WO2022142147A1 - Automatic cleaning device - Google Patents

Automatic cleaning device Download PDF

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Publication number
WO2022142147A1
WO2022142147A1 PCT/CN2021/099231 CN2021099231W WO2022142147A1 WO 2022142147 A1 WO2022142147 A1 WO 2022142147A1 CN 2021099231 W CN2021099231 W CN 2021099231W WO 2022142147 A1 WO2022142147 A1 WO 2022142147A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
platform
cleaning device
automatic cleaning
driving
Prior art date
Application number
PCT/CN2021/099231
Other languages
French (fr)
Chinese (zh)
Inventor
李行
成盼
段传林
杨志敏
刘俊刚
杨帆
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to EP21912906.1A priority Critical patent/EP4272618A1/en
Priority to US18/270,989 priority patent/US20240057837A1/en
Priority to CA3204126A priority patent/CA3204126A1/en
Priority to JP2023540845A priority patent/JP2024502834A/en
Priority to KR1020237025546A priority patent/KR20230125812A/en
Priority to AU2021411295A priority patent/AU2021411295A1/en
Publication of WO2022142147A1 publication Critical patent/WO2022142147A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present invention relates to the technical field of cleaning robots, in particular to an automatic cleaning device.
  • cleaning robots mainly include sweeping robots and mopping robots.
  • the functions of sweeping robots and mopping robots are relatively simple, and they can only be used for sweeping or mopping. If you want to sweep and mop the floor at the same time, you must prepare two sets of equipment at the same time, occupying double the space.
  • the purpose of the present invention is to provide an automatic cleaning device that can solve the technical problem that the ground cannot be cleaned.
  • the specific plans are as follows:
  • the present invention provides an automatic cleaning device, comprising:
  • a mobile platform 100 configured to move automatically on the operating surface
  • the cleaning module 150 disposed on the mobile platform 100, includes:
  • the dry cleaning module 151 is configured to clean at least a part of the operation surface by dry cleaning
  • the wet cleaning module 400 is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes:
  • a cleaning head 410 for cleaning the operating surface a cleaning head 410 for cleaning the operating surface
  • the drive unit 420 includes:
  • the driving platform 421 is connected to the bottom surface of the moving platform 100 for providing driving force
  • the supporting platform 422 is detachably connected to the driving platform 421 for supporting the cleaning head 410 .
  • the drive platform 421 includes:
  • the motor 4211 is arranged on the side of the driving platform 421 close to the moving platform 100, and outputs power through the motor output shaft;
  • the driving wheel 4212 is connected to the output shaft of the motor, and the driving wheel 4212 has an asymmetric structure.
  • the drive platform 421 further includes:
  • the vibrating member 4213 is disposed on the opposite side of the driving platform 421 to the motor 4211 , and is connected to the driving wheel 4212 to achieve substantially reciprocating motion under the asymmetrical rotation of the driving wheel 4212 .
  • the drive platform 421 further includes:
  • the connecting rod 4214 extends along the edge of the driving platform 421 and connects the driving wheel 4212 and the vibration member 4213, so that the vibration member 4213 extends to a preset position.
  • the vibration member 4213 is a rod-shaped structure, and its extending direction is perpendicular to the connecting rod 4214 .
  • the driving platform includes a shock buffer device 4215 disposed on the connecting rod 4214 .
  • the support platform 422 includes:
  • the cleaning substrate 4221 is freely movable on the supporting platform 422 , and the cleaning substrate 4221 substantially reciprocates relative to the supporting platform 422 under the vibration of the vibration member 4213 .
  • the cleaning substrate 4221 includes:
  • the assembling notch is disposed at the position contacting the vibration member 4213 .
  • the vibration member 4213 is assembled in the assembling notch.
  • the support platform 422 further includes:
  • a dismounting button 4229 is used to detachably connect the supporting platform 422 to the driving platform 421 .
  • the support platform 422 further includes:
  • At least one assembling area 4224 is disposed on the supporting platform 422 for assembling the cleaning head 410 .
  • the cleaning head 410 includes:
  • the active area 412 is connected to the cleaning substrate 4221 and substantially reciprocates along the target surface under the driving of the cleaning substrate 4221 .
  • an adhesive layer is provided on the side where the active area 412 is connected to the cleaning substrate 4221 , and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer.
  • the cleaning head 410 further includes:
  • the fixing area 411 is connected to the bottom of the support platform 422 through the at least one assembly area 4224 , and the fixing area 411 cleans at least a part of the operation surface along with the movement of the support platform 422 .
  • the cleaning head 410 further includes:
  • the flexible connection portion 413 is disposed between the fixed area 411 and the movable area 412 and is used to connect the fixed area 411 and the movable area 412 .
  • the cleaning head 410 further includes:
  • the sliding buckle 414 extends along the edge of the cleaning head 410 and is detachably mounted on the supporting platform 422 .
  • a lifting module is provided between the cleaning module 150 and the mobile platform 100 .
  • the dry cleaning module 151 is connected to the mobile platform 100 through a passive lifting module.
  • the wet cleaning module 400 is connected to the mobile platform 100 through an active lifting module.
  • the embodiment of the present invention has the following technical effects:
  • the sweeping and mopping integrated cleaning device can provide a more comprehensive cleaning function because the cleaning module of the automatic cleaning device is provided with a dry cleaning module and a wet cleaning module.
  • the cleaning head can reciprocate, so that the surface to be cleaned can be repeatedly cleaned, so that in the movement trajectory of the cleaning robot, one pass through a certain area can achieve multiple
  • the cleaning effect is greatly enhanced, especially for areas with more stains, the cleaning effect is obvious.
  • FIG. 1 is a perspective view of an automatic cleaning apparatus according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to an embodiment of the present invention.
  • FIG 3 is a perspective view of a one-side drive wheel assembly according to an embodiment of the present invention.
  • FIG. 4 is a front view of a one-side drive wheel assembly according to an embodiment of the present invention.
  • FIG. 5 is a perspective view of a dust box according to an embodiment of the present invention.
  • FIG. 6 is a perspective view of a fan according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of an open state of the dust box according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a combined state of a dust box and a fan according to an embodiment of the present invention.
  • FIG. 9 is an exploded view of an automatic cleaning device according to an embodiment of the present invention.
  • FIG. 10 is a structural diagram of a support platform of an automatic cleaning device according to an embodiment of the present invention.
  • FIG. 11 is a structural diagram of a vibration member of an automatic cleaning device according to an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of a cleaning head driving mechanism based on a crank-slider mechanism according to another embodiment of the present invention.
  • FIG. 13 is a schematic diagram of a cleaning head driving mechanism based on a double crank mechanism according to another embodiment of the present invention.
  • FIG. 14 is a schematic diagram of a cleaning head driving mechanism based on a crank mechanism according to another embodiment of the present invention.
  • FIG. 15 is a structural diagram of a vibration member according to an embodiment of the present invention.
  • FIG. 16 is a schematic diagram of an assembly structure of a cleaning substrate according to an embodiment of the present invention.
  • FIG. 17 is a structural diagram of a motor-driven clean water pump according to an embodiment of the present invention.
  • FIG. 18 is a structural diagram of a motor-driven lifting module according to an embodiment of the present invention.
