises a cleaning assembly located in front of both of the mobile assemblies and in front of the container means.

In one embodiment, the container means is one or a combination of several of a waste bin, a carrier liquid bin, a sewage collection bin.

The container device is a waste bin having a first opening adjacent to and aligned with the cleaning assembly for collecting waste swept by the cleaning assembly; the mobile robot further comprises a decompression assembly, the decompression assembly is adjacent to the container device, the container device is ventilated with the decompression assembly through a second opening, the decompression assembly is used for generating suction force to guide garbage to enter the container device, and a rotatable door assembly is arranged at the second opening.

In one embodiment, a locking mechanism is provided on the first housing wall for locking or ejecting the container device.

In one embodiment, the locking mechanism comprises a key, a first driving arm, a second driving arm, a first locking part and a second locking part, one end of the first driving arm is matched or connected with the key, the other end of the first driving arm is matched or connected with the first locking part, one end of the second driving arm is matched or connected with the key, the other end of the second driving arm is matched or connected with the second locking part, the first locking part and the second locking part are close to or embedded into the container device, the locking mechanism can be in an on or off state when being pressed or touched, the first locking part and the second locking part lock the container device when being in an off state, and the container device is in an unlocking state when being in an on state.

Compared with the prior art, the technical scheme of the invention has at least the following beneficial effects:

in an embodiment of the present invention, the mobile robot includes a robot housing and a container device, the robot housing includes a first housing wall and a second housing wall, and the first housing wall and the second housing wall are exposed to an external environment, and the container device penetrates through the first housing wall and the second housing wall of the robot housing, so that the container device may not be limited by the robot housing, particularly, the height of the container device may not be limited by the robot housing, so that the container device may be flush with the first housing wall and/or the second housing wall or the container device may protrude from the first housing wall and/or the second housing wall, thereby increasing the volume of the container device, reducing the frequency of processing the content of the container device by a user, and greatly reducing the workload of processing the container device by the user.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other variants can be obtained according to these drawings without the aid of inventive efforts to a person skilled in the art.

FIG. 1a is a schematic illustration of a robot housing separated from a container apparatus in an embodiment of the present invention;

FIG. 1b is a schematic top view of a mobile robot in normal placement in an embodiment of the invention;

FIG. 1c is a schematic bottom view of a mobile robot in accordance with an embodiment of the present invention when the mobile robot is properly positioned;

FIG. 1d is a schematic cross-sectional view of the mobile robot along section line A-A in FIG. 1b in an embodiment of the present invention;

FIG. 1e is a schematic diagram of a structural separation of a mobile robot in an embodiment of the present invention;

FIG. 2a is a schematic perspective view of a container apparatus according to an embodiment of the present invention;

FIG. 2b is a schematic side view of a container apparatus in an embodiment of the invention;

FIGS. 3a and 3b are schematic exploded views of a container apparatus in accordance with an embodiment of the present invention;

fig. 4a is a schematic view of the inner side structure of the first housing wall of the mobile robot and the locking mechanism for locking the container device in the embodiment of the present invention;

FIG. 4b is an enlarged view of a portion I of FIG. 4 a;

FIG. 4c is a schematic diagram of a locking mechanism in an embodiment of the invention;

FIG. 4d is a schematic cross-sectional view of the mobile robot along section line B-B in FIG. 1B in an embodiment of the present invention; and

fig. 5 is a schematic structural view of a moving assembly of the mobile robot in the embodiment of the present invention.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Unless otherwise specified, the terms "front", "rear", "left" and "right" herein refer to the direction of travel of the cleaning device relative to the direction of travel of the mobile robot when it is operating normally. The terms "upper", "lower", "bottom" or "top" are all referenced to the state of placement of the cleaning device when it is operating normally.

