CN212698739U

CN212698739U - Cleaning robot

Info

Publication number: CN212698739U
Application number: CN201922166786.5U
Authority: CN
Inventors: 冉沅忠; 冯书鹏
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-10-12
Filing date: 2019-12-06
Publication date: 2021-03-16
Anticipated expiration: 2029-12-06
Also published as: CN112641392A; WO2021068908A1

Abstract

A cleaning robot comprises a robot body, a moving module, a cleaning module, a control module and a power module, wherein the moving module supports the robot body and drives the cleaning robot to move on a working surface; the cleaning robot further comprises a target object detection device which is arranged below the machine body and used for detecting a target object protruding out of the working surface, wherein the target object detection device comprises a detection element and a movable piece which can be moved under the action of external force to trigger the detection element.

Description

Cleaning robot

Technical Field

The utility model relates to a robot field especially relates to cleaning machines people.

Background

With the development of scientific technology, intelligent robots are well known, and moreover, cleaning robots such as intelligent sweeping machines and intelligent mopping machines are convenient to clean, time-saving and labor-saving, so that people get rid of tedious housework and step into the family life of common people.

Present intelligence mopping machine or intelligence are swept and are dragged all-in-one and possess the mop in order to clean ground, promote the cleanliness on ground. When the cleaning robot works, the cleaning robot often encounters obstacles in a room, such as a carpet, a doorsill and the like, when the cleaning robot encounters the obstacles, the cleaning robot cannot cross the obstacles, and the obstacles are detected by ultrasonic waves or infrared rays in the prior art and then are avoided. However, the detection error is large by using ultrasonic or infrared methods, for example, when the ultrasonic or infrared is blocked by other obstacles in the process of transmission, or an object with small thickness or poor light reflection effect such as a soft carpet is encountered, the detection error is large, and machine misjudgment is easily caused, so that the wrong scanning/wrong dragging is caused.

Therefore, it is necessary to design a new cleaning robot to solve the above problems.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects, the utility model adopts the following technical scheme:

a cleaning robot includes:

a body;

the moving module supports the machine body and drives the cleaning robot to move on a working surface;

the cleaning module is arranged on the machine body and used for cleaning a working surface;

the control module controls the moving module to automatically drive the cleaning robot to move;

the power module is used for providing power for the moving module;

the cleaning robot further comprises a target object detection device which is arranged below the machine body and used for detecting a target object protruding out of the working surface, wherein the target object detection device comprises a detection element and a movable piece which can be moved under the action of external force to trigger the detection element.

Further, the movable piece comprises an original position where the movable piece is not in contact with the target object and an end position where the movable piece is in contact with the target object.

Further, the movable piece includes a trigger portion for triggering the detection element.

Further, the movable member is movable relative to the body to switch the triggering portion between triggering and not triggering the detection element.

Further, the movable piece further comprises a fixing portion fixed on the body, and the movable piece can rotate around the fixing portion, so that the triggering portion can be switched between triggering the detection element and not triggering the detection element.

Further, the machine body further comprises a limiting portion used for limiting the movement range of the movable piece.

Further, when the movable piece receives an external force applied by the target object, the triggering portion moves upwards to trigger the detection element.

Further, when the movable piece is in the original position, the distance from the lower end of the movable piece to the ground is not less than 4 mm.

Further, the target object detection device includes an elastic member for providing a restoring force to the movable member to restore the movable member to the original position when the external force is removed.

Furthermore, one end of the elastic element abuts against the machine body, and the other end of the elastic element abuts against the movable element.

Furthermore, the machine body comprises a machine body main body and a positioning part which is fixed on the machine body main body and is used for being abutted against one end of the elastic part.

Further, the movable piece further comprises a supporting portion for supporting the elastic piece.

Further, when the external force is eliminated, the movable member returns to the original position under the action of its own weight.

Further, the object detection device is disposed below at least one of the front portion, both side portions, and the rear portion of the body.

Further, the cleaning robot includes at least two target detection devices disposed below both sides of the front portion of the body.