  • Mobile platform 100 rearward portion 110, forward portion 111, perception system 120, position determination device 121, buffer 122, cliff sensor 123, control system 130, drive system 140, drive wheel assembly 141, steering assembly 142, elastic element 143, drive motor 146, cleaning module 150, dry cleaning module 151, dust box 152, filter 153, dust suction port 154, air outlet 155, fan 156, energy system 160, human-computer interaction system 170, wet cleaning Assembly 400, cleaning head 410, drive unit 420, drive platform 421, support platform 422, motor 4211, drive wheel 4212, vibration member 4213, connecting rod 4214, vibration buffer device 4215, jaw 4216, clean water pump pipe 4218, clean water pump 4219, cleaning base plate 4221, elastic disassembly button 4229, assembly area 4224, snap position 4225, first chute 4222, second chute 4223, first slider 525, second slider 528, rotary end 512 (4227) , a sliding end 514 (4226), a first pivot 516 (624), a second
  • first, second, third, etc. may be used for description in the embodiments of the present invention, these should not be limited to these terms. These terms are used only to distinguish.
  • the first may also be referred to as the second, and similarly, the second may be referred to as the first without departing from the scope of the embodiments of the present invention.
  • Fig. 1-2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment.
  • the automatic cleaning device can be a vacuum suction robot, It can be a window climbing robot, etc.
  • the automatic cleaning device can include a mobile platform 100 , a sensing system 120 , a control system 130 , a driving system 140 , a cleaning module 150 , an energy system 160 and a human-computer interaction system 170 . in:
  • the mobile platform 100 may be configured to automatically move along the target direction on the operating surface.
  • the operating surface may be the surface to be cleaned by the automatic cleaning device.
  • the automatic cleaning device can be a mopping robot, and the automatic cleaning device works on the ground, where the ground is the operating surface; the automatic cleaning device can also be a window cleaning robot, and the automatic cleaning device is in the building.
  • the outer surface of the glass works, the glass is the operation surface; the automatic cleaning equipment can also be a pipe cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipe, and the inner surface of the pipe is the operation surface.
  • the following description in this application takes a floor mopping robot as an example for illustration.
  • the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform.
  • the autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions according to unexpected environmental inputs. Operational decisions, but can execute a given procedure or operate according to a certain logic.
  • the target direction may be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by the system or manually.
  • the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .
  • Perception system 120 includes position determination device 121 located above mobile platform 100, buffer 122 located at forward portion 111 of mobile platform 100, cliff sensors 123 and ultrasonic sensors (not shown), infrared sensors located at the bottom of mobile platform 100 (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors
  • the device provides various position information and motion state information of the machine to the control system 130 .
  • the automatic cleaning device can travel on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: lateral axis x, Front and rear axis y and center vertical axis z.
  • the forward drive direction along the front-rear axis y is designated “forward” and the rearward drive direction along the front-rear axis y is designated “rear”.
  • the transverse axis x extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning apparatus.
  • the automatic cleaning device can rotate around the x-axis.
  • the automatic cleaning device can be rotated about the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is inclined to the right of the Y-axis, it is “turn right", and when the automatic cleaning device is inclined to the left of the y-axis, it is “turn left”.
  • cliff sensors 123 are provided on the bottom of the mobile platform 100 and at the front and rear of the driving wheel assembly 141 .
  • the cliff sensors are used to prevent the automatic cleaning device from falling when it retreats, so as to prevent the automatic cleaning device from being affected by damage.
  • the aforementioned "front” refers to the same side with respect to the traveling direction of the automatic cleaning device, and the aforementioned “rear” refers to the opposite side with respect to the traveling direction of the automatic cleaning device.
  • the location determination device 121 includes, but is not limited to, a camera, a laser ranging device (LDS).
  • LDS laser ranging device
  • Each component in the perception system 120 can operate independently, or can operate together to achieve the purpose function more accurately.
  • the surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical properties of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with cameras, laser ranging devices, etc. for more accurate determination.
  • the ultrasonic sensor can determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.
  • the forward portion 111 of the mobile platform 100 is provided with a bumper 122.
  • the bumper 122 detects the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor.
  • a sensor system such as an infrared sensor.
  • the control system 130 is provided on a circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, an application processing unit that communicates with non-transitory memory, such as hard disk, flash memory, random access memory,
  • the device is configured to receive the environmental information sensed by the plurality of sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward, and/or steering according to the autonomously determined driving path. Further, the control system 130 may also decide whether to start the cleaning module 150 to perform the cleaning operation according to the environmental information and the environmental map.
  • control system 130 can combine the distance information and speed information fed back by the buffer 122 , the cliff sensor 123 and the ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices to comprehensively judge that the sweeper is currently in What working state, such as crossing the threshold, on the carpet, on the cliff, stuck above or below, the dust box is full, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the owner's requirements, and there is a better user experience. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, which greatly improves the cleaning efficiency of automatic cleaning equipment.
  • the drive system 140 may execute drive commands to steer the automated cleaning apparatus across the ground based on specific distance and angular information, such as x, y, and theta components.
  • 3 and 4 are oblique views and front views of one side drive wheel assembly 141 in an embodiment of the present invention.
  • the drive system 140 includes a drive wheel assembly 141, and the drive system 140 can control the left wheel and the right wheel at the same time.
  • the drive system 140 preferably includes a left drive wheel assembly and a right drive wheel assembly, respectively.
  • the left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 .
  • the driving wheel assembly includes a main body, a driving wheel and an elastic element.
  • One end of the main body is connected to the frame, and the driving wheel is arranged in the main body and driven by the driving motor 146; the elastic element is connected between the main body and the frame, and the elastic element is connected to the frame. It is configured to provide elastic force between the frame and the main body, the drive motor 146 is located outside the drive wheel assembly 141, and the axis of the drive motor 146 is located in the cross-sectional projection of the drive wheel, and the drive wheel assembly 141 can also be connected to measure the drive current. circuit and odometer.
  • the automatic cleaning equipment may include one or more steering assemblies 142, and the steering assemblies 142 may be driven wheels or driving wheels, and their structural forms Including but not limited to caster wheels, the steering assembly 142 may be located in front of the drive wheel assembly 141 .
  • Drive motor 146 provides power for rotation of drive wheel assembly 141 and/or steering assembly 142 .
  • the driving wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance.
  • the drive wheel may have an offset drop suspension system, movably fastened, eg, rotatably attached, to the automatic cleaning device moving platform 100, and grounded to a certain degree by elastic elements 143, such as tension springs or compression springs The force maintains the contact and traction with the ground, and at the same time, the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.
  • the energy system 160 includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected with the single-chip microcomputer control circuit.
  • the host is charged by connecting to the charging pile through the charging electrode arranged on the side or below of the fuselage. If there is dust on the bare charging electrode, the plastic body around the electrode will melt and deform due to the accumulation effect of the charge during the charging process, and even the electrode itself will be deformed, making it impossible to continue normal charging.
  • the human-computer interaction system 170 includes buttons on the host panel, and the buttons are used for user selection of functions; it may also include a display screen and/or indicator lights and/or horns, and the display screen, indicator lights and horns can show the user the current state of the machine or Feature selections; may also include mobile client programs.
  • the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, which can provide users with more abundant and user-friendly function items.