Referring to fig. 1a, 1b, 1c and 1d, fig. 1a is a schematic view illustrating a structure of a robot housing separated from a container device according to an embodiment of the invention; FIG. 1b is a schematic top view of a mobile robot in normal placement in an embodiment of the invention; FIG. 1c is a schematic bottom view of a mobile robot in accordance with an embodiment of the present invention when the mobile robot is properly positioned; FIG. 1d is a schematic cross-sectional view of the mobile robot along section line A-A in FIG. 1b in an embodiment of the present invention; fig. 1e is a schematic diagram illustrating the structural disassembly of a mobile robot in an embodiment of the present invention. The mobile robot provided by the embodiment of the present invention includes a robot housing 10 and a container device 20. The robot housing 10 has a first housing wall 110 and a second housing wall 120 opposite to each other, and the first housing wall 110 and the second housing wall 120 are exposed to the external environment, that is, the robot housing 10 defines the outline of the mobile robot. When the mobile robot is in a normal working state, the first shell wall 110 is far away from the surface to be cleaned or the surface to be driven, and the second shell wall 120 is close to the surface to be cleaned or the surface to be driven. An accommodating space is formed between the first housing wall 110 and the second housing wall 120, for accommodating mechanical components and electronic components. The mobile robot in this embodiment is generally circular, but this is merely an example, and in other embodiments, it may be square, triangular, hexagonal, humanoid, or other shapes, or combinations of shapes. Arrow f in fig. 1c illustrates the direction of advance of the mobile robot. In some embodiments, the robot housing 10 may further include a bumper 80, the bumper 80 being located at the front of the mobile robot for sensing an encountered obstacle. The mobile robot further comprises a control system for controlling each component of the mobile robot to enable the mobile robot to autonomously complete tasks. The mobile robot may also include other obstacle detectors, positioning and navigation modules, charging devices, remote control devices, and other components of the prior art, which are not described in detail herein.

The container means 20 extends through the first and

second housing walls

110, 120 of the robot housing 10, i.e. the container means 20 is visible from the environment. The container apparatus 20 has a top shell 210 and a bottom shell 220 (see fig. 2 a). Specifically, as can be seen in fig. 1e, the first housing wall 110 has a first window 111, the second housing wall 120 has a second window 121, the top housing 210 of the container apparatus 20 is exposed from the first housing wall 110, and the bottom housing of the container apparatus 20 is exposed from the second housing wall 120. The top shell 210 is adjacent to the first shell wall 110 and the bottom shell is adjacent to the second shell wall 120. In one embodiment, the top shell 210 of the container apparatus 20 is flush with the first shell wall 110. In another embodiment, the top shell 210 protrudes from the first shell wall 110 to extend outwardly. It should be appreciated that in one embodiment the top housing 210 of the device 20 may be retracted a small distance into the mobile robot relative to the first housing wall 110. In one embodiment, bottom shell 220 of container apparatus 20 is flush with second shell wall 120. In another embodiment, the bottom shell 220 protrudes from the second shell wall 120 to extend outwards. Since the container device 20 penetrates the first and

second case walls

110 and 120 of the robot case 10, the height of the container device 20 may not be limited by the thickness of the first and

second case walls

110 and 120, thereby increasing the volume of the container device 20, and when the container device 20 is used for containing garbage and sewage, a user does not need to frequently treat garbage because the container device 20 is easily filled; when the container apparatus 20 is used to hold a wax, sanitizing, water or other cleaning liquid, frequent addition of the wax, sanitizing, water or other cleaning liquid is not required. Thus, the workload of the user is greatly reduced. In addition, when the top case 210 of the container apparatus 20 is provided with a transparent body or a semitransparent body, a user can observe the situation in the container apparatus 20 at any time without arranging a garbage sensor or the like, thereby saving cost, reducing process difficulty and enabling the observation result in the container apparatus 20 to be intuitive and accurate.

It should be appreciated that in one embodiment, the bottom shell 220 of the container apparatus 20 may be retracted a small distance into the mobile robot relative to the second shell wall 120, as desired or preferred.

Specifically, the top case 210 of the container apparatus 20 is provided as a transparent body so that a user can observe the condition inside the container apparatus 20 through the top case 210 when the mobile robot is operated. In other embodiments, the container apparatus 20 is transparent throughout and the condition within the container apparatus 20 can be clearly observed without opening the container apparatus 20. The container device 20 may be one or a combination of a plurality of garbage boxes, liquid carrying boxes and sewage collecting boxes, for example, garbage boxes, or a combination of a garbage box and a liquid carrying box. Of course, the container apparatus 20 may also be used to hold or collect other substances desired by the customer. In one embodiment, the container apparatus 20 is a waste bin that holds waste. The waste includes other waste products including dust, debris, dirt, and user throw. Furthermore, where particles are mentioned herein, the particles include, but are not limited to, dust, debris, dirt, and other waste products.

