CN111466830B

CN111466830B - Skirting line cleaning robot and working method thereof

Info

Publication number: CN111466830B
Application number: CN202010358177.4A
Authority: CN
Inventors: 黎波; 苏正炼; 周杰; 胡林; 杨逸; 陈越灵; 周梦; 秦小东
Original assignee: Chongqing University of Technology
Current assignee: Chongqing University of Technology
Priority date: 2020-04-29
Filing date: 2020-04-29
Publication date: 2021-09-07
Anticipated expiration: 2040-04-29
Also published as: CN111466830A

Abstract

The invention discloses a skirting line cleaning robot and a working method thereof, wherein the skirting line cleaning robot comprises a machine body, a walking mechanism, a cleaning mechanism and a distance sensing mechanism, wherein the distance sensing mechanism comprises a first distance sensing component arranged on the side surface of the machine body, a front distance sensing component arranged on the front side of the machine body and a rear distance sensing component arranged on the rear side of the machine body; cleaning the mechanism and including two skirting lines that distribute along the fuselage fore-and-aft direction clean the subassembly, the skirting line cleans the unit mount with first apart from response subassembly with one side on the fuselage, the skirting line cleans the subassembly and includes that the skirting line cleans the piece and can drive the vertical reciprocating motion of piece is cleaned in order to clean a driving system to the skirting line. The automatic skirting line cleaning robot realizes automatic effective cleaning of the position of the skirting line, thereby enlarging the cleaning range of the cleaning robot and reducing the manpower and time cost for cleaning the skirting line.

Description

Skirting line cleaning robot and working method thereof

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a skirting line cleaning robot and a working method thereof.

Background

A cleaning robot, also known as an automatic cleaner, intelligent dust collection, a robot cleaner and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence; cleaning robot generally adopts brush to sweep and the vacuum mode, inhales ground debris and gets into the rubbish receiver of self to accomplish the function of ground clearance. Generally, a cleaning robot is a robot that can perform cleaning, dust collection, and floor cleaning.

The existing cleaning robot is a wireless robot, mainly in a disc shape, and operates by using a rechargeable battery, and the operation mode is a remote controller or an operation panel on the robot. The fuselage that cleans the robot is the mobile device of automation technology, and the place ahead has the setting up inductor, can sense the barrier, if touch wall or other barriers, can turn by oneself, with the vacuum cleaner who has the dust collection box, cooperates the fuselage to set for control path, walks repeatedly indoor, if: the cleaning machine can clean along paths of edge cleaning, centralized cleaning, random cleaning, linear cleaning and the like, and is assisted by modes of edge brushes, central main brushes, cleaning cloth and the like, so that the cleaning effect is enhanced, and the humanized household cleaning effect is achieved. Because of its simple operation and convenience, it is becoming a common household appliance for office workers and modern families.

The current robot that cleans is mainly used for cleaning ground, because its self structural restriction, make the current robot that cleans when cleaning right angle form corner position, its cleaning device can not effectually clean right angle form corner position, and simultaneously, the current robot that cleans can't clean the position of skirting line, because the position of skirting line is close ground, make when cleaning the skirting line, need artificial stoop or squat to clean, this greatly reduced cleans robot's the scope, the time and the human cost of cleaning have also greatly increased simultaneously.

Disclosure of Invention

Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide a can effectively clean the position of skirting line to increase the scope of cleaning robot, reduce the skirting line cleaning robot who cleans time and human cost.

In addition, the invention also provides a working method of the skirting line cleaning robot, which aims to solve the problem that the existing cleaning robot cannot clean the position of the skirting line.

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

a skirting line cleaning robot comprises a robot body, a walking mechanism, a cleaning mechanism and a distance sensing mechanism, wherein the distance sensing mechanism comprises a first distance sensing assembly, a front distance sensing assembly and a rear distance sensing assembly, the first distance sensing assembly is mounted on the side face of the robot body, the front distance sensing assembly is mounted on the front side of the robot body, and the rear distance sensing assembly is mounted on the rear side of the robot body;

clean the mechanism and include the edge two skirting lines that the fuselage fore-and-aft direction distributes clean the subassembly, the skirting line clean the unit mount with one side of first distance response subassembly on the fuselage, the skirting line cleans the subassembly and includes that the skirting line cleans the piece and can drive the skirting line cleans a vertical reciprocating motion in order to clean the first actuating system of skirting line.

The working principle of the invention is as follows: when the skirting line position needs to be cleaned, the cleaning robot is started, the cleaning robot is driven by the traveling mechanism to move forward, the first distance sensing assembly senses the distance from the cleaning robot to the wall root, when the first distance sensing assembly senses that the distance from the cleaning robot to the wall root is larger than a first set value, the traveling mechanism drives the cleaning robot to continuously approach the wall root until the first distance sensing assembly senses that the distance from the cleaning robot to the wall root is smaller than or equal to the first set value, the traveling mechanism drives the cleaning robot to move forward along the wall root, the first driving system drives the skirting line cleaning piece to vertically reciprocate, and the skirting line at the corresponding position is cleaned while the skirting line cleaning piece vertically moves; therefore, the distance from the cleaning robot to the wall root is ensured by utilizing the first distance sensing assembly, so that the skirting line cleaning piece can be better attached to the position of the skirting line to be cleaned, and the cleaning effect of the skirting line is ensured;

when the walking mechanism drives the cleaning robot to continuously move forward along the wall root to clean the skirting line, the front distance sensing component senses the distance between the front distance sensing component and the front wall corner, when the front distance sensing component senses that the distance between the front distance sensing component and the front wall corner is larger than a second set value, the walking mechanism drives the cleaning robot to continuously move forward along the wall root, the skirting line cleaning piece continuously cleans the skirting line until the distance between the front distance sensing component and the front wall corner is smaller than or equal to the second set value, the cleaning robot is shown to have moved forward to the position of the wall corner at the moment, the walking mechanism drives the cleaning robot to turn 90 degrees after driving the cleaning robot to retreat to the side rear by the set distance, so that the cleaning component faces the direction of the skirting line to be cleaned, the rear distance between the rear distance sensing component and the rear wall corner is sensed by the rear distance sensing component, and when the distance between the rear distance sensing component and the rear wall corner is larger than the second set value, the walking mechanism drives the cleaning robot to retreat continuously until the rear distance sensing assembly senses that the distance between the rear distance sensing assembly and the rear corner is smaller than or equal to a second set value, and the first distance sensing assembly senses the distance between the rear distance sensing assembly and the corresponding position wall root, so that the skirting line at the position of the wall root in the other direction is cleaned.