  • the cleaning module 150 may include the dry cleaning module 151 and/or the wet cleaning module 400 .
  • the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet.
  • the roller brush with certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box.
  • the dust removal ability of the sweeper can be characterized by the dust pickup efficiency DPU (Dust pickup efficiency).
  • the wind utilization rate of the formed air duct is affected by the type and power of the fan, which is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy.
  • the dry cleaning module may also include a side brush 152 having an axis of rotation angled relative to the ground for moving debris into the rolling brush area of the cleaning module 150 .
  • FIG. 5 is a schematic diagram of the structure of the dust box 152 in the dry cleaning module
  • FIG. 6 is a schematic diagram of the structure of the fan 156 in the dry cleaning module
  • FIG. 7 is a schematic diagram of the opened state of the dust box 152
  • FIG. 8 Schematic diagram of the assembled state of the dust box and the fan.
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the dust suction port 154 between the roller brush and the dust box 152, and then is generated by the structure of the fan 156 and passes through the dust box 152.
  • the suction gas The dust box 152 is inhaled, and the garbage is isolated by the filter screen 153 on the side of the dust box 152 close to the dust suction port 154.
  • the filter screen 153 completely isolates the dust suction port from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.
  • the dust suction port 154 of the dust box 152 is located in front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction port of the fan 156 is opposite to the air outlet of the dust box.
  • the front panel of the dust box 152 can be opened for cleaning the garbage in the dust box 152 .
  • the filter screen 153 and the box body of the dust box 152 are detachably connected to facilitate the removal and cleaning of the filter screen.
  • the wet cleaning module 400 provided by the present invention is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes: a cleaning head 410 and a driving unit 420, wherein the cleaning head 410 is used for cleaning at least a part of the operation surface, the driving unit 420 is used for driving the cleaning head 410 to substantially reciprocate along the target surface, the The target surface is part of the operating surface.
  • the cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through the reciprocating motion, thereby removing the surface to be cleaned. stains.
  • the high-frequency reciprocating motion also called reciprocating vibration, has a much greater cleaning ability than ordinary reciprocating motion, such as rotation and friction cleaning.
  • the friction frequency is close to sound waves.
  • the cleaning effect will be much higher than the rotating friction cleaning of dozens of revolutions per minute.
  • the tufts on the surface of the cleaning head will be more uniformly extended in the same direction under the shaking of high-frequency vibration, so the overall cleaning effect is more uniform, rather than only applying down pressure to increase friction in the case of low-frequency rotation
  • the cleaning effect can be improved by force, and only the downward pressure will not cause the tufts to extend in the same direction.
  • the effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and there will be no chaotic water stains.
  • the reciprocating motion may be repeated motion along any one or more directions within the operation surface, or may be vibration perpendicular to the operation surface, which is not strictly limited.
  • the direction of reciprocation of the cleaning module is approximately perpendicular to the direction of machine travel, as the direction of reciprocation parallel to the direction of machine travel can introduce instability to the traveling machine itself, as thrust and resistance in the The drive wheel is prone to slippage, and the effect of slippage is more obvious when the wet cleaning module is included, because the wetness of the operating surface increases the possibility of slippage, and the slippage will not only affect the smooth running and cleaning of the machine, but also cause the odometer.
  • the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the mobile platform 100 for providing driving force; a supporting platform 422 detachably connected to the The driving platform 421 is used to support the cleaning head 410 and can be lifted and lowered under the driving of the driving platform 421 .
  • a lifting module is provided between the cleaning module 150 and the mobile platform 100, so that the cleaning module 150 can better contact the surface to be cleaned, or different materials are used for the surface to be cleaned. cleaning strategy.
  • the dry cleaning module 151 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters an obstacle, the dry cleaning module 151 can be more easily crossed through the lifting module. obstacle.
  • the wet cleaning module 400 can be connected to the mobile platform 100 through an active lifting module.
  • the wet cleaning module 400 does not participate in the work temporarily, or the wet cleaning module 400 cannot be used for cleaning.
  • the wet cleaning module 400 is lifted up by the active lifting module and separated from the surface to be cleaned, thereby realizing the change of cleaning means.
  • the driving platform 421 includes: a motor 4211, which is arranged on the side of the driving platform 421 close to the moving platform 100, and outputs power through the motor output shaft; a driving wheel 4212, which is connected to the motor The output shaft is connected, and the driving wheel 4212 has an asymmetric structure; the vibration member 4213 is arranged on the opposite side of the driving platform 421 to the motor 4211, and is connected with the driving wheel 4212. Reciprocating motion is realized under asymmetrical rotation.
  • the drive platform 421 may further include a gear mechanism.
  • the gear mechanism may connect the motor 4211 and the drive wheel 4212.
  • the motor 4211 can directly drive the driving wheel 4212 to perform a rotary motion, or indirectly drive the driving wheel 4212 to perform a rotary motion through a gear mechanism.
  • the gear mechanism may be one gear, or may be a gear set composed of multiple gears.
  • the motor 4211 transmits the power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water supply mechanism, the water tank and the like at the same time through the power transmission device.
  • the energy system 160 provides power and energy for the motor 4211 and is controlled by the control system 130 as a whole.
  • the power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear or the like.
  • the motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates in the forward direction. In the reverse output mode, the motor 4211 rotates in the reverse direction. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device. It can simultaneously drive the drive platform vibration member 4213 in the wet cleaning assembly 400 to basically reciprocate and the water supply mechanism to move synchronously. In the reverse output mode of the motor 4211, the motor 4211 drives the drive platform 421 to rise and fall through the power transmission device.
  • the driving platform 421 further includes: a connecting rod 4214, extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibration member 4213, so that the vibration member 4213 extends to a preset position, wherein , the extension direction of the vibration member 4213 is perpendicular to the connecting rod 4214 , so that the reciprocating motion direction of the vibration member 4213 is substantially perpendicular to the traveling direction of the machine.
  • the motor 4211 is connected with the driving wheel 4212 , the vibration member 4213 , the connecting rod 4214 and the vibration buffer device 4215 through the power transmission device.
  • the vibration member 4213 and the connecting rod 4214 constitute an approximate L-shaped structure.
  • the vibration member 4213 reciprocates under the driving of the connecting rod 4214 .
  • the vibration buffer device 4215 has the effect of damping and reducing the vibration of the motion behavior driven by the driving wheel 4212 , so that the vibration member 4213 can vibrate smoothly within the range of motion provided by the support platform 422 .
  • the shock buffering device 4215 is a soft material, optionally a rubber structure, and the shock buffering device 4215 is sleeved on the connecting rod 4214 .
  • the vibration buffer device 4215 can also protect the vibration member 4213 from being damaged due to collision with the driving platform 421 , which also affects the reciprocating motion of the vibration member 4213 .
  • the movable member of the driving platform 421 and the fixed member are connected in a flexible manner to limit the movement in the traveling direction of the machine. Movement is allowed. The above two movement restrictions make the movement of the vibrating member 4213 not exactly reciprocating, but basically reciprocating.
  • the surface basically reciprocates
  • the vibration member 4213 basically reciprocates along the surface of the support platform 422 with the cleaning substrate 4221
  • the cleaning substrate 4221 basically reciprocates along the surface to be cleaned with the active area 412.