Further, the movable piece further comprises a contact portion exposed outside the body and used for contacting with the target object, and the contact portion comprises a curved surface or an inclined surface with a low inside and a high outside.

Further, at least one of the front surface and the two side outer surfaces of the movable piece comprises a curved surface or an inclined surface with a low inner part and a high outer part.

Further, the contact portion is tapered.

Further, the control module controls the motion state of the cleaning robot according to the detection result of the detection element.

Further, the cleaning robot further comprises an auxiliary judgment module for judging whether the current object is a specific object, and the control module controls the state of the cleaning robot according to the judgment result of the auxiliary judgment module.

Further, the cleaning robot further comprises a liftable auxiliary wheel arranged below the body.

Further, the cleaning robot includes an object detection enabled state in which the control module controls the state of the cleaning robot according to the detection result of the target detection device, and an object detection disabled state in which the control module does not control the movement state of the cleaning robot according to the detection result of the target detection device.

Further, the cleaning module comprises a mopping module.

Further, the mopping module comprises a mopping floor and a mop cloth detachably mounted on the mopping floor.

Further, the cleaning robot further comprises a liquid tank, and the control module controls the liquid tank to supply liquid to the floor mopping module when the cleaning robot mops the floor.

Further, the target detection device is used for detecting a carpet.

Compared with the prior art, the beneficial effects of the utility model are that: the cleaning robot is provided with the new target object detection device to identify the target object within the preset height range, so that the target object is accurately identified, and the cleaning robot is prevented from misjudging.

Drawings

Fig. 1 is a front view of a cleaning robot according to an embodiment of the present invention.

Fig. 2 is a plan view of the cleaning robot shown in fig. 1.

Fig. 3 is a sectional view taken along line a-a of the cleaning robot shown in fig. 2, in which the object detecting device is in a free state.

Fig. 4 is a cross-sectional view taken along line a-a when the target object detecting means of the cleaning robot shown in fig. 2 hits the target object.

Fig. 5 is an enlarged view of the target detecting device on the left side of the cleaning robot shown in fig. 3.

Fig. 6 is an enlarged view of the target detecting device on the left side of the cleaning robot shown in fig. 4.

Fig. 7 is a schematic view of the object detecting device in a free state according to an embodiment of the present invention.

Fig. 8 is a schematic view of the target object detecting apparatus shown in fig. 7 when it hits a target object.

Fig. 9 is a schematic view of an embodiment of the present invention when the target detection device is in a free state.

Fig. 10 is a schematic view of the target object detecting apparatus shown in fig. 9 when it hits a target object.

Fig. 11 is a schematic view of the cleaning robot of fig. 1 encountering a target object while moving forward.

Fig. 12 is a schematic view of the cleaning robot shown in fig. 1 encountering a target object while turning.

Fig. 13 is a schematic view of the cleaning robot shown in fig. 1 encountering a specific object.

Fig. 14 is a schematic view of the cleaning robot shown in fig. 1 driving on a specific object.

Fig. 15 is a schematic block diagram of the cleaning robot shown in fig. 1.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1, a cleaning robot 1 includes a body 10, a moving module 11 supporting the body 10 and driving the cleaning robot 1 to move on a work surface, a cleaning module 12 installed on the body 10 and used for performing a cleaning work on the work surface, a power module 13 providing power for the cleaning robot, an energy module 8 providing energy for the cleaning robot, and a control module 9 controlling the moving module to automatically drive the cleaning robot 1 to automatically move and controlling the cleaning module 12 to automatically operate. The cleaning robot 1 includes a target object detecting device 3 disposed below the body 10 and used for detecting a target object protruding from a working surface and having a certain thickness range, the target object detecting device 3 includes a detecting element 31 and a movable element 32 used for triggering the detecting element 31, the movable element 32 is movable under an external force to trigger the detecting element, and can return to an original position after the external force is eliminated. Specifically, when the external force is removed, the movable member 32 can return to the original position by its own weight, or the elastic member 33 can provide a restoring force to return to the original position, or the elastic member can provide a restoring force to return to the original position by other means. The external force is external force other than the cleaning robot, and the original position is a position where the movable member 32 is located when the movable member 32 is not subjected to the external force, or before the movable member 32 is subjected to the external force. The control module judges whether the cleaning robot 1 meets the target object 5 within the preset height range according to the detection result of the detection element 31, and controls the motion state of the cleaning robot 1 according to the detection result.