The invention has the beneficial effects that: the invention utilizes the first distance sensing component, the front distance sensing component and the rear distance sensing component to limit the distance between the cleaning robot and the wall root and the wall corner, so that when the position of the skirting line is cleaned, the skirting line cleaning piece can be always and effectively attached to the skirting line to be cleaned, the cleaning effect of the skirting line is ensured, meanwhile, the front distance sensing component and the rear distance sensing component can also automatically identify the position of the wall corner, so that the cleaning robot can automatically turn and adjust the position to clean the skirting line in the other direction after reaching the position of the wall corner, thereby greatly improving the intelligence of the cleaning robot in cleaning the skirting line, in addition, the first driving system is utilized to drive the skirting line cleaning piece to vertically reciprocate to clean the skirting line, and the cleaning effect of the skirting line can be improved through repeated moving and cleaning, in conclusion, the automatic cleaning robot realizes the automatic effective cleaning of the position of the skirting line, thereby enlarging the cleaning range of the cleaning robot and reducing the manpower and time cost for cleaning the skirting line.

Preferably, clean the mechanism still including installing on the fuselage and with the skirting line cleans the subassembly and lies in the skirting line right angle with one side and cleans the subassembly, the skirting line right angle cleans the subassembly and includes that the skirting line right angle cleans the piece and can drive the vertical reciprocating motion's of the skirting line right angle second actuating system of piece, two right-angle sides that the skirting line right angle cleaned the piece respectively with the side and the front side direction of fuselage suit, just the skirting line right angle cleans the piece and lies in the clear plane of fuselage side with the clear plane of the skirting line cleans the piece flushes.

Thus, by arranging the skirting line right-angle cleaning assembly, when the travelling mechanism drives the cleaning robot to move forward along the wall root to clean the position of the skirting line, the skirting line cleaning piece cleans the position of the skirting line, and the skirting line right-angle cleaning piece also performs vertical reciprocating movement to clean the position of the skirting line, so that the cleaning effect on the position of the skirting line can be greatly improved by repeatedly cleaning the skirting line; when cleaning the robot simultaneously and reacing the corner position and cleaning the right angle shape skirting line department here, the skirting line right angle cleans the piece and can be fine laminate with the skirting line of this department right angle shape structure to this has reached and has carried out the effect of effectively cleaning the skirting line of corner right angle position department, and like this, cleans the common cooperation of piece and the skirting line right angle through the skirting line, just can realize effectively cleaning including corner position department skirting line.

Preferably, the second actuating system includes second driving motor and the rack of vertical setting, the rack with skirting line right angle cleans a fixed connection, the tooth's socket has all been seted up to the horizontal both sides of rack, the both sides of rack are equipped with a set of gear assembly respectively, and wherein a set of the gear assembly with second driving motor's pivot is connected, the gear assembly includes coaxial coupling's pinion and the incomplete gear that has half the teeth of a cogwheel, two be equipped with between the gear assembly simultaneously with two sets of pinion engagement's in the gear assembly gear wheel, and two sets of incomplete gear in the gear assembly can alternate with the tooth's socket that the rack corresponds the side meshes mutually.

Thus, the second driving motor is started, the rotating shaft of the second driving motor drives one group of gear assemblies connected with the second driving motor to rotate, the pinion in the group of gear assemblies drives the pinion and the incomplete gear in the other group of gear assemblies to rotate through the pinion, because the incomplete gears in the two groups of gear assemblies only have half of gear teeth, in the rotating process of the two groups of gear assemblies, the incomplete gear in only one group of gear assemblies is always meshed with the tooth socket on the rack to drive the rack to move, meanwhile, because the incomplete gears in the two groups of gear assemblies are arranged at the two transverse sides of the rack, when the incomplete gears in different gear assemblies are meshed with the rack, the incomplete gears in different gear assemblies drive the rack to ascend or descend, for example, when the incomplete gear connected with the rotating shaft of the second driving motor is meshed with the rack and drives the rack to ascend, the incomplete gear in the other group of gear components is in a non-meshing state with the tooth space on the rack, when the incomplete gear connected with the rotating shaft of the second driving motor rotates to separate from the tooth space on the rack, the incomplete gear in the other group of gear components is just meshed with the tooth space on the rack, and because the steering directions of the incomplete gears in the two groups of gear components are the same and the incomplete gears in the two groups of gear components are respectively meshed with the rack at two sides, when the incomplete gears in different groups of gear components are meshed with the rack, the moving directions of the rack are opposite, so the incomplete gear in the gear components which is not directly connected with the rotating shaft of the second driving motor drives the rack to descend, thereby realizing the vertical reciprocating movement of continuous rising and descending in the working process of the rack, and the skirting line right-angle cleaning piece fixedly connected with the rack also vertically reciprocates under the driving of the rack, therefore, the position of the skirting line is cleaned.

Preferably, a driving system includes a driving wheel and a driven wheel, the driving wheel is arranged in a first driving system, the belt is arranged on the driving wheel, the driving wheel is arranged in a vertical direction, the rotating shaft of the first driving system is connected with the driving wheel, the belt is wound on the driving wheel and the driven wheel, and the skirting line cleaning piece is fixed on the belt.

Like this, the skirting line cleans the piece when cleaning the skirting line, starts first driving motor, and first driving motor drives the action wheel and rotates, and the action wheel drives through the belt and rotates from the driving wheel, and the skirting line of fixing on the belt cleans the piece and will follow belt reciprocating motion, and the continuous cleaning to the skirting line has just been realized from this to the skirting line cleans a reciprocating motion.

Preferably, the first distance sensing assembly comprises a first front distance sensing piece and a first rear distance sensing piece which are distributed along the front-rear direction of the machine body, and the plane where the center connecting line of the sensing heads of the first front distance sensing piece and the first rear distance sensing piece is located is parallel to the cleaning plane of the skirting line cleaning piece.

In this way, the first front distance sensing piece and the first rear distance sensing piece are respectively arranged in the front-back direction of the machine body and respectively sense the distance between the first front distance sensing piece and the first rear distance sensing piece and between the first front distance sensing piece and the wall root, and when the first front distance sensing piece senses that the distance between the first front distance sensing piece and the wall root is larger than the distance between the first rear distance sensing piece and the wall root, the walking mechanism drives the front part of the machine body of the cleaning robot to approach the wall root until the first front distance sensing piece senses that the distance between the first front distance sensing piece and the wall root is equal to the distance between the first rear distance sensing piece and the wall root; when the first front distance sensing piece senses that the distance from the first front distance sensing piece to the wall root is smaller than the distance from the first rear distance sensing piece to the wall root, the walking mechanism drives the rear part of the machine body of the cleaning robot to approach the wall root until the first front distance sensing piece senses that the distance from the first front distance sensing piece to the wall root is equal to the distance from the first rear distance sensing piece to the wall root, when the first front distance sensing piece senses that the distance from the first front distance sensing piece to the wall root is equal to the distance from the first rear distance sensing piece to the wall root, the walking mechanism drives the cleaning robot to move horizontally in the direction close to the wall root when the first front distance sensing piece or the first rear distance sensing piece senses that the distance from the first front distance sensing piece or the first rear distance sensing piece to the wall root is smaller than or equal to a first set value, the walking mechanism drives the cleaning robot to move forwards along the wall root, the skirting line cleaning piece cleans the position of the skirting line. Like this, through the combined action of first preceding distance response piece and first back distance response piece for in-process cleaning the skirting line, the fuselage remains throughout with the parallel of wall root, like this, the skirting line on the fuselage cleans the piece also can be better and laminate with the skirting line, has improved the effect of cleaning the skirting line.