  • the clean water pump makes clean water flow out from the clean water tank, and sprinkles clean water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 cleans the surface to be cleaned by reciprocating motion.
  • the cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment.
  • the automatic cleaning device can realize dynamic adjustment according to the physical information of the surface of the surface to be cleaned detected by the sensing system 120 .
  • the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit the information to the control system 130 of the automatic cleaning device.
  • the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotational speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating period of the reciprocating motion of the cleaning head 410 .
  • the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is on a less flat ground During operation, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because flat surfaces are easier to clean than less flat surfaces, so cleaning uneven surfaces requires faster reciprocation (ie, higher frequency) of cleaning head 410 and a larger volume of water.
  • the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the The preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger.
  • the cleaning head 410 needs to perform fewer reciprocating movements, and the water pump can provide a relatively small amount of water to clean the desktop. clean.
  • the support platform 422 includes a cleaning substrate 4221 , which is freely movable on the support platform 422 , and the cleaning substrate 4221 basically reciprocates under the vibration of the vibration member 4213 .
  • the cleaning substrate 4221 includes: an assembly notch 42211, which is arranged at a position in contact with the vibration member 4213.
  • the vibrating member 4213 is assembled to the assembling notch 42211 , so that the cleaning substrate 4221 can substantially reciprocate synchronously with the vibrating member 4213 .
  • the cleaning substrate 4221 includes four first limiting positions 42212 in the traveling direction of the cleaning device.
  • the four first limiting positions 42212 and the cleaning substrate 4221 are flexibly connected, but the elastic scaling space is small, so the cleaning substrate 4221 is limited in the cleaning process.
  • the movement relative to the supporting platform 422 in the traveling direction of the equipment; the direction of the cleaning substrate 4221 perpendicular to the traveling direction of the cleaning equipment includes two second limiting positions 42213, the two second limiting positions 42213 limit the cleaning substrate 4221 between the The range of reciprocating motion in the direction perpendicular to the direction of travel of the cleaning equipment.
  • a water outlet hole 42214 is provided near the assembly notch 42211 of the cleaning substrate 4221, so that the water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.
  • the movement of the cleaning substrate 4221 is basically a reciprocating movement due to the influence of the limiting position and the shock buffering device.
  • the cleaning substrate 4221 is located in a part of the support platform 422, and the vibration frequency can be made larger by means of local vibration, such as reaching the frequency range of sound waves.
  • the movable member of the driving platform 421 and the fixed member are connected in a flexible manner to limit the movement in the traveling direction of the machine. Movement is allowed.
  • FIG. 12 illustrates another cleaning head drive mechanism 500 based on a crank-slider mechanism according to various embodiments of the present application.
  • the drive mechanism 500 may be applied to the drive platform 421 .
  • the driving mechanism 500 includes a driving wheel 4212, a vibration member 4213, a cleaning substrate 4221, a chute 4222 (a first chute) and a chute 4223 (a second chute).
  • the chutes 4222 and 4223 are opened on the support platform 422 . Both ends of the cleaning substrate 4221 include sliders 525 (first sliders) and sliders 528 (second sliders), respectively.
  • the sliders 525 and 528 are respectively a protrusion at both ends of the cleaning substrate 4221 .
  • the sliding block 525 is inserted in the sliding groove 4222 and can slide along the sliding groove 4222 ;
  • the sliding block 4223 is inserted in the sliding groove 4223 and can slide along the sliding groove 4223 .
  • the chute 4222 and the chute 4223 are on the same line. In some embodiments, the chute 4222 and the chute 4223 are not on the same line. In some embodiments, the chute 4222 and the chute 4223 extend in the same direction.
  • the extending direction of the sliding groove 4222 and the sliding groove 4223 is the same as the extending direction of the cleaning substrate 4221 . In some embodiments, the extending directions of the sliding grooves 4222 and the sliding grooves 4223 are different from the extending directions of the cleaning substrate 4221 . In some embodiments, the extending directions of the chute 4222 and the chute 4223 are different. For example, as shown in FIG. 12 , the extension direction of the chute 4222 is the same as the extension direction of the cleaning substrate 4221 , and the extension direction of the chute 4223 and the extension direction of the chute 4222 are at a certain angle.
  • the vibrating member 4213 includes a rotating end 512 and a sliding end 514 .
  • the rotating end 512 is connected with the driving wheel 4212 through a first pivot shaft 516
  • the sliding end 514 is connected with the cleaning substrate 4221 through a second pivot shaft 518 .
  • the rotation center of the driving wheel 4212 is point O
  • the pivot center of the first pivot shaft 516 is point A.
  • Point O and point A do not coincide, and the distance between them is the preset distance d.
  • the point A When the driving wheel 4212 rotates, the point A performs a circular rotary motion accordingly.
  • the rotary end 512 performs a circular rotary motion following the point A; the sliding end 514 drives the cleaning substrate 4221 to perform sliding motion through the second pivot shaft 518 .
  • the slider 525 for cleaning the substrate 4221 reciprocates linearly along the chute 4222 ; the slider 528 performs a reciprocating linear motion along the chute 4223 .
  • the moving speed of the moving platform 210 is V0, and the moving direction is the target direction.
  • the overall displacement of the cleaning substrate 4221 is substantially perpendicular to the target direction.
  • the overall displacement of the cleaning substrate 4221 includes both being perpendicular to the target direction and parallel to the target direction. component in the target direction.
  • a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
  • FIG. 13 shows another cleaning head driving mechanism 600 based on a double crank mechanism according to various embodiments of the present application.
  • the drive mechanism 600 may be applied to the drive platform 421 .
  • the driving mechanism 600 includes a driving wheel 4212 (a first driving wheel), a driving wheel 4212' (a second driving wheel), and a cleaning substrate 4221.
  • the cleaning substrate 4221 has two ends. The first end is connected to the drive wheel 4212 through a pivot shaft 624 (first pivot shaft); the second end is connected to the drive wheel 4212' through a pivot shaft 626 (second pivot shaft).
  • the rotation center of the driving wheel 4212 is point O
  • the pivot center of the pivot shaft 624 is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
  • the center of rotation of the drive wheel 236 is the point O'
  • the center of rotation of the pivot shaft 626 is the point A'. Point O' and point A' do not coincide, and the distance between them is the preset distance d.
  • points A, A', O, and O' lie on the same plane. Therefore, the driving wheel 4212, the driving wheel 4212' and the cleaning substrate 4221 may form a double crank mechanism (or parallelogram mechanism), wherein the cleaning substrate 4221 acts as a coupling lever and the driving wheels 4212 and 4212' act as two cranks.
  • a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used for reducing vibration in a specific direction, in this embodiment, for reducing vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
  • FIG. 14 shows a drive mechanism 700 based on a crank-slider mechanism according to various embodiments of the present application.
  • the drive mechanism 700 may be applied to the drive platform 421 .
  • the driving mechanism 700 includes a driving wheel 4212 , a cleaning substrate 4221 and a chute 4222 .
  • the chute 4222 is opened on the support platform 422 .
  • the cleaning substrate 4221 includes a swivel end 4227 and a sliding end 4226 .
  • Swivel end 4227 is connected to drive wheel 4212 by pivot 4228.