The movable member 32 is movable between an original position and an end position, and in the present embodiment, as shown in fig. 3, when the movable member is not yet in contact with the target object 5, the movable member 32 is located at the original position; as shown in fig. 4, when the movable member 32 contacts the target object 5, the movable member 32 moves from the original position to the end position by the external force applied by the target object 5 to trigger the detection element; when the movable piece 32 is out of contact with the target object 5, the movable piece 32 is returned from the end position to the original position as shown in fig. 3.

The cleaning robot 1 is generally used for cleaning a floor in a room, and may be a mopping machine, an all-in-one mopping machine, an automatic sweeping machine, or the like. When the cleaning robot 1 is an automatic sweeper, the cleaning module 12 is a cleaning device for sucking and sweeping garbage and dust on the surface. When the cleaning robot 1 is an automatic floor-mopping machine, the cleaning module 12 comprises a mop cloth, and the mop cloth compacts the floor to clean the indoor floor in the process that the moving module 11 drives the cleaning robot to move. When the cleaning robot 1 needs to return to the base station, for example, when the cleaning module 12 needs to be replaced or the cleaning robot 1 needs to be charged, a return base station program is started, and the cleaning robot 1 returns to the base station to complete automatic mop replacement and/or charging.

In the present embodiment, as shown in fig. 1 to 15, the cleaning robot 1 is exemplified by a robot cleaner. The moving module 11 supports the body 10 and moves the cleaning robot 1, and is disposed at the rear end of the body 10. In this embodiment, the moving module 11 specifically includes two driving wheels 110 located at both sides of the rear portion of the cleaning robot 1, and can be independently driven by the power module 13. Such an arrangement enables the traveling speed and direction of the moving module 11 to be controlled by controlling the speed and speed difference of the two driving wheels 110, so that the cleaning robot 1 can walk and turn flexibly and accurately. The movement module 11 may have other forms, such as a crawler type, etc.

The power module 13 provides power for the movement and operation of the cleaning robot 1. Specifically, the cleaning robot includes a motor located in the cleaning robot 1 and a transmission structure connected with the motor to provide power for the moving module 11. The transmission mechanism is connected with the mobile module 11, the motor drives the transmission mechanism to work, and the transmission action of the transmission mechanism enables the mobile module 11 to move. The moving module 11 receives the instruction of the control module and drives the cleaning robot 1 to automatically walk on the working surface.

The control module 9 is a control center of the cleaning robot 1, is electrically connected with the power module 13, the energy module 8, the moving module 11, the cleaning module 12, and the like, and receives information sent by each module. The control module 9 controls the moving module 11 to automatically drive the cleaning robot 1 to automatically move, controls the cleaning module 12 to automatically work, and controls the cleaning robot 1 to perform various actions or tasks such as work area switching, base station returning, charging and the like. The control module may be an embedded Digital Signal Processor (DSP), a Microprocessor (MPU), an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), a System On Chip (SOC), a Central Processing Unit (CPU), a Field Programmable Gate Array (FPGA), or the like.

The energy module 8 provides energy for the movement and operation of the cleaning robot 1. The energy module 8 may be a rechargeable battery pack or the like that supplies power for the operation of the cleaning robot 1, and may have a charging or discharging protection unit capable of protecting the charging or discharging of the energy module.