Preferably, still include dust absorption mechanism, dust absorption mechanism includes dust absorption pump, ash storage box and dust absorption subassembly, dust absorption subassembly protrusion install with clean the subassembly opposite side the bottom of fuselage, dust absorption subassembly is followed including the installation two right angle suction nozzles of fuselage fore-and-aft direction symmetric distribution and a plurality of bar suction nozzle of distribution between two right angle suction nozzles, the right angle suction nozzle the bar suction nozzle with ash storage box all through the hose with the dust absorption pump is connected.

Like this, when needs clean ground, open the dust absorption pump, the dust absorption pump is inhaled and is collected in the ash storage box with subaerial dust to right angle suction nozzle and bar suction nozzle among the dust absorption subassembly, when carrying out cleaning of dust to corner position simultaneously, right angle suction nozzle can be fine laminate with the right angle shape of corner position department, has guaranteed the effect of cleaning of right angle corner position department ground dust.

Preferably, the fuselage installation one side of dust absorption component still is equipped with the second apart from response subassembly, the second apart from response subassembly includes the edge apart from response piece and second back distance response piece before the second that the fore-and-aft direction of fuselage distributes, just before the second apart from response piece with the second back distance response piece the inductive head central line is on a parallel with a plurality of the central line of bar suction nozzle.

Like this, one side installation second distance response subassembly through at fuselage installation dust absorption subassembly, and the second is apart from the response subassembly and is included along the second fore-and-aft direction distributed apart from response piece and second after-distance response piece before the second, utilize the second fore-and-aft distance response piece and second after-distance response piece to prescribe a limit to the position of fuselage like this, make when utilizing dust absorption mechanism to clean the dust of wall root and corner position department, the fuselage can remain throughout with the parallel of wall root, right angle suction nozzle and bar suction nozzle are when cleaning wall root and corner position, also can advance along the wall root all the time, guaranteed the effective cleaning to wall root and corner position dust.

A working method of a skirting line cleaning robot adopts the skirting line cleaning robot and comprises the following steps:

step 1) starting a cleaning robot, wherein the cleaning robot is driven by a traveling mechanism to advance;

step 2) sensing the distance from the first distance sensing assembly to the wall root, executing step 3) when the first distance sensing assembly senses that the distance from the first distance sensing assembly to the wall root is greater than a first set value, and executing step 4) when the first distance sensing assembly senses that the distance from the first distance sensing assembly to the wall root is less than or equal to the first set value;

step 3) the walking mechanism drives the cleaning robot to continuously approach the wall root until the distance from the first distance sensing assembly to the wall root is smaller than or equal to a first set value, and then step 4) is executed;

step 4), the travelling mechanism drives the cleaning robot to move forward along the wall root, the first driving system drives the skirting line cleaning piece to vertically reciprocate, and the skirting line cleaning piece vertically moves and cleans skirting lines at corresponding positions;

step 5) the front distance sensing assembly senses the distance between the front distance sensing assembly and the front corner, when the front distance sensing assembly senses that the distance between the front distance sensing assembly and the front corner is larger than a second set value, the step 6) is executed, and when the front distance sensing assembly senses that the distance between the front distance sensing assembly and the front corner is smaller than or equal to the second set value, the step 7) is executed;

step 6), the walking mechanism drives the cleaning robot to continuously move forward along the wall root, and the skirting line cleaning piece continuously cleans the skirting line until the distance between the front distance sensing component and the front corner is smaller than or equal to a second set value, and then step 7) is executed;

step 7) after the walking mechanism drives the cleaning robot to retreat to the lateral rear side by a set distance, the walking mechanism drives the cleaning robot to turn by 90 degrees, so that the cleaning assembly faces to the direction of the skirting line to be cleaned, the rear distance sensing assembly senses the distance between the cleaning assembly and the rear corner, when the rear distance sensing assembly senses that the distance between the cleaning assembly and the rear corner is greater than a second set value, the step 8) is executed, and when the rear distance sensing assembly senses that the distance between the cleaning assembly and the rear corner is less than or equal to the second set value, the step 9) is executed;

step 8), the walking mechanism drives the cleaning robot to retreat continuously until the rear distance sensing assembly senses that the distance between the cleaning robot and the rear wall corner is smaller than or equal to a second set value, and step 9) is executed;

step 9) returns to execute step 2).

Therefore, the position of the cleaning robot is adjusted by the first distance sensing assembly, the distance between the cleaning robot and the wall root is in a set range, and the skirting line cleaning piece can be effectively attached to the skirting line when the skirting line is cleaned, so that the position of the skirting line is effectively cleaned.

Preferably, the first distance sensing assembly comprises a first front distance sensing piece and a first rear distance sensing piece which are distributed along the front-rear direction of the machine body, and a plane where a center connecting line of sensing heads of the first front distance sensing piece and the first rear distance sensing piece is located is parallel to a cleaning plane of the skirting line cleaning piece;

in step 2), the first front distance sensing element and the first rear distance sensing element respectively sense the distance between the first front distance sensing element and the wall root, when the first front distance sensing element senses that the distance between the first front distance sensing element and the wall root is greater than the distance between the first rear distance sensing element and the wall root, the walking mechanism drives the front part of the machine body of the cleaning robot to approach towards the wall root until the first front distance sensing element senses that the distance between the first front distance sensing element and the wall root is equal to the distance between the first rear distance sensing element and the wall root, at this time, if the first front distance sensing element or the first rear distance sensing element senses that the distance between the first front distance sensing element and the wall root is greater than a first set value, step 3) is executed, and if the first front distance sensing element or the first rear distance sensing element senses that the distance between the first front distance sensing element and the wall root is less than or equal to the first set value, step 4) is executed;

when the first front distance sensing piece senses that the distance from the first front distance sensing piece to the wall root is smaller than the distance from the first rear distance sensing piece to the wall root, the walking mechanism drives the rear part of the machine body of the cleaning robot to approach the wall root until the first front distance sensing piece senses that the distance from the first front distance sensing piece to the wall root is equal to the distance from the first rear distance sensing piece to the wall root, at the moment, if the first front distance sensing piece or the first rear distance sensing piece senses that the distance from the first front distance sensing piece or the first rear distance sensing piece to the wall root is larger than a first set value, the step 3 is executed, and if the first front distance sensing piece or the first rear distance sensing piece senses that the distance from the first front distance sensing piece or the first rear distance sensing piece to the wall root is smaller than or equal to the first set value, the step 4 is executed);