Further, a lamp assembly 30 is disposed on the first housing wall 110 near the container device 20, and the lamp assembly 30 may be an illuminating lamp or a color bar lamp packaged on a circuit board. In one embodiment, the light fixture assembly 30 is disposed along an edge of the first window 111 of the first housing wall 110, one revolution around the first window 111. In one embodiment, the light assembly 30 may also be disposed on the containment device 20. The light assembly 30 may also be disposed on the first housing wall 110 at other locations where the container apparatus 20 may be illuminated. The light assembly 30 may illuminate the container apparatus 20 at night so that a user may see the condition within the container apparatus 20 in the dark, for example, whether the garbage in the container apparatus is full or not, so that the user may dispose of the garbage at an appropriate time, thus eliminating the need to provide a sensor for detecting the garbage on the mobile robot, reducing the cost, and sometimes making errors in the sensor for detecting the garbage in the prior art, which may be inaccurate, but such errors may be avoided by employing the container apparatus in the embodiment of the present invention. It will be appreciated that in this embodiment, the light fixture assembly 30 may be used for decoration to enable the mobile robot to display the position of the mobile robot during night work and to enhance the aesthetic appeal.

In one embodiment, the mobile robot further comprises a cleaning assembly 50 and two moving assemblies 40, the cleaning assembly 50 being located in front of both of the moving assemblies 40 and in front of the container apparatus 20. The cleaning assembly 50 spans the width of the robot housing 10 more than the distance between the two moving assemblies 50, i.e. the cleaning assembly 50 spans the width of the robot housing 10 more than the width of the two moving assemblies 50 span the robot housing 10, said span referring to an extension direction perpendicular to the direction of advance of the moving robot when working normally. The cleaning assembly 50 includes a first cleaning subassembly 510 and a second cleaning subassembly 520. The first cleaning subassembly 510 is provided in at least one, and preferably, the first cleaning subassembly 510 is provided in two, and is located on both sides (based on the advancing direction) of the robot housing 10. The first cleaning subassembly 510 rotates about an axis that is non-parallel to the surface to be cleaned (e.g., rotates about an axis perpendicular to the surface to be cleaned) to agitate dirt (debris) on the surface to be cleaned (e.g., floor).

The second cleaning subassembly 520 rotates across the robot housing 10 about an axis parallel to the surface to be cleaned to sweep the debris agitated by the first cleaning subassembly 510 into the receptacle device 20. The second cleaning subassembly 520 may further include two rotatable brushes that rotate relative to one another.

The mobile robot further includes a pressure relief assembly 90, the pressure relief assembly 90 being adjacent the container apparatus 20 and in communication with the container apparatus 20. In one embodiment, the pressure relief assembly 90 is disposed rearward of the containment device 20. The pressure relief assembly 90 is used to create a pressure less than ambient within the mobile robot and in communication with the space, for example, the pressure relief assembly 90 is a blower or other vacuum assembly. When the pressure reducing assembly 90 is activated, the air pressure of the container apparatus 20 is reduced or becomes vacuum, and the air pressure of the space in which the cleaning assembly 50 is located is reduced, so that the air flow from the outside (e.g., the surface to be cleaned) is caused to rush toward the cleaning assembly 50, and the garbage on the surface to be cleaned is caused to receive suction force toward the container apparatus 20, thereby sucking the garbage on the surface to be cleaned and the garbage on the cleaning assembly 50 into the container apparatus 20.

Specifically, referring to fig. 2a, 2b, 3a and 3b, fig. 2a is a schematic perspective view of a container apparatus according to an embodiment of the present invention; FIG. 2b is a schematic side view of a container apparatus in an embodiment of the invention; fig. 3a and 3b are schematic exploded views of a container apparatus in an embodiment of the present invention.