And a cleaning module 12 mounted on the body 10. The cleaning module 12 includes a mopping module 120, wherein the mopping module 120 includes a mopping floor and a mop swab removably mounted to the mopping floor. In this embodiment, the mopping module 120 is disposed under the front portion of the body 10, however, the mopping module 120 may be disposed at a position forward below the middle portion of the body 10, and in other embodiments, the mopping module 120 may be disposed under the rear portion of the body 10 as needed. Generally, the mopping module 120 is disposed at the middle front portion of the body 10 to clean the floor for the first time, so as to prevent dust on the floor from contaminating other areas of the cleaning robot. In this embodiment, the mopping module 120 and the moving module 11 are respectively located at two opposite ends of the machine body 10, for example, the mopping module 120 is arranged at the front side, and the moving module 11 is arranged at the rear side, so as to stably support the machine body 10 on the surface of the working area, and the mopping module 120 compacts the surface of the working area, thereby avoiding the problems that the mopping cloth is arranged at the same side with the moving module 11 and cannot compact the ground under the driving of the moving module 11, so that the cleaning of the working area is not clean, and the like. Further, the cleaning robot 1 further comprises a liquid tank, and the control module 9 controls the liquid tank to supply liquid to the floor mopping module when the cleaning robot mops the floor, so as to wet the floor.

In another embodiment, the cleaning robot 1 is an automatic sweeping and mopping all-in-one machine, comprising a dust collecting device and a cleaning module, wherein the cleaning module 12 comprises a mopping module 120, a rolling brush and an edge brush. In one embodiment, the mopping module 120 is disposed at the front of the body 10, between the roller brush and the driving wheel 110, so that the cleaning robot 1 can sweep the floor first and then mop the floor, and the cleaning effect is enhanced. The rolling brush and the side brush mechanism adopt the rolling brush and the side brush which are common in the industry and are used for cleaning dust and other sundries on the ground, the wall corner and the like; the dust collecting device comprises a dust collecting box, a fan and other components, and the fan is used for generating suction force to collect dust and debris cleaned by the rolling brush, the rolling brush and the like into the dust collecting box.

In this embodiment, the object detecting device 3 includes an elastic member 33 for providing a restoring force to the movable member 32 to restore the movable member 32 to the original position when the external force is removed, so that the elastic member 33 provides the restoring force to restore the movable member 32 to the original position for the detailed description, but in other embodiments, the movable member 32 may also restore to the original position by its own weight or other restoring forces.

As shown in fig. 1 to 14, one end of the elastic element 33 abuts against the body 10, and the other end abuts against the movable element 32. As shown in fig. 5 and 6, the main body 10 includes a main body 101 and a positioning portion 102 fixed on the main body 101 and configured to abut against one end of the elastic member 33, and one end of the elastic member 33 abuts against the positioning portion 102. Specifically, the positioning portion 102 may be a separate part fixed to the body main body 101 by a fastener, an adhesive, or the like. In another embodiment, the positioning portion 102 may also be a part of the body 10, for example, a component of the positioning portion 102 integrated with the body 101.

The movable member 32 includes a trigger portion 321 for triggering the detection element 31, a holding portion 322 for holding the elastic member 33, and a contact portion 325 exposed outside the body and for contacting the target object. When the movable member 32 moves upward by an external force, the abutting portion 322 also moves upward to compress the elastic member 33, and when the external force applied to the movable member 32 is removed, the elastic member 33 generates a restoring force after being compressed to push the abutting portion 322 to move downward, so that the movable member 32 returns to the original position. The elastic member 33 may be a spring, a torsion spring, an elastic washer, or the like. In this embodiment, in order to detect a relatively soft object such as a carpet, since the external force generated by the collision of the relatively soft object is relatively small, the elastic resistance of the elastic member 33 is generally less than 5N, so that when the movable member 32 collides with the relatively soft object such as the carpet, the elastic member 33 can be compressed relatively easily to trigger the detecting element 31.

The contact portion 325 is located on at least one of the peripheral outer surfaces of the movable member 32, and at least one of the peripheral outer surfaces of the movable member 32 includes the contact portion 325, and when the cleaning robot 1 encounters a target object, the contact portion 325 may contact (be in contact with) the target object to obtain a force applied to the movable member 32 by the target object. The movable member 32 is movable as compared to the body 10, but its movement is also limited to limit the range of its movement. The movable member 32 can move or rotate relative to the body 10 to enable the movable member to move relative to the body 10, and the triggering portion 321 can be switched between the triggering detection element 31 and the non-triggering detection element 31 by the movement of the movable member 32.