when the first front distance sensing piece senses that the distance from the first front distance sensing piece to the wall root is equal to the distance from the first rear distance sensing piece to the wall root, at the moment, if the first front distance sensing piece or the first rear distance sensing piece senses that the distance from the first front distance sensing piece or the first rear distance sensing piece to the wall root is greater than a first set value, executing the step 3), and if the first front distance sensing piece or the first rear distance sensing piece senses that the distance from the first front distance sensing piece or the first rear distance sensing piece to the wall root is less than or equal to the first set value, executing the step 4);

and 3) the walking mechanism drives the cleaning robot to translate towards the direction close to the wall root until the first front distance sensing piece or the first rear distance sensing piece senses that the distance from the cleaning robot to the wall root is smaller than or equal to a first set value, and then the step 4) is executed.

Like this, utilize first preceding distance response piece and first back distance response piece to adjust the position of cleaning the robot for in-process cleaning the skirting line, the fuselage remains throughout with the parallel of wall root, like this, the skirting line on the fuselage cleans the piece and also can be better laminates with the skirting line, has improved the effect of cleaning the skirting line.

Preferably, the cleaning mechanism further comprises a skirting line right-angle cleaning assembly which is installed on the machine body and located on the same side with the skirting line cleaning assembly, the skirting line right-angle cleaning assembly comprises a skirting line right-angle cleaning piece and a second driving system capable of driving the skirting line right-angle cleaning piece to vertically reciprocate, two right-angle sides of the skirting line right-angle cleaning piece are respectively matched with the side face and the front side direction of the machine body, and a cleaning face of the skirting line right-angle cleaning piece located on the side face of the machine body is flush with a cleaning face of the skirting line cleaning piece;

a transverse cleaning assembly is further mounted on the machine body between the two skirting line cleaning assemblies, the transverse cleaning assembly comprises a mounting plate and a transverse cleaning piece fixed on the mounting plate, and the cleaning surface of the transverse cleaning piece is flush with the cleaning surface of the skirting line cleaning piece;

in the step 4), the second driving system drives the skirting line right-angle cleaning piece to vertically reciprocate to clean the skirting line at the corresponding position, and the transverse cleaning piece transversely cleans the position of the skirting line in the advancing process of the cleaning robot;

in step 6), the walking mechanism drives the cleaning robot to continuously move forward along the wall root, the second driving system drives the skirting line right-angle cleaning piece to vertically reciprocate and continuously clean the skirting line of the corresponding position, and when the skirting line right-angle cleaning piece is close to the corner position, the skirting line right-angle cleaning piece cleans the right-angle corner of the attached corner to the position.

Therefore, when the skirting line is cleaned, the skirting line cleaning piece cleans the skirting line, and the skirting line right-angle cleaning piece and the transverse cleaning piece respectively clean the position of the skirting line, so that the cleaning effect on the position of the skirting line is greatly improved by repeatedly cleaning the position of the skirting line; simultaneously the design of piece is cleaned to skirting line right angle for when cleaning the skirting line of right angle form corner position department, the skirting line right angle is cleaned the piece and can be better with the skirting line of this department and laminate, improves the effect of cleaning, and this method cleans the combined action of piece, skirting line right angle and transversely cleaning through the skirting line from this, can realize cleaning including the right angle effectively to the skirting line of corner position department, great improvement the effect of cleaning of skirting line.

Drawings

FIG. 1 is a schematic structural view of a skirting line cleaning robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the skirting line cleaning robot after removing the top cover according to the embodiment of the present invention;

FIG. 3 is a schematic structural view of the skirting line cleaning robot after the top cover and the supporting plate are removed in accordance with the present invention;

FIG. 4 is a bottom view of the skirting line cleaning robot in accordance with the preferred embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a second drive system according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a second drive system with a rack removed according to an embodiment of the present invention;

fig. 7 is a flowchart of a method for operating a skirting line cleaning robot according to an embodiment of the present invention.

Description of reference numerals: fuselage 1, top cap 2, the piece 3 is cleaned to the skirting line, action wheel 4, from driving wheel 5, first driving motor 6, transversely clean 7, the piece 8 is cleaned at the skirting line right angle, right angle suction nozzle 9, first preceding distance response piece 10, first back distance response piece 11, place ahead distance response subassembly 12, rear distance response subassembly 13, second preceding distance response piece 14, second back distance response piece 15, backup pad 16, dust absorption pump 17, ash storage box 18, universal wheel 19, bar suction nozzle 20, dust brush 21, second driving motor 22, pinion 23, incomplete gear 24, rack 25, gear wheel 26.

Detailed Description

The invention will be further explained with reference to the drawings and the embodiments.

As shown in fig. 1 to 4, the skirting line cleaning robot comprises a machine body 1, a walking mechanism and a cleaning mechanism, wherein the machine body 1 comprises a base and a top cover 2, and further comprises a distance sensing mechanism, the distance sensing mechanism is arranged on a supporting plate 16 in the base, and the distance sensing mechanism comprises a first distance sensing component arranged on the side surface of the machine body 1, a front distance sensing component 12 arranged on the front side of the machine body 1 and a rear distance sensing component 13 arranged on the rear side of the machine body 1;

clean the mechanism and clean the subassembly including two skirting lines that distribute along 1 fore-and-aft direction of fuselage, the skirting line cleans the unit mount on fuselage 1 with one side of first distance response subassembly, the skirting line cleans the subassembly and includes that the skirting line cleans 3 and can drive the skirting line and clean 3 vertical reciprocating motion in order to clean the first actuating system of skirting line.

In the invention, two sides of the fuselage along the advancing direction of the wall root are defined as the front side and the rear side of the fuselage, wherein the front side of the fuselage along the advancing direction of the wall root is the front side of the fuselage, one side corresponding to the front side of the fuselage is the rear side of the fuselage, and the direction vertical to the front side and the rear side of the fuselage is the left side and the right side of the fuselage, wherein the left side of the fuselage is the counterclockwise direction of the front side of the fuselage, and the right side of the fuselage is the clockwise direction of the front side of the fuselage.