  • the pivot center of the driving wheel 4212 is point O
  • the pivot center of the pivot shaft 4228 at the pivot end is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
  • Sliding end 4226 includes slider 4225.
  • the slider 4225 is a protrusion on the sliding end 4226 .
  • the slider 4225 is inserted into the chute 4222 and can slide along the chute 4222 . Therefore, the driving wheel 4221, the cleaning base plate 4221, the slider 4225 and the chute 4222 constitute a crank-slider mechanism.
  • the rotary end 4227 of the cleaning substrate 4221 performs a circular rotary motion following the point A; and the slider 4225 slides in the chute 4222 to perform a reciprocating linear motion.
  • the cleaning substrate 4221 starts to reciprocate.
  • the chute 4222 is approximately perpendicular to the direction of the target direction of the speed of movement of the mobile platform, therefore, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular swivel movement of the swivel end 4227 simultaneously Includes components perpendicular to the target direction and parallel to the target direction.
  • the moving speed of the mobile platform is V0, and the moving direction is the target direction; and the chute 4222 is approximately perpendicular to the target direction.
  • the reciprocating motion of the cleaning substrate 4221 as a whole has both a movement component parallel to the target direction of the automatic cleaning device and a movement component perpendicular to the target direction of the automatic cleaning device.
  • the support platform 422 further includes: an elastic disassembly button 4229, which is disposed on at least one side of the support platform 422, and is used to detachably connect the support platform 422 to the claw 4216 of the drive platform 421. , so that the supporting platform 422 is detachably mechanically fixed on the driving platform 421, and is fixed relative to the driving platform and the automatic cleaning device itself.
  • At least one assembling area 4224 is disposed on the supporting platform 422 for assembling the cleaning head 410 .
  • the mounting area 4224 may be formed of an adhesive material with an adhesive layer.
  • the cleaning head 410 includes: an active area 412 connected to the cleaning substrate 4221 and substantially along the cleaning surface driven by the cleaning substrate 4221 Reciprocating motion.
  • the active area 412 is disposed at a substantially central position of the cleaning head 410 .
  • an adhesive layer is provided on the side where the active area 412 is connected to the cleaning substrate 4221 , and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer.
  • the cleaning head 410 further includes: a fixing area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224 , and the fixing area 411 cleans the at least a portion of the operating surface.
  • the cleaning head 410 further includes: a flexible connecting portion 413 disposed between the fixed area 411 and the active area 412 for connecting the fixed area 411 and the active area 412 .
  • the cleaning head 410 further includes: a sliding latch 414 extending along the edge of the cleaning head 410 and detachably installed at the latching position 4225 of the support platform 422 .
  • the cleaning head 410 may be made of a certain elastic material, and the cleaning head 410 is fixed on the surface of the support platform 422 through an adhesive layer, thereby realizing reciprocating motion. When the cleaning head 410 is in operation, the cleaning head 410 is always in contact with the surface to be cleaned.
  • the water supply mechanism includes a water outlet device 4217, and the water outlet device 4217 can be directly or indirectly connected with the cleaning liquid outlet of the water tank (not shown), that is, the liquid outlet of the clean water tank, wherein the cleaning liquid can pass through the cleaning liquid of the water tank.
  • the outlet flows to the water outlet device 4217, and can be evenly coated on the surface to be cleaned by the water outlet device.
  • a connecting piece (not shown in the figure) may be provided on the water outlet device, and the water outlet device is connected to the cleaning liquid outlet of the water tank through the connecting piece.
  • the water outlet device is provided with a distribution port.
  • the distribution port can be a continuous opening or a combination of several broken small openings.
  • the distribution port can be provided with several nozzles.
  • the cleaning liquid flows to the distribution port through the cleaning liquid outlet of the water tank and the connecting piece of the water outlet device, and is evenly coated on the operating surface through the distribution port.
  • the water supply mechanism may further include a clean water pump 4219 and/or a clean water pump pipe 4218 , and the clean water pump 4219 may communicate with the clean liquid outlet of the water tank directly or through the clean water pump pipe 4218 .
  • the clean water pump 4219 may be connected to the connection of the water outlet, and may be configured to draw the cleaning fluid from the water tank to the water outlet.
  • the clean water pump can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, and the like.
  • the water supply mechanism extracts the cleaning liquid in the clean water tank through the clean water pump 4219 and the clean water pump pipe 4218, and transports it to the water outlet device. to wet the cleaning head and the surface to be cleaned. Stains on the wetted surface to be cleaned can be cleaned more easily.
  • the power/flow rate of the clean water pump can be adjusted.
  • the motor 4211 drives the clean water pump 4219 to peristate through the gear set 42193, and the clean water enters from the water inlet 42191 through the peristalsis of the clean water pump 4219, flows out from the water outlet 42192, and is transported to the water outlet through the clean water pump pipe 4218.
  • the device 4217, the water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.
  • the motor 4211 drives the cable gear 42196 to rotate through the gear set 42193, the cable gear 42196 is wound with a cable 42194, the cable 42194 is wound on the driving platform 421, and the cable gear 42196 pulls the cable 42196.
  • the cable 42194 is lifted and lowered so as to realize the lifting and lowering of the driving platform 421 .
  • Cable gear 42196 and cable 42194 are the core components of the lift module.
  • the gear set 42193 and the cable gear 42196 are provided with a clutch 42195.
  • the clutch 42195 includes a spring and a piece.
  • the motor 4211 controls the three motion modules by controlling the clutch 42195 to rotate in one direction to drive the vibrating element. vibration, and at the same time realize the water supply of the clean water pump 4219, and rotate in the opposite direction to drive the lifting module to rise and fall through the cable 42194.
  • the combined design of the gear set realizes the control of different combinations of the three motion modules, for example, rotating the clean water pump in one direction to supply water, and in the opposite direction realizes the control of lifting and vibration.
  • two motors can also be used to control the three motion modules, but using one more motor also increases the cost.
  • the sweeping and mopping integrated cleaning device can provide a more comprehensive cleaning function because the cleaning module of the automatic cleaning device is provided with a dry cleaning module and a wet cleaning module.
  • the cleaning head can reciprocate, so that the surface to be cleaned can be repeatedly cleaned, so that in the movement trajectory of the cleaning robot, one pass through a certain area can achieve multiple
  • the cleaning effect is greatly enhanced, especially for areas with more stains, the cleaning effect is obvious.
  • the lifting module can clean the wet cleaning module according to different surfaces to be cleaned. For surfaces such as floor tiles, put the wet cleaning module down for cleaning, so as to achieve a more comprehensive cleaning effect.

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Sink And Installation For Waste Water (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Filtering Of Dispersed Particles In Gases (AREA)
  • Cleaning In General (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

An automatic cleaning device, comprising: a mobile platform (100) configured to automatically move on an operation surface; and a cleaning module (150) provided the mobile platform (100) and comprising a dry cleaning module (151) configured to clean at least part of the operation surface in a dry cleaning mode and a wet cleaning module (400) configured to clean at least part of the operation surface in a wet cleaning mode, wherein the wet cleaning module (400) comprises a cleaning head (410) configured to clean the operation surface and a driving unit (420) configured to drive the cleaning head (410) to reciprocate along a target surface, the target surface being a part of the operation surface. The cleaning head (400) of the automatic cleaning device can move substantially in a reciprocating manner, such that repeated cleaning can be performed on a surface to be cleaned, and multiple cleaning can be achieved in a certain area at a time in the movement trajectory of a cleaning robot, such that the cleaning effect is greatly enhanced, especially for areas with relatively large stains, and the cleaning effect is obvious.