As shown in fig. 5 to 6, the movable member 32 further includes a fixing portion 323 fixed to the body 10, and the movable member 32 is rotatable about the fixing portion 323 to switch the triggering portion 321 between the triggering detection element 31 and the non-triggering detection element 31. In another embodiment, as shown in fig. 7 to 8, the movable member 32 can also move relative to the body 10 to switch the triggering portion 321 between triggering the detecting element 31 and not triggering the detecting element 31. The body 10 further includes a limiting portion 103 for limiting a movement range of the movable member 32, the movement range of the movable member 32 is limited by the limiting portion 103, and the movable member 32 moves between an original position and an end position of the movement range to realize the switching of the triggering portion 321 between the triggering detection element 31 and the non-triggering detection element 31. For example, as shown in fig. 8, when the movable piece 32 moves to the end position of the movement range, the triggering portion 321 triggers the detection element 31; as shown in fig. 7, when the movable piece 32 moves to the original position of the movement range, the triggering portion 321 does not trigger the detecting element 31. The stopper 103 may be a part of the body 10, that is, a structure integrated with the body 101; of course, the stopper 103 may be a separate component fixed to the body 101.

In the present embodiment, when the movable piece 32 receives an external force applied by the target object 5, the triggering portion 321 moves upward to trigger the detecting element 32. The upward movement of the trigger 321 means upward displacement before and after the movement of the trigger 321, and includes upward rotation or upward movement. For example, the movable member 32 rotates to move and drive the triggering portion 321 to move upwards, or the movable member 32 moves and drive the triggering portion 321 to move upwards, and so on, in the above case, the triggering portion 321 moves upwards before and after the movement, and thus, the triggering portion 321 is referred to as the upward movement.

The detecting element 31 may be a different switch type, for example, as shown in fig. 5 to 8, the detecting element 31 may be a photoelectric switch, which is triggered by the blocking or reflection of the light beam by the triggering portion 321; as shown in fig. 9 to 10, the detecting element 31 may be a micro switch, and the trigger portion 321 pushes the actuating reed 311 of the micro switch to trigger the micro switch to be closed; of course, in other embodiments, the detecting element 31 may be other types of switches, such as a hall switch, a reed switch, and so on, which are not illustrated in this application.

As shown in fig. 1 and 2, the object detecting device 3 is disposed below the body 10, and the lower end of the movable member 32 protrudes below the body 10 and faces the ground. When the movable member 32 is located at the home position, the height of the lower end of the movable member from the ground is H1, when an object with a height greater than H1 exists on the ground, the triggering portion 321 can be pushed to move upward to trigger the detecting element 31, and the control module 9 determines whether the cleaning robot 1 encounters an object within a preset height range according to the detection result of the detecting element 31, wherein the minimum value of the preset height range is H1. In one embodiment, H1 is not less than 4mm, since the height of the dust with larger particles on the floor is generally 3mm, but not more than 4mm, in this embodiment, H1 is controlled to be not less than 4mm, so as to prevent the cleaning robot from triggering the detecting element when encountering the dust with larger particles, and thus the dust cannot be removed. Of course, in other embodiments, H1 can be set to be no less than 3mm, and even smaller (e.g., H1 is no less than 2.5mm, or 2mm, etc.).

In this embodiment, the cleaning robot 1 is an automatic floor mopping machine, and when the cleaning robot 1 automatically works, the mop cloth is tightly attached to the floor, and when the cleaning robot 1 encounters the carpet 5, if the cleaning robot continues to drive the carpet 5, the mop cloth of the automatic floor mopping machine is tightly attached to the carpet 5, which may contaminate the carpet 5 and may damage the carpet. The object detecting device 3 may be used to detect an object such as a carpet 5, and when the object detecting device 3 detects the carpet 5, the control module 9 controls the cleaning robot 1 not to drive onto the carpet 5, so as to avoid polluting or damaging the carpet 5. Generally, the thickness H of the carpet 5 is about 5-12mm, when the cleaning robot 1 moves to the vicinity of the carpet, the height H1 between the lower end of the object detection device 3 and the ground is smaller than the thickness H of the carpet 5, so when the lower end of the movable element 32 of the object detection device 3 moves to the position of the carpet 5, the lower end of the movable element 32 touches the carpet 5, the carpet 5 applies an external force to the movable element 32, the movable element 32 moves upwards under the force, the trigger part 321 triggers the detection element 31, the cleaning robot 1 determines that a target object (the carpet 5 or other obstacles) is encountered, the control module 9 controls the cleaning robot 1 to execute a corresponding instruction, for example, controls the cleaning robot 1 to retreat and turn to avoid the carpet 5, and prevents the cleaning robot 1 from driving onto the carpet 5, thereby protecting the carpet from being contaminated or damaged.