The containment device 20 includes a top shell 210, a bottom shell 220, and sidewalls 260. The top case 210 and the bottom case 220 are disposed opposite to each other, and the side wall 260 connects the top case 210 and the bottom case 220. In one embodiment, the sidewall 260 has a first opening 230 and a second opening 240 disposed therein. The first opening 230 is adjacent to the cleaning assembly 50 and is aligned with the second cleaning subassembly 520. In one embodiment, the air flow in the space where the second cleaning subassembly 520 is located is directed to the first opening 230 by a guide channel 521. The first cleaning subassembly 510 and the second cleaning subassembly 520 sweep debris or cut grass toward the mobile robot into the container apparatus 20 through the first opening 230. The container apparatus 20 is vented to the relief assembly 90 through the second opening 240, and the relief assembly 90 is used to create suction to direct the refuse or grass into the container apparatus 20. A rotatable door assembly 250 is disposed at the second opening 240.

The door assembly is rotatable about an axis 251. The shaft 251 is disposed at a portion of the edge of the second opening 240, and in one embodiment, the shaft 251 is disposed on the sidewall 260. The door assembly 250 is rotated about the shaft 251 to be opened or closed, and the door assembly 250 is engaged with the second opening 240 to form a barrier against particles (garbage) when closed, and the door assembly 250 is opened to release the contents of the container apparatus 20, such as garbage, particularly dust, from the container apparatus 20. Since the door assembly 250 is provided at the side wall, when cleaning the container apparatus, the contents such as garbage in the container apparatus 20 can be poured out by opening the door assembly 250 and tilting the container apparatus 20 slightly toward the door assembly 250 side, and the user can clean the contents from the second opening 240 conveniently without turning the bottom to the top as in the prior art.

In one embodiment, the door assembly 250 is disposed between the containment device 20 and the pressure relief assembly 90, and the door assembly 250 includes a filter mechanism 252, the filter mechanism 252 being configured to filter particulates and other solids (e.g., solid waste), i.e., the filter mechanism 252 allows air flow or liquid to pass through, but not particulates or other solids.

The door assembly 250 further includes a nest 254, the filter mechanism 252 is embedded in the nest 254, the filter mechanism 252 includes an insert frame 2521 and a filter 2523, the filter 2523 is disposed on the insert frame 2521, the insert frame 2521 is embedded in the nest 254, and the nest 254 is rotatably connected to the shaft 251. Filter 2523 may be a filter screen, a filter foam or other existing filter item that may function as a filter. The filtering mechanism 252 may also include an auxiliary filter 2524, which may be the same as or different from the filter 2523. Specifically, one side of the nest 254 is provided with a recess, the wall of the recess is provided with a plurality of through holes, and the filter mechanism 252 is disposed in the recess.

The door assembly 250 may further include a first sealing frame 255, the first sealing frame 255 disposed between the nest 254 and the container sidewall 260 of the container apparatus 20; the filter mechanism 252 may further include a second sealing frame (not shown) disposed between an edge of the nesting frame 254 and an edge of the filter mechanism 252; the filtering mechanism 252 may further include a third sealing frame (not shown) disposed between the edge of the filter 2523 and the insert frame 2521.

In one embodiment, door assembly 250 may also include a door lock 253 to lock or release door assembly 250.

In one embodiment, the side wall 260 includes a first container side wall 261 and a second container side wall 262 opposite to each other, the first opening 230 is disposed on the first container side wall 261, and the first opening 230 may be smaller than the first container side wall 261, and the second opening 240 is disposed on the second container side wall 262. The width of the first opening 230 in a direction perpendicular to the first case wall 110 is smaller than the first container side wall 261. In one embodiment, the width of the first opening 230 in the direction perpendicular to the first shell wall 110 is in the range of one-fourth to one-half of the width of the first container side wall 261 in the direction perpendicular to the first shell wall 110.

Referring to fig. 4a, 4B, 4c and 4d in combination, fig. 4a is a schematic view showing an inner side structure of a first housing wall of a mobile robot and a locking mechanism for locking the container device in the embodiment of the present invention, fig. 4B is a partially enlarged view of a portion I in fig. 4a, fig. 4c is a schematic view showing a structure of the locking mechanism in the embodiment of the present invention, and fig. 4d is a schematic view showing a cross section of the mobile robot along a section line B-B in fig. 1B in the embodiment of the present invention. In one embodiment of the present invention, a locking mechanism 60 is provided on the first housing wall 110, the locking mechanism 60 being used to lock or eject the container apparatus 20 from the mobile robot body.