Description

一种自动清洁设备an automatic cleaning device
相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS
本申请要求于2021年1月4日递交的中国专利申请第202110004713.5号和于2021年2月1日递交的中国专利申请第202110138563.7号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。This application claims the priority of Chinese Patent Application No. 202110004713.5 filed on January 4, 2021 and Chinese Patent Application No. 202110138563.7 filed on February 1, 2021. The disclosure of the above Chinese patent application is hereby cited in its entirety as as part of this application.
技术领域technical field
本发明涉及清洁机器人技术领域，具体而言，涉及一种自动清洁设备。The present invention relates to the technical field of cleaning robots, in particular to an automatic cleaning device.
背景技术Background technique
清洁机器人目前主要包括扫地机器人和拖地机器人两种，扫地机器人和拖地机器人的功能比较单一，要么只能进行扫地要么只能进行拖地。若想同时进行扫地和拖地则必须同时准备两套设备，占用双倍的空间。At present, cleaning robots mainly include sweeping robots and mopping robots. The functions of sweeping robots and mopping robots are relatively simple, and they can only be used for sweeping or mopping. If you want to sweep and mop the floor at the same time, you must prepare two sets of equipment at the same time, occupying double the space.
现有技术中，也有将扫地机器人和拖地机器人结合，在机器人尾端增设拖布从而实现扫地拖地一体清扫，但该一体清扫中的拖地功能仅采用一块拖布在地面平移，随着拖布的平移，在清洁机器人移动轨迹中进行单次的拖地，拖地效果和效率都大打折扣，特别是对于一些污渍比较多，地面比较脏的环境，一次移动拖地显然不能将地面清洁干净。In the prior art, there is also a combination of a sweeping robot and a mopping robot, and a mopping cloth is added at the end of the robot to realize integrated sweeping and mopping, but the mopping function in the integrated cleaning only uses a mopping cloth to translate on the ground. Panning, mopping the floor for a single time in the moving trajectory of the cleaning robot, the mopping effect and efficiency are greatly reduced, especially for some environments with a lot of stains and dirty ground, one moving and mopping obviously cannot clean the ground.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种自动清洁设备，能够解决地面不能清理干净的技术问题。具体方案如下：The purpose of the present invention is to provide an automatic cleaning device that can solve the technical problem that the ground cannot be cleaned. The specific plans are as follows:
根据本发明的具体实施方式，本发明提供一种自动清洁设备，包括：According to specific embodiments of the present invention, the present invention provides an automatic cleaning device, comprising:
移动平台100，被配置为在操作面上自动移动；a mobile platform 100 configured to move automatically on the operating surface;
清洁模组150，设置于所述移动平台100上，包括：The cleaning module 150, disposed on the mobile platform 100, includes:
干式清洁模组151，被配置为采用干式清洁方式清洁所述操作面的至少一部分；The dry cleaning module 151 is configured to clean at least a part of the operation surface by dry cleaning;
湿式清洁模组400，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述湿式清洁模组400包括：The wet cleaning module 400 is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes:
用于清洁所述操作面的清洁头410，以及，a cleaning head 410 for cleaning the operating surface, and,
用于驱动所述清洁头410沿着目标面基本上往复运动的驱动单元420，所述目标面为所述操作面的一部分。A drive unit 420 for driving the cleaning head 410 to substantially reciprocate along a target surface, which is a part of the operating surface.
可选的，所述驱动单元420包括：Optionally, the drive unit 420 includes:
驱动平台421，连接于所述移动平台100底面，用于提供驱动力；The driving platform 421 is connected to the bottom surface of the moving platform 100 for providing driving force;
支撑平台422，可拆卸的连接于所述驱动平台421，用于支撑所述清洁头410。The supporting platform 422 is detachably connected to the driving platform 421 for supporting the cleaning head 410 .
可选的，所述驱动平台421包括：Optionally, the drive platform 421 includes:
电机4211，设置于所述驱动平台421的靠近所述移动平台100一侧，通过电机输出轴输出动力；The motor 4211 is arranged on the side of the driving platform 421 close to the moving platform 100, and outputs power through the motor output shaft;
驱动轮4212，与所述电机输出轴连接，所述驱动轮4212为非对称结构。The driving wheel 4212 is connected to the output shaft of the motor, and the driving wheel 4212 has an asymmetric structure.
可选的，所述驱动平台421还包括：Optionally, the drive platform 421 further includes:
震动件4213，设置于所述驱动平台421的与所述电机4211相反的一侧，与所述驱动轮4212连接，在所述驱动轮4212非对称的转动下实现基本上往复运动。The vibrating member 4213 is disposed on the opposite side of the driving platform 421 to the motor 4211 , and is connected to the driving wheel 4212 to achieve substantially reciprocating motion under the asymmetrical rotation of the driving wheel 4212 .
可选的，所述驱动平台421还包括：Optionally, the drive platform 421 further includes:
连接杆4214，沿所述驱动平台421边缘延伸，连接所述驱动轮4212与所述震动件4213，使所述震动件4213延伸至预设位置。The connecting rod 4214 extends along the edge of the driving platform 421 and connects the driving wheel 4212 and the vibration member 4213, so that the vibration member 4213 extends to a preset position.
可选的，所述震动件4213为杆状结构，其延伸方向与所述连接杆4214垂直。Optionally, the vibration member 4213 is a rod-shaped structure, and its extending direction is perpendicular to the connecting rod 4214 .
可选的，所述驱动平台包括，震动缓冲装置4215，设置于所述连接杆4214上。Optionally, the driving platform includes a shock buffer device 4215 disposed on the connecting rod 4214 .
可选的，所述支撑平台422包括：Optionally, the support platform 422 includes:
清洁基板4221，可自由活动的设置于所述支撑平台422，所述清洁基板4221在所述震动件4213的震动下相对所述支撑平台422做基本上往复运动。The cleaning substrate 4221 is freely movable on the supporting platform 422 , and the cleaning substrate 4221 substantially reciprocates relative to the supporting platform 422 under the vibration of the vibration member 4213 .
可选的，所述清洁基板4221包括：Optionally, the cleaning substrate 4221 includes:
装配缺口，设置于与所述震动件4213接触的位置，当所述支撑平台422连接于所述驱动平台421上时，所述震动件4213装配于所述装配缺口。The assembling notch is disposed at the position contacting the vibration member 4213 . When the supporting platform 422 is connected to the driving platform 421 , the vibration member 4213 is assembled in the assembling notch.
可选的，所述支撑平台422还包括：Optionally, the support platform 422 further includes:
拆卸按钮4229，用于使所述支撑平台422可拆卸的连接于所述驱动平台421。A dismounting button 4229 is used to detachably connect the supporting platform 422 to the driving platform 421 .
可选的，所述支撑平台422还包括：Optionally, the support platform 422 further includes:
至少一个装配区域4224，设置于所述支撑平台422，用于装配所述清洁头410。At least one assembling area 4224 is disposed on the supporting platform 422 for assembling the cleaning head 410 .