The working principle of the invention is as follows: when the position of the skirting line needs to be cleaned, the cleaning robot is started, the cleaning robot is driven by the traveling mechanism to move forward, the first distance sensing assembly senses the distance from the cleaning robot to the wall root, when the first distance sensing assembly senses that the distance from the cleaning robot to the wall root is larger than a first set value, the traveling mechanism drives the cleaning robot to continuously approach the wall root until the first distance sensing assembly senses that the distance from the cleaning robot to the wall root is smaller than or equal to the first set value, the traveling mechanism drives the cleaning robot to move forward along the wall root, the first driving system drives the skirting line cleaning piece 3 to vertically reciprocate, and the skirting line cleaning piece 3 moves vertically and cleans the skirting line at the corresponding position; therefore, the distance from the cleaning robot to the wall root is ensured by utilizing the first distance sensing assembly, so that the skirting line cleaning piece 3 can be better attached to the position of the skirting line to be cleaned, and the cleaning effect of the skirting line is ensured;

when the walking mechanism drives the cleaning robot to continuously advance along the wall root to clean the skirting line, the front distance sensing component 12 senses the distance between the cleaning robot and the front corner, when the front distance sensing component 12 senses that the distance between the cleaning robot and the front corner is larger than a second set value, the walking mechanism drives the cleaning robot to continuously advance along the wall root, the skirting line cleaning piece 3 continuously cleans the skirting line until the distance between the front distance sensing component 12 and the front corner is smaller than or equal to the second set value, which indicates that the cleaning robot has already advanced to the position of the corner, the walking mechanism drives the cleaning robot to retreat to the side rear by the set distance, the walking mechanism drives the cleaning robot to turn 90 degrees, so that the cleaning component faces the direction of the skirting line to be cleaned, the rear distance sensing component 13 senses the distance between the cleaning robot and the rear corner, when the rear distance sensing component 13 senses that the distance between the rear distance sensing component 13 and the rear corner is greater than a second set value, the walking mechanism drives the cleaning robot to retreat continuously until the rear distance sensing component 13 senses that the distance between the rear distance sensing component 13 and the rear corner is less than or equal to the second set value, and the first distance sensing component senses the distance between the rear distance sensing component and the wall root at the corresponding position, so that the skirting line at the wall root in the other direction is cleaned.

The invention has the beneficial effects that: the invention utilizes the first distance sensing component, the front distance sensing component 12 and the rear distance sensing component 13 to limit the distance from the cleaning robot to the wall root and the wall corner, so that when the position of the skirting line is cleaned, the skirting line cleaning piece 3 can be always and effectively attached to the skirting line to be cleaned, the cleaning effect of the skirting line is ensured, meanwhile, the front distance sensing component 12 and the rear distance sensing component 13 can also automatically identify the position of the wall corner, so that the cleaning robot can automatically turn and adjust the position to clean the skirting line in the other direction after reaching the position of the wall corner, thereby greatly improving the intelligence of the cleaning robot in cleaning the skirting line, in addition, the first driving system is utilized to drive the skirting line cleaning piece 3 to vertically reciprocate to clean the skirting line, the cleaning effect of the skirting line can be improved through repeated moving and cleaning, in conclusion, the automatic cleaning robot realizes the automatic effective cleaning of the position of the skirting line, thereby enlarging the cleaning range of the cleaning robot and reducing the manpower and time cost for cleaning the skirting line.

In this embodiment, clean the mechanism still including installing on fuselage 1 and clean the subassembly with the skirting line and lie in the skirting line right angle with one side and clean the subassembly, the skirting line right angle is cleaned the subassembly and is included the skirting line right angle and clean 8 and can drive the second actuating system that the vertical reciprocating motion of the skirting line right angle cleaned 8, two right-angle sides that the skirting line right angle cleaned 8 suit with the side and the front side direction of fuselage 1 respectively, and the skirting line right angle cleans 8 and is located the clear plane of fuselage 1 side and the clear plane of the skirting line piece 3 of cleaning and flushes.

Thus, by arranging the skirting line right-angle cleaning assembly, when the travelling mechanism drives the cleaning robot to move forward along the wall root to clean the position of the skirting line, the skirting line cleaning piece 3 cleans the position of the skirting line, and the skirting line right-angle cleaning piece 8 also performs vertical reciprocating movement to clean the position of the skirting line, so that the cleaning effect on the position of the skirting line can be greatly improved by repeatedly cleaning the skirting line; when cleaning the robot simultaneously and reacing the corner position and cleaning the right angle shape skirting line department here, the skirting line right angle cleans 8 can be fine and laminate with the skirting line of this right angle shape structure to this has reached and has carried out the effect of effectively cleaning the skirting line of corner right angle position department, and like this, cleans 3 and the skirting line right angle through the skirting line and cleans the common cooperation of 8, just can realize effectively cleaning including corner position department skirting line.

As shown in fig. 5 and fig. 6, in this embodiment, the second driving system includes a second driving motor 22 and a vertically arranged rack 25, the rack 25 is fixedly connected to the skirting line right-angle cleaning piece 8, tooth grooves are respectively formed on both lateral sides of the rack 25, two sides of the rack 25 are respectively provided with a set of gear assemblies, and one set of gear assemblies is connected to a rotating shaft of the second driving motor 22, each gear assembly includes a pinion 23 and an incomplete gear 24 having a half gear, a large gear 26 capable of meshing with the pinions 23 of the two sets of gear assemblies simultaneously is arranged between the two gear assemblies, and the incomplete gears 24 of the two sets of gear assemblies can alternately mesh with the tooth grooves on the corresponding side of the rack 25.

Thus, when the second driving motor 22 is started, the rotating shaft of the second driving motor 22 drives the gear assembly of one set connected thereto to rotate, the pinion gear 23 of the gear assembly of the set drives the pinion gear 23 and the incomplete gear 24 of the gear assembly of the other set to rotate through the large gear 26, because the incomplete gear 24 of the two sets of gear assemblies has only half of the gear teeth, during the rotation of the two sets of gear assemblies, only the incomplete gear 24 of one set of gear assemblies is always meshed with the tooth grooves on the rack 25 to drive the rack 25 to move, and because the incomplete gear 24 of the two sets of gear assemblies is arranged on both lateral sides of the rack 25, when the incomplete gear 24 of a different set of gear assemblies is meshed with the rack 25, the incomplete gear 24 of a different set of gear assemblies will drive the rack 25 to ascend or descend, for example, when the incomplete gear 24 connected with the rotating shaft of the second driving motor 22 is meshed with the rack 25 and drives the rack 25 to ascend, the incomplete gear 24 in the other set of gear assembly is in a non-meshing state with the tooth space on the rack 25, when the incomplete gear 24 connected with the rotating shaft of the second driving motor 22 rotates to be separated from the tooth space on the rack 25, the incomplete gear 24 in the other set of gear assembly is just meshed with the tooth space on the rack 25, because the steering direction of the incomplete gear 24 in the two sets of gear assemblies is the same, and the incomplete gear 24 in the two sets of gear assemblies is respectively meshed with the rack 25 on both sides, when the incomplete gear 24 in different sets of gear assemblies is meshed with the rack 25, the moving direction of the rack 25 is opposite, so the incomplete gear 24 in the set of gear assemblies which is not directly connected with the rotating shaft of the second driving motor 22 drives the rack 25 to descend, thereby realizing the vertical reciprocating movement of the rack 25 which continuously ascends and descends, and the skirting line right-angle cleaning piece 8 fixedly connected with the rack 25 can also vertically reciprocate under the drive of the rack 25, so as to clean the position of the skirting line.