In one embodiment, the locking mechanism 60 includes a key 610, a first driving arm 620, a second driving arm 630, a first locking portion 640, and a second locking portion 650, where one end of the first driving arm 620 is engaged with or connected to the key 610, the other end is engaged with or connected to the first locking portion 640, and one end of the second driving arm 630 is engaged with or connected to the key 610, and the other end is engaged with or connected to the second locking portion. The first latch 640 and the second latch 650 are adjacent to the container apparatus 20. Preferably, the first latch portion 640 and the second latch portion 650 are located on opposite sides of the container apparatus 20, respectively. The first locking portion 640 and the second locking portion 650 retain the container apparatus 20. Pressing or moving or toggling the button 610 causes the locking mechanism 60 to be in an on or off state, the first latch portion 620 and the second latch portion 630 lock the container apparatus 20 when the locking mechanism 60 is in an off state, and the container apparatus 20 is in an unlocked state when the locking mechanism 60 is in an on state.

In one embodiment, the key 610 may include a key main body 613, a first extension 611 and a second extension 612, the first extension 611 and the second extension 612 being located at both sides of the key main body 613, respectively. The first extension 611 contacts the first transmission arm 620, the second extension 612 contacts the second transmission arm 630, the first transmission arm 620 and the first locking portion 640 may be integrally formed, and the second transmission arm 630 and the second locking portion 650 may be integrally formed. It will be appreciated that in another embodiment, the first actuator arm 620 may be in driving contact with the first latch 640 and the second actuator arm 630 may be in driving contact with the second latch 650. When the key 610 is pressed or touched, the first extension portion 611 of the key 610 drives the first driving arm 620, the second extension portion 612 drives the second driving arm 630, the first driving arm 620 drives the first locking portion 640 away from the container device 20, and the second driving arm 630 drives the second locking portion 650 away from the container device 20, so as to release the container device 20, and the container device 20 is in an unlocked state.

In one embodiment, the end of the first extension 611 remote from the key body 613 is sloped 6111 and the end of the second extension 612 remote from the key body 613 is sloped 6121. The ramp 6111 interfaces with an end of the first actuation arm 620 distal from the first latching portion 640, and the ramp 6121 interfaces with an end of the second actuation arm 630 distal from the second latching portion 650. The side wall 260 of the container apparatus 20 is provided with first recesses 263 corresponding to the first locking portions 640 and the second locking portions 650, respectively, and when the locking mechanism 60 is in the locked state, the first locking portions 640 and the second locking portions 650 are respectively caught at the respective first recesses 263. The side wall 260 or bottom of the container means 20 may also be provided with at least two second recesses 264, corresponding to which at least two second recesses 264 resilient members are mounted on the second housing wall 120, respectively, for ejecting the container means 20 after the container means 20 has been released, e.g. resilient members 680 and 690 (fig. 4 d).

The slopes of the

slopes

6111 and 6121 may face a side facing away from the first housing wall 110, and when the key 610 is pressed, the

slopes

6111 and 6121 move downward (toward the inside of the robot), the slope 6111 abuts against the first transmission arm 620, so that the first transmission arm 620 moves outward (toward a direction away from the key 610), thereby pushing the first locking portion 640 outward, the slope 6121 abuts against the second transmission arm 630, so that the second transmission arm 630 moves outward (toward a direction away from the key 610), thereby pushing the second locking portion 650 outward, so that the first locking portion 640 and the second locking portion 650 are respectively moved away from the respective first grooves 263, thereby releasing the container apparatus 20. The

resilient members

680 and 690 respectively then spring the containment device 20 up through the respective second recesses 264, causing the containment device 20 to protrude a distance beyond the outer surface of the first housing wall 110, facilitating removal of the containment device 20 for cleaning by a user.