The object detection device 3 is disposed below at least one of the front, both sides, and rear of the body in order to detect the object at the first time. In this embodiment, as shown in fig. 11 to 12, the cleaning robot 1 includes at least two object detecting devices 3 disposed below both sides of the front portion of the body 10, so that when the cleaning robot 1 moves forward and turns left and right, the two object detecting devices 3 disposed at both sides of the front portion thereof can quickly detect whether there is an object in front of the movement direction thereof. In an embodiment, the cleaning robot 1 may only be provided with two target object detection devices 3 located below two sides of the front portion of the body 10, when the two target object detection devices 3 can quickly detect that the cleaning robot 1 moves forward, whether a target object is located in front of the moving direction of the cleaning robot, and when the cleaning robot 1 turns, only two target object detection devices 3 are needed to simultaneously detect that the cleaning robot moves forward and turns, whether a target object is located in front of the moving direction of the cleaning robot, which reduces cost, and avoids occupying the space of the body 10. The object detecting device 3 is located in front of the floor mopping module, in particular in front of the mop cloth, to detect if there is an object in front of the mop cloth of the floor mopping module before it contacts an object such as a carpet 5, thereby avoiding the mop cloth from contacting the object. Of course, in other embodiments, the cleaning robot 1 may further include another target object detection device 3 at the rear or other positions thereof to accurately detect whether there is a target object in each direction around the cleaning robot 1 when the cleaning robot 1 moves forward, backward, and turns.

As shown in fig. 1 and 3 to 10, the contact portion 325 is exposed to the outside of the body such that the contact portion 325 can contact the target object when the cleaning robot 1 hits the target object. In order to quickly contact the target object 5, the length and width of the contact portion 325 in the horizontal direction cannot be too small, and generally, the length and width of the contact portion 325 are not less than 20mm, so as to avoid that the contact portion 325 is too small to detect the target object; of course, the length and width of the contact portion 325 may be set according to actual conditions, and if the space of the body 10 is not enough, or the contact portion 325 is sensitive, etc., the length and width of the contact portion 325 may be set within 20 mm.

The contact portion 325 includes a curved surface or an inclined surface with a low inside and a high outside, so that when the movable member 32 touches a target object such as a carpet, the target object such as the carpet applies an acting force with an upward component force to the movable member 32, and further drives the movable member 32 to move upward to trigger the detection element 31. Specifically, at least one of the front surface and the outer surfaces on both sides of the movable member 32 is the contact portion 325, so that at least one of the front surface and the outer surfaces on both sides of the movable member 32 includes a curved surface or an inclined surface with a low inside and a high outside. The included angle between the tangent of the inclined plane or the curved surface and the horizontal line is not 90 degrees, and the included angle between the tangent of the inclined plane or the curved surface and the horizontal line, which is less than 90 degrees, can be 40-60 degrees (including 40 degrees and 60 degrees); of course, in other embodiments, any angle between 0-90 degrees (excluding 0 and 90 degrees) is also possible.

In one embodiment, contact 325 is approximately conical, as shown in fig. 3-9, contact 325 includes a number of slopes or curves that enclose an approximately conical shape; of course, in other embodiments, the contact portion 325 may have other shapes depending on the number and position of the slopes or curved surfaces.