In this embodiment, first actuating system includes the action wheel 4 of first driving motor 6, belt, vertical direction setting and follows driving wheel 5, and the pivot and the action wheel 4 of first driving motor 6 are connected, and the belt winding is on action wheel 4 and follow driving wheel 5, and skirting line cleans 3 and fixes on the belt, and skirting line cleans 3 and is the sponge, and the sponge is fixed on the belt through the mode of pasting, convenient change.

Like this, skirting line cleans piece 3 when cleaning the skirting line, starts first driving motor 6, and first driving motor 6 drives action wheel 4 and rotates, and action wheel 4 drives through the belt and rotates from driving wheel 5, fixes skirting line on the belt and cleans piece 3 and will follow belt reciprocating motion, and skirting line cleans 3 reciprocating motion and has just realized constantly cleaning the skirting line from this.

In this embodiment, the first distance sensing assembly includes a first front distance sensing member 10 and a first rear distance sensing member 11 distributed along the front-rear direction of the body 1, and a plane where the center line of the sensing heads of the first front distance sensing member 10 and the first rear distance sensing member 11 is located is parallel to the cleaning plane of the skirting line cleaning member 3.

Thus, a first front distance sensing part 10 and a first rear distance sensing part 11 are respectively arranged in the front-rear direction of the machine body 1, the first front distance sensing part 10 and the first rear distance sensing part 11 respectively sense the distance between the first front distance sensing part 10 and the first rear distance sensing part 11 and the wall root, when the first front distance sensing part 10 senses that the distance between the first front distance sensing part 10 and the wall root is larger than the distance between the first rear distance sensing part 11 and the wall root, the walking mechanism drives the front part of the machine body 1 of the cleaning robot to approach the wall root direction until the first front distance sensing part 10 senses that the distance between the first front distance sensing part 10 and the wall root is equal to the distance between the first rear distance sensing part 11 and the wall root; when the first front distance sensing piece 10 senses that the distance from the first front distance sensing piece 10 to the wall root is smaller than the distance from the first rear distance sensing piece 11 to the wall root, the walking mechanism drives the rear part of the machine body 1 of the cleaning robot to approach the wall root until the first front distance sensing piece 10 senses that the distance from the first front distance sensing piece 10 to the wall root is equal to the distance from the first rear distance sensing piece 11 to the wall root, when the first front distance sensing piece 10 senses that the distance from the first front distance sensing piece 10 or the first rear distance sensing piece 11 to the wall root is equal to the distance from the first rear distance sensing piece 11 to the wall root, at the moment, if the first front distance sensing piece 10 or the first rear distance sensing piece 11 senses that the distance from the first front distance sensing piece 10 or the first rear distance sensing piece 11 to the wall root is larger than a first set value, the walking mechanism drives the cleaning robot to move in the direction close to the wall root until the first front distance sensing piece 10 or the first rear distance sensing piece 11 senses that the distance from the first front distance sensing piece 10 or the first rear distance sensing piece 11 to the wall root is smaller than or equal to the first set value, the walking mechanism drives the cleaning robot to move forward along the wall root, and the skirting line cleaning piece 3 cleans the position of the skirting line. Like this, through the combined action of first preceding distance response piece 10 and first back distance response piece 11 for in-process cleaning the skirting line, fuselage 1 remains throughout with the parallel of wall root, like this, the skirting line on the fuselage 1 cleans 3 also can be better and laminate with the skirting line, has improved the effect of cleaning the skirting line.

In this embodiment, the dust collection device further comprises a dust collection mechanism, the dust collection mechanism comprises a dust collection pump 17, an ash storage box 18 and a dust collection assembly, the dust collection assembly is convexly arranged at the bottom of the machine body 1 on the opposite side of the cleaning assembly, the dust collection assembly comprises two right-angle suction nozzles 9 which are symmetrically arranged along the front and back directions of the machine body 1 and a plurality of strip-shaped suction nozzles 20 which are distributed between the two right-angle suction nozzles 9, the strip-shaped suction nozzles 20 and the ash storage box 18 are all connected with the dust collection pump 17 through hoses, and two dust lifting brushes 21 are further arranged at the bottom of the machine body 1.

Like this, when needs clean ground, open dust absorption pump 17, the dust absorption subassembly in right angle suction nozzle 9 and bar suction nozzle 20 inhale and collect subaerial dust in ash storage box 18, when simultaneously carrying out the cleaning of dust to the corner position, right angle suction nozzle 9 can be fine and the right angle shape of corner position department laminates, has guaranteed the effect of cleaning of right angle corner position department ground dust.

In this embodiment, a second distance sensing assembly is further disposed on one side of the machine body 1 where the dust collection assembly is mounted, the second distance sensing assembly includes a second front distance sensing element 14 and a second rear distance sensing element 15 which are distributed along the front-rear direction of the machine body 1, and a center connection line of sensing heads of the second front distance sensing element 14 and the second rear distance sensing element 15 is parallel to a center connection line of the plurality of strip-shaped suction nozzles 20.

Like this, one side installation second distance response subassembly through installing dust absorption subassembly at fuselage 1, and the second is apart from response subassembly including the second that distributes along fuselage 1 fore-and-aft direction apart from response 14 and the second after apart from response 15, utilize the second before apart from response 14 and the second after apart from response 15 to prescribe a limit to the position of fuselage 1 like this, make when utilizing dust absorption mechanism to clean the dust of wall root and corner position department, fuselage 1 can remain the parallel with the wall root throughout, right angle suction nozzle 9 and bar suction nozzle 20 are when cleaning wall root and corner position, also can advance along the wall root throughout, the effective cleaning to wall root and corner position dust has been guaranteed.

In the embodiment, a transverse cleaning assembly is further mounted on the machine body 1 between the two skirting line cleaning assemblies, the transverse cleaning assembly comprises a mounting plate and a transverse cleaning piece 7 fixed on the mounting plate, and the cleaning surface of the transverse cleaning piece 7 is flush with the cleaning surface of the skirting line cleaning piece 3; the transverse cleaning piece 7 is a nano sponge plate. When the walking mechanism drives the cleaning robot to move forward along the wall root, the transverse cleaning piece 7 can transversely clean the position of the skirting line.

In this embodiment, the front distance sensing assembly 12, the first front distance sensing member 10, the first rear distance sensing member 11, the second front distance sensing member 14, the second rear distance sensing member 15, and the rear distance sensing assembly 13 are ultrasonic distance sensors, infrared distance sensors, or laser distance sensors.