Further, an elastic element 660 is disposed at an end of the first locking portion 640 away from the container device 20, the elastic element 660 is mounted on the first housing wall 110 through an elastic element seat 661 (it can be understood that the elastic element seat may be mounted on other fixable components), an elastic element 670 is disposed at an end of the second locking portion 650 away from the container device 20, and the elastic element 670 is mounted on the first housing wall 110 through an elastic element seat 671 (it can be understood that the elastic element seat 671 may be mounted on other fixable components). When the user clears the container apparatus 20 and is to mount the container apparatus 20 to the mobile robot body, the container apparatus 20 is directly put into the accommodation space formed based at least in part on the first window 111 and the second window 121 and pushed downward (toward the inside of the mobile robot) by the container apparatus, and when the first latch part 640 and the second latch part 650 are aligned with the first recesses 263, respectively, the

elastic members

660 and 670 are reset, respectively, so that the first latch part 640 and the second latch part 650 are pushed into the two first recesses 263, respectively, thereby locking the container apparatus 20. The locking mechanism 60 greatly simplifies the difficulty of the user installing and removing the container apparatus, making it easier for the user.

In one embodiment, the first housing wall 110 is provided with a limiting housing 70 for limiting the container apparatus 20, the limiting housing 70 defining a hollow window 730 configured to mate with the container apparatus 20, and the container apparatus 20 being positionable within the hollow window 730. The limiting case 70 is provided with through holes 711 at positions corresponding to the first locking parts 640 and the second locking parts 650, respectively, and when the first locking parts 640 and the second locking parts 650 lock the container device, the first locking parts 640 and the second locking parts 650 respectively pass through the through holes 711 to contact with the container device 20.

In one embodiment, the locking mechanism 60 may define the range of motion of the locking mechanism by the engagement of the through hole and the stop bar. For example, referring to fig. 4a and 4c, the movable range of the first driving arm 620 is defined by a through hole 6013 provided to the first driving arm 620 and a stopper rod 6023 passing through the through hole 6013; the movable range of the second transmission arm 630 is defined by a through hole 6014 provided to the second transmission arm 630 and a stopper rod 6024 passing through the through hole 6014; the movable range of the first latch part 640 is defined by a through hole 6011 provided in the first latch part 640 and a stopper rod 6021 passing through the through hole 6011; the movable range of the second latch part 650 is defined by a through hole 6012 provided in the second latch part 650 and a stopper rod 6022 passing through the through hole 6012.

Referring to fig. 1c and fig. 5, fig. 1c is a schematic bottom view of a mobile robot in a normal placement state according to an embodiment of the invention, and fig. 5 is a schematic structural view of a moving assembly of the mobile robot in an embodiment of the invention. The mobile robot further comprises at least two moving assemblies 40, the moving assemblies 40 may be mounted to the housing 10, preferably to the second housing wall 120, and the container means 20 may be located between the two moving assemblies 40. The second cleaning subassembly 520 is located in front of the moving assembly 40 and the container apparatus 20, and the second cleaning subassembly 520 is located at or near a centerline m of the mobile robot perpendicular to the direction of advance.

In one embodiment, the mobile assembly 20 includes wheels 410, a gear box 420, and a motor 430. The wheel 410 is disposed at one end of the gear box 420, the motor 430 is disposed at the other end of the gear box 420, and the motor 430 provides power to the wheel 410 through the gear box 420 so that the wheel 410 can rotate. The wheel 410 and the motor 430 are located on the same side of the gear box 420, e.g., the wheel 410 and the motor 430 are located on the side of the gear box 420 facing the container apparatus 20. The wheels 410 are disposed close to a center line m of the mobile robot perpendicular to the advancing direction, and the gear box 420 and the motor 430 are disposed away from the center line m perpendicular to the advancing direction. In an embodiment in which the mobile robot is circular, the centre line m is located on a straight line of the mobile robot where the diameter is perpendicular to the direction of advance. In this way, the wheels 410 can be used as a moving part and can be used as a bearing part to be as close to the middle position of the mobile robot as possible, so that the movement and stability of the mobile robot are facilitated; in addition, the moving assembly 40 is disposed such that the second cleaning subassembly 520 is closer to the center line m, and the second cleaning subassembly 520 is longer along the center line m, thereby increasing the working width of the moving robot and improving the cleaning efficiency of the moving robot as a cleaning robot.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-described embodiments do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the above embodiments should be included in the scope of the present invention.