可选的，所述清洁头410包括：Optionally, the cleaning head 410 includes:
活动区域412，与所述清洁基板4221连接，在所述清洁基板4221的驱动下沿着所述目标面基本上往复运动。The active area 412 is connected to the cleaning substrate 4221 and substantially reciprocates along the target surface under the driving of the cleaning substrate 4221 .
可选的，所述活动区域412与所述清洁基板4221连接的一侧设置有粘结层，所述活动区域412与所述清洁基板4221通过所述粘结层连接。Optionally, an adhesive layer is provided on the side where the active area 412 is connected to the cleaning substrate 4221 , and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer.
可选的，所述清洁头410还包括：Optionally, the cleaning head 410 further includes:
固定区域411，通过所述至少一个装配区域4224连接于所述支撑平台422底部，所述固定区域411随着所述支撑平台422的移动清洁所述操作面的至少一部分。The fixing area 411 is connected to the bottom of the support platform 422 through the at least one assembly area 4224 , and the fixing area 411 cleans at least a part of the operation surface along with the movement of the support platform 422 .
可选的，所述清洁头410还包括：Optionally, the cleaning head 410 further includes:
柔性连接部413，设置于所述固定区域411和所述活动区域412之间，用于连接所述固定区域411和所述活动区域412。The flexible connection portion 413 is disposed between the fixed area 411 and the movable area 412 and is used to connect the fixed area 411 and the movable area 412 .
可选的，所述清洁头410还包括：Optionally, the cleaning head 410 further includes:
滑动卡扣414，沿所述清洁头410边缘延伸，可拆卸的安装于所述支撑平台422。The sliding buckle 414 extends along the edge of the cleaning head 410 and is detachably mounted on the supporting platform 422 .
可选的，所述清洁模组150与移动平台100间设有升降模组。Optionally, a lifting module is provided between the cleaning module 150 and the mobile platform 100 .
可选的，所述干式清洁模组151通过被动式升降模组与所述移动平台100相连接。Optionally, the dry cleaning module 151 is connected to the mobile platform 100 through a passive lifting module.
可选的，所述湿式清洁模组400通过主动式升降模组与所述移动平台100相连接。Optionally, the wet cleaning module 400 is connected to the mobile platform 100 through an active lifting module.
与现有技术相比，本发明实施例具有如下的技术效果：Compared with the prior art, the embodiment of the present invention has the following technical effects:
本发明提供的扫拖一体清洁设备，由于自动清洁设备的清洁模组设置有干式清洁模组和湿式清洁模组，能够提供更加全面的清洁功能。同时，在湿式清洁模组中，通过增加驱动单元、震动区域，使清洁头可以往复运动，从而可以在待清洁表面进行反复清洁，使得在清洁机器人运动轨迹中，一次通过某一区域可以实现多次清洁，从而大大增强了清洁效果，特别是对于污渍比较多的区域，清洁效果明显。The sweeping and mopping integrated cleaning device provided by the present invention can provide a more comprehensive cleaning function because the cleaning module of the automatic cleaning device is provided with a dry cleaning module and a wet cleaning module. At the same time, in the wet cleaning module, by adding a drive unit and a vibration area, the cleaning head can reciprocate, so that the surface to be cleaned can be repeatedly cleaned, so that in the movement trajectory of the cleaning robot, one pass through a certain area can achieve multiple The cleaning effect is greatly enhanced, especially for areas with more stains, the cleaning effect is obvious.
附图说明Description of drawings
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort. In the attached image:
图1为本发明的一个实施例的自动清洁设备的斜视图。FIG. 1 is a perspective view of an automatic cleaning apparatus according to an embodiment of the present invention.
图2为本发明的一个实施例的自动清洁设备的底部结构的示意图。FIG. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to an embodiment of the present invention.
图3为本发明的一个实施例的一侧驱动轮组件的斜视图。3 is a perspective view of a one-side drive wheel assembly according to an embodiment of the present invention.
图4为本发明的一个实施例的一侧驱动轮组件的正视图。4 is a front view of a one-side drive wheel assembly according to an embodiment of the present invention.
图5为本发明的一个实施例的尘盒的斜视图。5 is a perspective view of a dust box according to an embodiment of the present invention.
图6为本发明的一个实施例的风机的斜视图。FIG. 6 is a perspective view of a fan according to an embodiment of the present invention.
图7为本发明的一个实施例的尘盒的打开状态示意图。FIG. 7 is a schematic diagram of an open state of the dust box according to an embodiment of the present invention.
图8为本发明的一个实施例的尘盒、风机组合状态示意图。FIG. 8 is a schematic diagram of a combined state of a dust box and a fan according to an embodiment of the present invention.
图9为本发明的一个实施例的自动清洁设备的***图。FIG. 9 is an exploded view of an automatic cleaning device according to an embodiment of the present invention.
图10为本发明的一个实施例的自动清洁设备支撑平台的结构图。FIG. 10 is a structural diagram of a support platform of an automatic cleaning device according to an embodiment of the present invention.
图11为本发明的一个实施例的自动清洁设备震动件的结构图。FIG. 11 is a structural diagram of a vibration member of an automatic cleaning device according to an embodiment of the present invention.
图12为本发明的另一实施例的基于曲柄滑块机构的清洁头驱动机构示意图。12 is a schematic diagram of a cleaning head driving mechanism based on a crank-slider mechanism according to another embodiment of the present invention.
图13为本发明的另一实施例的基于双曲柄机构的清洁头驱动机构示意图。13 is a schematic diagram of a cleaning head driving mechanism based on a double crank mechanism according to another embodiment of the present invention.
图14为本发明的另一实施例的基于曲柄机构的清洁头驱动机构示意图。14 is a schematic diagram of a cleaning head driving mechanism based on a crank mechanism according to another embodiment of the present invention.
图15为本发明的一个实施例的震动件的结构图。FIG. 15 is a structural diagram of a vibration member according to an embodiment of the present invention.
图16为本发明的一个实施例的清洁基板装配结构示意图。FIG. 16 is a schematic diagram of an assembly structure of a cleaning substrate according to an embodiment of the present invention.
图17为本发明的一个实施例的电机驱动清水泵的结构图。FIG. 17 is a structural diagram of a motor-driven clean water pump according to an embodiment of the present invention.
图18为本发明的一个实施例的电机驱动升降模组的结构图。FIG. 18 is a structural diagram of a motor-driven lifting module according to an embodiment of the present invention.