In this embodiment, the traveling mechanism includes four traveling assemblies installed at the bottom of the body 1, and the traveling assemblies include a third driving motor and universal wheels 19.

A working method of a skirting line cleaning robot is shown in figure 7, and the skirting line cleaning robot is adopted and comprises the following steps:

step 4), the walking mechanism drives the cleaning robot to move forward along the wall root, the first driving system drives the skirting line cleaning piece 3 to vertically reciprocate, and the skirting line cleaning piece 3 vertically moves and cleans the skirting line at the corresponding position;

step 5) the front distance sensing component 12 senses the distance between the front distance sensing component 12 and the front corner, when the front distance sensing component 12 senses that the distance between the front distance sensing component 12 and the front corner is larger than a second set value, step 6) is executed, and when the front distance sensing component 12 senses that the distance between the front distance sensing component 12 and the front corner is smaller than or equal to the second set value, step 7) is executed;

step 6), the walking mechanism drives the cleaning robot to continuously move forward along the wall root, and the skirting line cleaning piece 3 continuously cleans the skirting line until the distance between the front distance sensing component 12 and the front corner is smaller than or equal to a second set value, and then step 7) is executed;

step 7) after the walking mechanism drives the cleaning robot to retreat to the lateral rear direction for a set distance, the walking mechanism drives the cleaning robot to turn 90 degrees, so that the cleaning assembly faces the direction of a skirting line to be cleaned, the rear distance sensing assembly 13 senses the distance between the cleaning assembly and a rear corner, when the rear distance sensing assembly 13 senses that the distance between the cleaning assembly and the rear corner is greater than a second set value, the step 8) is executed, and when the rear distance sensing assembly 13 senses that the distance between the cleaning assembly and the rear corner is less than or equal to the second set value, the step 9) is executed;

step 8), the walking mechanism drives the cleaning robot to retreat continuously until the rear distance sensing assembly 13 senses that the distance between the cleaning robot and the rear corner is smaller than or equal to a second set value, and then step 9) is executed;

step 9) returns to execute step 2).

In this embodiment, the first set value is 6cm, the second set value is 2cm, and the distance by which the cleaning robot retreats to the lateral rear side in step 7) is 10 cm.

Therefore, the position of the cleaning robot is adjusted by the first distance sensing assembly, the distance between the cleaning robot and the wall root is in a set range, the skirting line cleaning piece 3 can be effectively attached to the skirting line when the skirting line is cleaned, effective cleaning of the position of the skirting line is guaranteed, meanwhile, the front distance sensing assembly 12 and the rear distance sensing assembly 13 are used for adjusting the position of the cleaning robot at the wall corner, the cleaning robot can automatically turn and clean the skirting line on the other side after reaching the wall corner, cleaning intelligence is achieved, and in sum, automatic and effective cleaning of the position of the skirting line is achieved by the method.

In this embodiment, the first distance sensing assembly includes a first front distance sensing element 10 and a first rear distance sensing element 11 distributed along the front-rear direction of the body 1, and a plane where the center connecting line of the sensing heads of the first front distance sensing element 10 and the first rear distance sensing element 11 is located is parallel to the cleaning plane of the skirting line cleaning element 3;

in step 2), the first front distance sensing piece 10 and the first rear distance sensing piece 11 respectively sense the distance between the first front distance sensing piece 10 and the wall root, when the first front distance sensing piece 10 senses that the distance between the first front distance sensing piece 10 and the wall root is greater than the distance between the first rear distance sensing piece 11 and the wall root, the walking mechanism drives the front part of the machine body 1 of the cleaning robot to approach towards the wall root direction until the first front distance sensing piece 10 senses that the distance between the first front distance sensing piece 10 and the wall root is equal to the distance between the first rear distance sensing piece 11 and the wall root, at this time, if the first front distance sensing piece 10 or the first rear distance sensing piece 11 senses that the distance between the first front distance sensing piece 10 or the first rear distance sensing piece 11 and the wall root is greater than a first set value, step 3) is executed, and if the first front distance sensing piece 10 or the first rear distance sensing piece 11 senses that the distance between the first front distance sensing piece 10 or the first rear distance sensing piece 11 and the wall root is less than or equal to the first set value, step 4) is executed;

when the first front distance sensing piece 10 senses that the distance from the first front distance sensing piece 10 to the wall root is smaller than the distance from the first rear distance sensing piece 11 to the wall root, the walking mechanism drives the rear part of the machine body 1 of the cleaning robot to approach towards the wall root until the first front distance sensing piece 10 senses that the distance from the first front distance sensing piece 10 to the wall root is equal to the distance from the first rear distance sensing piece 11 to the wall root, at the moment, if the first front distance sensing piece 10 or the first rear distance sensing piece 11 senses that the distance from the first front distance sensing piece 10 to the wall root is larger than a first set value, the step 3) is executed, and if the first front distance sensing piece 10 or the first rear distance sensing piece 11 senses that the distance from the first front distance sensing piece 10 to the wall root is smaller than or equal to the first set value, the step 4) is executed;

when the first front distance sensing member 10 senses that the distance from the first front distance sensing member 10 to the wall root is equal to the distance from the first rear distance sensing member 11 to the wall root, at this time, if the first front distance sensing member 10 or the first rear distance sensing member 11 senses that the distance from the first front distance sensing member 10 or the first rear distance sensing member 11 to the wall root is greater than a first set value, executing the step 3), and if the first front distance sensing member 10 or the first rear distance sensing member 11 senses that the distance from the first front distance sensing member 10 or the first rear distance sensing member 11 to the wall root is less than or equal to the first set value, executing the step 4);

and 3) the walking mechanism drives the cleaning robot to translate towards the direction close to the wall root until the first front distance sensing part 10 or the first rear distance sensing part 11 senses that the distance from the cleaning robot to the wall root is smaller than or equal to a first set value, and then the step 4) is executed.

Like this, utilize first preceding distance response piece 10 and first back distance response piece 11 to adjust the position of cleaning the robot for in-process cleaning the skirting line, fuselage 1 remains throughout with the parallel of wall root, like this, the skirting line on the fuselage 1 cleans 3 and also can be better laminates with the skirting line, has improved the effect of cleaning the skirting line.