Claims

1. A mobile robot, the mobile robot comprising:

A container device penetrating the first and second walls of the robot housing;

the container apparatus has a top shell adjacent to or exposed from the first shell wall and a bottom shell adjacent to or exposed from the second shell wall;

the first shell wall is provided with a locking mechanism, the locking mechanism is used for locking or ejecting the container device, the locking mechanism comprises a key, a first transmission arm, a second transmission arm, a first locking part and a second locking part, one end of the first transmission arm is matched with or connected with the key, the other end of the first transmission arm is matched with or connected with the first locking part, one end of the second transmission arm is matched with or connected with the key, the other end of the second transmission arm is matched with or connected with the second locking part, the first locking part and the second locking part are close to or embedded into the container device, the locking mechanism can be in a state of being opened or closed when being pressed or touched, the first locking part and the second locking part lock the container device when being in a closed state, and the container device is in an unlocked state when being in an opened state;

the button includes button main part, first extension and second extension, and first extension and second extension are located respectively the both sides of button main part, first extension with first transmission arm contact, second extension with second transmission arm contact, first transmission arm with first hasp portion integrated into one piece, second transmission arm with second hasp portion integrated into one piece.

2. The mobile robot of claim 1, wherein the container means comprises opposing top and bottom shells, the top shell being flush with or protruding beyond the first shell wall, the top shell being configured as a transparent body to enable a user to view conditions within the container means through the top shell when the mobile robot is in operation.

3. The mobile robot of claim 1, wherein the first housing wall and the second housing wall are configured to: when the mobile robot works normally, the first shell wall is far away from the surface to be cleaned, and the second shell wall is close to the surface to be cleaned; the container apparatus includes opposing top and bottom shells, the top shell being adjacent the first shell wall, the bottom shell being flush with or adjacent the second shell wall.

4. The mobile robot of claim 1, wherein the container means is a transparent body.

5. The mobile robot of any one of claims 1 to 4, wherein a portion of the first housing wall adjacent to the container means is provided with a lighting lamp or a color bar lamp.

6. The mobile robot of any of claims 1-4, further comprising two moving assemblies mounted to the second housing wall, the container device being located between the two moving assemblies.

7. The mobile robot of claim 6, wherein each of the mobile assemblies comprises a wheel, a gear box, and a motor, the wheel being located at one end of the gear box, the motor being located at the other end of the gear box, and the wheel and the motor being located on the same side of the gear box, the wheel being located near a midline of the mobile robot perpendicular to the direction of travel.

8. The mobile robot of claim 6, further comprising a cleaning assembly positioned in front of both of the mobile assemblies and in front of the container means.

9. The mobile robot of claim 8, wherein the container means is one or a combination of several of a garbage bin, a liquid carrier bin, and a sewage collection bin.

10. The mobile robot of claim 8 wherein said container means is a waste bin, said container means having a first opening adjacent to and aligned with said cleaning assembly for collecting waste swept by said cleaning assembly; the mobile robot further comprises a decompression assembly, the decompression assembly is adjacent to the container device, the container device is ventilated with the decompression assembly through a second opening, the decompression assembly is used for generating suction force to guide garbage to enter the container device, and a rotatable door assembly is arranged at the second opening.

11. A mobile robot, the mobile robot comprising:

the robot shell is provided with a first shell wall and a second shell wall which are opposite to each other, and the first shell wall and the second shell wall are exposed to the external environment;

the two moving assemblies are mounted on the second shell wall and used for enabling the mobile robot to move;

a container device penetrating the first and second walls of the robot housing and located between the two moving assemblies, the container device having a top case adjacent to or exposed from the first wall and a bottom case adjacent to or exposed from the second wall;

the key comprises a key main body, a first extending part and a second extending part, wherein the first extending part and the second extending part are respectively positioned at two sides of the key main body, the first extending part is contacted with the first transmission arm, the second extending part is contacted with the second transmission arm, the first transmission arm and the first locking part are integrally formed, and the second transmission arm and the second locking part are integrally formed; and

and the cleaning assembly is mounted on the second shell wall and positioned in front of the two moving assemblies and the container device.