In general, the cleaning robot 1 works in a home or other indoor working environment of a user, and in addition to the height H1 of the carpet 5 being greater than the height H1 of the movable member 32 from the ground in the home position, there are other objects in the working area of the cleaning robot 1 whose height is greater than the height H1 of the movable member 32 from the ground in the home position, such as a doorsill or other obstacles in the room. In general, most objects with a height greater than H1 in the working area are to be avoided by the cleaning robot 1, so that, in most cases when the detection element is triggered, the control module 9 controls the cleaning robot 1 to execute the same instructions (e.g., controls the cleaning robot 1 to move backward and turn around) when encountering the carpet 5.

However, in the working area of the cleaning robot 1, there are also some specific objects that cannot be avoided and need to be driven over their surface, for example, specific objects such as a threshold. Since the cleaning robot 1 needs to clean several small working areas separated by a threshold or other specific objects when working indoors, the cleaning robot must pass over the threshold or other specific objects.

The cleaning robot 1 often needs to cross a threshold in order to enter from one small working area to another small working area to continue to perform the cleaning task. In this embodiment, as shown in fig. 15, the cleaning robot 1 further includes an auxiliary determination module 4 for determining whether the current object is a specific object, and the control module 9 controls the state of the cleaning robot according to the determination result of the auxiliary determination module 4. The cleaning robot 1 comprises an object detection valid state and an object detection invalid state, and the control module 9 controls the state of the cleaning robot according to the detection result of the target object detection device 3 in the object detection valid state; in the object detection disabled state, the control module 9 does not control the state of the cleaning robot 1 according to the detection result of the target detection device 3. When the auxiliary judgment module judges that the present object (the currently detected object) is the specific object, the control module 9 controls the cleaning robot 1 to be in the object detection disabled state. For example, when the auxiliary determination module 4 determines that the current target object detected by the target object detection device 3 is the specific object 7 such as a threshold, the control module 9 controls the cleaning robot 1 to be in the object detection disabled state, and further, the cleaning robot 1 does not perform actions such as backward movement and steering, but continues to move forward to pass over the specific object such as the threshold, and then enters another small working area. The auxiliary judgment module 4 can assist in judging whether the current object is the specific object 7 by means of drawing, APP partitioning, vision and the like, for example, by pre-storing a specific area where the specific object is located, if the current object is located in the specific area, the current object is judged to be the specific object 7, the control module 9 controls the cleaning robot 1 to be in an object detection invalid state, and at this time, the control module 9 does not control the state of the cleaning robot 1 according to a detection result of the target object detection device 3; and if the current object is not located in the specific area, the current object is judged to be the non-specific object 7, the control module 9 controls the cleaning robot 1 to be in an object detection effective state, and at the moment, the control module 9 controls the state of the cleaning robot according to the detection result of the target object detection device 3. In another embodiment, the determination may also be assisted by visually recognizing whether the current object is a specific object, or the like, and of course, in other embodiments, the determination may also be assisted by other manners.

The cleaning robot 1 further comprises a liftable auxiliary wheel 6 arranged below the body, and when the auxiliary judgment module 4 judges that the current object is the specific object 7, the control module 9 controls the auxiliary wheel 6 to descend to contact the ground. As shown in fig. 13 to 14, when the target detection device 3 hits a specific object 7 such as a threshold, the auxiliary determination module 4 determines that the current target object is the specific object 7, the control module 9 controls the cleaning robot 1 to be in an object detection disabled state, and the control module 9 controls the cleaning robot 1 not to control the state of the cleaning robot 1 according to the detection result of the target detection device 3 but to continue to perform the original operation (for example, to continue moving forward), and at the same time, the auxiliary wheels 6 are lowered to contact the ground. As shown in fig. 13, the auxiliary wheel 6 directly contacts the ground, and the target detection device 3 is further away from the ground by H1, and the lowest point of the auxiliary wheel 6 is always lower than the lowest point of the target detection device 3. Therefore, as shown in fig. 14, when the cleaning robot 1 drives on the specific object 7 such as the threshold, the target detection device 3 does not come into contact with the specific object 7 such as the threshold when the auxiliary wheel 6 is supported on the specific object 7 such as the threshold, and the cleaning robot 1 can drive on the specific object 7 such as the threshold without being blocked by the target detection device 3 with the support of the auxiliary wheel 6.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of this invention are intended to be covered by the present application.