In this embodiment, the cleaning mechanism further comprises a skirting line right-angle cleaning assembly which is installed on the machine body 1 and located on the same side as the skirting line cleaning assembly, the skirting line right-angle cleaning assembly comprises a skirting line right-angle cleaning piece 8 and a second driving system capable of driving the skirting line right-angle cleaning piece 8 to vertically reciprocate, two right-angle sides of the skirting line right-angle cleaning piece 8 are respectively adapted to the side surface and the front side direction of the machine body 1, and a cleaning surface of the skirting line right-angle cleaning piece 8 located on the side surface of the machine body 1 is flush with a cleaning surface of the skirting line cleaning piece 3;

a transverse cleaning assembly is further arranged on the machine body 1 between the two skirting line cleaning assemblies, the transverse cleaning assembly comprises a mounting plate and a transverse cleaning piece 7 fixed on the mounting plate, and the cleaning surface of the transverse cleaning piece 7 is flush with the cleaning surface of the skirting line cleaning piece 3;

in the step 4), the second driving system drives the skirting line right-angle cleaning piece 8 to vertically reciprocate to clean the skirting line at the corresponding position, and the transverse cleaning piece 7 transversely cleans the position of the skirting line in the advancing process of the cleaning robot;

in step 6), the running gear drives the cleaning robot to continue to move forward along the wall root, the second driving system drives the skirting line right-angle cleaning piece 8 to vertically reciprocate and continuously clean the skirting line of the corresponding position, and when the skirting line right-angle cleaning piece 8 is close to the corner position, the skirting line right-angle cleaning piece 8 cleans the right-angle corner of the attached corner to the position.

Thus, when the skirting line is cleaned, the skirting line cleaning piece 3 cleans the skirting line, and the skirting line right-angle cleaning piece 8 and the transverse cleaning piece 7 respectively clean the position of the skirting line, so that the cleaning effect on the position of the skirting line is greatly improved by repeatedly cleaning the position of the skirting line; simultaneously the design of piece 8 is cleaned to skirting line right angle for when cleaning the skirting line of right angle form corner position department, the skirting line right angle is cleaned 8 can be better and is laminated with the skirting line of this department, improves the effect of cleaning, and this method cleans 3, the skirting line right angle through the skirting line from this, 8 and the horizontal combined action of cleaning 7 of piece 8, can realize effectively cleaning including the skirting line of right angle to corner position department, great improvement the effect of cleaning of skirting line.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.

Claims

1. A skirting line cleaning robot comprises a machine body, a walking mechanism and a cleaning mechanism, and is characterized by further comprising a distance sensing mechanism, wherein the distance sensing mechanism comprises a first distance sensing component arranged on the side surface of the machine body, a front distance sensing component arranged on the front side of the machine body and a rear distance sensing component arranged on the rear side of the machine body;

the cleaning mechanism comprises two skirting line cleaning assemblies distributed along the front and back directions of the machine body, the skirting line cleaning assemblies are mounted on the machine body on the same side with the first distance sensing assembly, and each skirting line cleaning assembly comprises a skirting line cleaning piece and a first driving system capable of driving the skirting line cleaning piece to vertically reciprocate so as to clean the skirting line;

the cleaning mechanism further comprises a skirting line right-angle cleaning assembly which is arranged on the machine body and located on the same side with the skirting line cleaning assembly, the skirting line right-angle cleaning assembly comprises a skirting line right-angle cleaning piece and a second driving system capable of driving the skirting line right-angle cleaning piece to vertically reciprocate, two right-angle sides of the skirting line right-angle cleaning piece are respectively matched with the side face and the front side direction of the machine body, and a cleaning face of the skirting line right-angle cleaning piece located on the side face of the machine body is flush with the cleaning face of the skirting line cleaning piece, so that the skirting line right-angle cleaning piece can be attached to a skirting line of a right-angle structure;

the second actuating system includes the rack of second driving motor and vertical setting, the rack with skirting line right angle cleans a fixed connection, the tooth's socket has all been seted up to the horizontal both sides of rack, the both sides of rack are equipped with a set of gear assembly respectively, and one of them is a set of the gear assembly with second driving motor's pivot is connected, the gear assembly includes coaxial coupling's pinion and has half incomplete gear of the teeth of a cogwheel, two be equipped with between the gear assembly simultaneously with two sets of pinion engagement's in the gear assembly gear wheel gear, and two sets of incomplete gear in the gear assembly can alternate with the tooth's socket that the rack corresponds the side meshes mutually.

2. The skirting line cleaning robot as claimed in claim 1, wherein said first driving system comprises a first driving motor, a belt, a driving wheel and a driven wheel, said driving wheel and said driving wheel being vertically disposed, a rotating shaft of said first driving motor being connected to said driving wheel, said belt being wound around said driving wheel and said driven wheel, said skirting line cleaning member being fixed to said belt.

3. The skirting line cleaning robot as claimed in claim 1, wherein said first distance sensing assembly comprises a first front distance sensing member and a first rear distance sensing member distributed along the front-rear direction of said body, and the plane of the central connecting line of the sensing heads of said first front distance sensing member and said first rear distance sensing member is parallel to the cleaning plane of said skirting line cleaning member.

4. The skirting line cleaning robot of claim 1, further comprising a dust suction mechanism, wherein the dust suction mechanism comprises a dust suction pump, an ash storage box and a dust suction assembly, the dust suction assembly is installed at the bottom of the body opposite to the dust suction assembly in a protruding manner, the dust suction assembly comprises two right-angle suction nozzles symmetrically distributed along the front-back direction of the body and a plurality of strip-shaped suction nozzles distributed between the two right-angle suction nozzles, and the right-angle suction nozzles, the strip-shaped suction nozzles and the ash storage box are all connected with the dust suction pump through hoses.

5. The skirting line cleaning robot as claimed in claim 4, wherein a second distance sensing assembly is further disposed at a side of the body where the dust suction assembly is mounted, the second distance sensing assembly includes a second front distance sensing member and a second rear distance sensing member which are distributed along a front-rear direction of the body, and a center connection line of the sensing heads of the second front distance sensing member and the second rear distance sensing member is parallel to a center connection line of the plurality of strip-shaped suction nozzles.

6. A working method of a skirting line cleaning robot, characterized in that the skirting line cleaning robot as claimed in claim 1 is used, comprising the steps of:

step 9) returns to execute step 2).

7. The working method of the skirting line cleaning robot as claimed in claim 6, wherein said first distance sensing assembly comprises a first front distance sensing member and a first rear distance sensing member distributed along the front-rear direction of said body, and the plane of the central connecting line of the sensing heads of said first front distance sensing member and said first rear distance sensing member is parallel to the cleaning plane of said skirting line cleaning member;

8. The working method of the skirting line cleaning robot as claimed in claim 6, wherein said cleaning mechanism further comprises a skirting line right-angle cleaning assembly mounted on said body and located on the same side as said skirting line cleaning assembly, said skirting line right-angle cleaning assembly comprises a skirting line right-angle cleaning member and a second driving system capable of driving said skirting line right-angle cleaning member to vertically reciprocate, two right-angle sides of said skirting line right-angle cleaning member respectively correspond to the side and front directions of said body, and the cleaning surface of said skirting line right-angle cleaning member located on the side of said body is flush with the cleaning surface of said skirting line cleaning member;