Claims

1. A cleaning robot, comprising:

a body;

the power module is used for providing power for the moving module; the method is characterized in that:

2. The cleaning robot according to claim 1, wherein: the movable piece comprises an original position where the movable piece is not in contact with the target object and an end position where the movable piece is in contact with the target object.

3. The cleaning robot according to claim 1, wherein: the movable piece includes a trigger portion for triggering the detection element.

4. The cleaning robot according to claim 3, wherein: the movable member is movable relative to the body to cause the trigger portion to switch between triggering and not triggering the detection element.

5. The cleaning robot according to claim 3, wherein: the movable piece further comprises a fixing portion fixed on the machine body, and the movable piece can rotate around the fixing portion to enable the triggering portion to switch between triggering the detection element and not triggering the detection element.

6. A cleaning robot as claimed in claim 2 or 3 or 4 or 5, characterized in that: the fuselage still includes the spacing portion that is used for restricting the motion range of movable piece.

7. The cleaning robot according to claim 3, wherein: when the movable piece receives an external force applied by the target object, the trigger part moves upwards to trigger the detection element.

8. The cleaning robot according to claim 2, wherein: when the movable piece is located at the original position, the distance from the lower end of the movable piece to the ground is not less than 4 mm.

9. The cleaning robot according to claim 2, wherein: the target object detection device comprises an elastic element which is used for providing restoring force for the movable element so as to enable the movable element to restore to the original position when the external force is eliminated.

10. The cleaning robot according to claim 9, wherein: one end of the elastic element abuts against the machine body, and the other end of the elastic element abuts against the movable element.

11. The cleaning robot of claim 10, wherein: the machine body comprises a machine body main body and a positioning part which is fixed on the machine body main body and is used for being abutted against one end of the elastic piece.

12. The cleaning robot of claim 10, wherein: the movable piece also comprises a butting part used for butting against the elastic piece.

13. The cleaning robot according to claim 2, wherein: when the external force is eliminated, the movable piece returns to the original position under the action of the gravity of the movable piece.

14. The cleaning robot according to claim 1, wherein: the object detection device is arranged below at least one of the front part, the two side parts and the rear part of the machine body.

15. The cleaning robot of claim 14, wherein: the cleaning robot includes at least two target detection devices disposed below both sides of the front portion of the body.

16. The cleaning robot according to claim 1, wherein: the movable piece further comprises a contact portion exposed outside the body and used for being in contact with the target object, and the contact portion comprises a curved surface or an inclined surface with a low inside and a high outside.

17. The cleaning robot of claim 16, wherein: at least one of the front surface and the outer surfaces of the two sides of the movable piece comprises a curved surface or an inclined surface with a low inner part and a high outer part.

18. The cleaning robot of claim 16, wherein: the contact portion is tapered.

19. The cleaning robot according to claim 1, wherein: the control module controls the motion state of the cleaning robot according to the detection result of the detection element.

20. The cleaning robot according to claim 1, wherein: the cleaning robot also comprises an auxiliary judgment module for judging whether the current object is a specific object, and the control module controls the state of the cleaning robot according to the judgment result of the auxiliary judgment module.

21. The cleaning robot of claim 20, wherein: the cleaning robot further comprises a liftable auxiliary wheel arranged below the machine body.

22. The cleaning robot of claim 20, wherein: the cleaning robot includes an object detection enabled state in which the control module controls the state of the cleaning robot according to the detection result of the object detection device, and an object detection disabled state in which the control module does not control the motion state of the cleaning robot according to the detection result of the object detection device.

23. The cleaning robot according to claim 1, wherein: the cleaning module includes a mopping module.

24. The cleaning robot of claim 23, wherein: the mopping module comprises a mopping floor and a mop cloth detachably mounted on the mopping floor.

25. The cleaning robot of claim 23, wherein: the cleaning robot further comprises a liquid tank, and the control module controls the liquid tank to supply liquid to the floor mopping module when the cleaning robot mops the floor.

26. The cleaning robot according to claim 1, wherein: the target object detection device is used for detecting a carpet.