附图标记说明：Description of reference numbers:
移动平台100、后向部分110、前向部分111、感知***120、位置确定装置121、缓冲器122、悬崖传感器123、控制***130、驱动***140、驱动轮组件141、转向组件142、弹性元件143、驱动马达146、清洁模组150、干式清洁模组151、尘盒152、滤网153、吸尘口154、出风口155、风机156、能源***160、人机交互***170、湿式清洁组件400、清洁头410、驱动单元420、驱动平台421、支撑平台422、电机4211、驱动轮4212、震动件4213、连接杆4214、震动缓冲装置4215、卡爪4216、清水泵管4218、清水泵4219、清洁基板4221、弹性拆卸按钮4229、装配区域4224、卡接位置4225、第一滑槽4222、第二滑槽4223、第一滑块525、第二滑块528、回转端512(4227)、滑动端514(4226)、第一枢轴516(624)、第二枢轴518(626)、驱动机构500(600、700)。 Mobile platform 100, rearward portion 110, forward portion 111, perception system 120, position determination device 121, buffer 122, cliff sensor 123, control system 130, drive system 140, drive wheel assembly 141, steering assembly 142, elastic element 143, drive motor 146, cleaning module 150, dry cleaning module 151, dust box 152, filter 153, dust suction port 154, air outlet 155, fan 156, energy system 160, human-computer interaction system 170, wet cleaning Assembly 400, cleaning head 410, drive unit 420, drive platform 421, support platform 422, motor 4211, drive wheel 4212, vibration member 4213, connecting rod 4214, vibration buffer device 4215, jaw 4216, clean water pump pipe 4218, clean water pump 4219, cleaning base plate 4221, elastic disassembly button 4229, assembly area 4224, snap position 4225, first chute 4222, second chute 4223, first slider 525, second slider 528, rotary end 512 (4227) , a sliding end 514 (4226), a first pivot 516 (624), a second pivot 518 (626), and a drive mechanism 500 (600, 700).
具体实施方式Detailed ways
为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
在本发明实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a," "the," and "the" as used in the embodiments of the present invention and the appended claims are intended to include the plural forms as well, unless the context clearly dictates otherwise, "a plurality" Generally at least two are included.
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should be understood that the term "and/or" used in this document is only an association relationship to describe the associated objects, indicating that there may be three kinds of relationships, for example, A and/or B, which may indicate that A exists alone, and A and B exist at the same time. B, there are three cases of B alone. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.
应当理解，尽管在本发明实施例中可能采用术语第一、第二、第三等来描述，但这些不应限于这些术语。这些术语仅用来将区分开。例如，在不脱离本发明实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。It should be understood that although the terms first, second, third, etc. may be used for description in the embodiments of the present invention, these should not be limited to these terms. These terms are used only to distinguish. For example, the first may also be referred to as the second, and similarly, the second may be referred to as the first without departing from the scope of the embodiments of the present invention.
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion, such that a commodity or device comprising a list of elements includes not only those elements, but also those not explicitly listed other elements, or other elements inherent to such goods or devices. Without further limitation, the fact that an element is qualified by the phrase "comprising a" does not preclude the presence of additional identical elements in the article or device that includes the said element.
下面结合附图详细说明本发明的可选实施例。The optional embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
图1-2是根据一示例性实施例示出的一种自动清洁设备的结构示意图，如图1-2所示，自动清洁设备可以真空吸地机器人、也可以是拖地/刷地机器人、也可以是爬窗机器人等等，该自动清洁设备可以包含移动平台100、感知***120、控制***130、驱动系 统140、清洁模组150、能源***160和人机交互***170。其中：Fig. 1-2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment. As shown in Fig. 1-2, the automatic cleaning device can be a vacuum suction robot, It can be a window climbing robot, etc. The automatic cleaning device can include a mobile platform 100 , a sensing system 120 , a control system 130 , a driving system 140 , a cleaning module 150 , an energy system 160 and a human-computer interaction system 170 . in:
移动平台100可以被配置为在操作面上自动沿着目标方向移动。所述操作面可以为自动清洁设备待清洁的表面。在一些实施例中，自动清洁设备可以为拖地机器人，则自动清洁设备在地面上工作，所述地面为所述操作面；自动清洁设备也可以是擦窗机器人，则自动清洁设备在建筑的玻璃外表面工作，所述玻璃为所述操作面；自动清洁设备也可以是管道清洁机器人，则自动清洁设备在管道的内表面工作，所述管道内表面为所述操作面。纯粹是为了展示的需要，本申请中下面的描述以拖地机器人为例进行说明。The mobile platform 100 may be configured to automatically move along the target direction on the operating surface. The operating surface may be the surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device can be a mopping robot, and the automatic cleaning device works on the ground, where the ground is the operating surface; the automatic cleaning device can also be a window cleaning robot, and the automatic cleaning device is in the building. When the outer surface of the glass works, the glass is the operation surface; the automatic cleaning equipment can also be a pipe cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipe, and the inner surface of the pipe is the operation surface. Purely for demonstration purposes, the following description in this application takes a floor mopping robot as an example for illustration.
在一些实施例中，移动平台100可以是自主移动平台，也可以是非自主移动平台。所述自主移动平台是指移动平台100本身可以根据预料之外的环境输入自动地及适应性地做出操作决策；所述非自主移动平台本身不能根据预料之外的环境输入适应性地做出操作决策，但可以执行既定的程序或者按照一定的逻辑运行。相应地，当移动平台100为自主移动平台时，所述目标方向可以是自动清洁设备自主决定的；当移动平台100为非自主移动平台时，所述目标方向可以是***或人工设置的。当所述移动平台100是自主移动平台时，所述移动平台100包括前向部分111和后向部分110。In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions according to unexpected environmental inputs. Operational decisions, but can execute a given procedure or operate according to a certain logic. Correspondingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .
感知***120包括位于移动平台100上方的位置确定装置121、位于移动平台100的前向部分111的缓冲器122、位于移动平台底部的悬崖传感器123和超声传感器(图中未示出)、红外传感器(图中未示出)、磁力计(图中未示出)、加速度计(图中未示出)、陀螺仪(图中未示出)、里程计(图中未示出)等传感装置，向控制***130提供机器的各种位置信息和运动状态信息。 Perception system 120 includes position determination device 121 located above mobile platform 100, buffer 122 located at forward portion 111 of mobile platform 100, cliff sensors 123 and ultrasonic sensors (not shown), infrared sensors located at the bottom of mobile platform 100 (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors The device provides various position information and motion state information of the machine to the control system 130 .
为了更加清楚地描述自动清洁设备的行为，进行如下方向定义：自动清洁设备可通过相对于由移动平台100界定的如下三个相互垂直轴的移动的各种组合在地面上行进：横向轴x、前后轴y及中心垂直轴z。沿着前后轴y的前向驱动方向标示为“前向”，且沿着前后轴y的后向驱动方向标示为“后向”。横向轴x实质上是沿着由驱动轮组件141的中心点界定的轴心在自动清洁设备的右轮与左轮之间延伸。其中，自动清洁设备可以绕x轴转动。当自动清洁设备的前向部分向上倾斜，后向部分向下倾斜时为“上仰”，且当自动清洁设备的前向部分向下倾斜，后向部分向上倾斜时为“下俯”。另外，自动清洁设备可以绕z轴转动。在自动清洁设备的前向方向上，当自动清洁设备向Y轴的右侧倾斜为“右转”，当自动清洁设备向y轴的左侧倾斜为“左转”。In order to more clearly describe the behavior of the automatic cleaning device, the following directional definitions are made: the automatic cleaning device can travel on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: lateral axis x, Front and rear axis y and center vertical axis z. The forward drive direction along the front-rear axis y is designated "forward" and the rearward drive direction along the front-rear axis y is designated "rear". The transverse axis x extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning apparatus. Among them, the automatic cleaning device can rotate around the x-axis. "Tilt up" when the forward part of the automatic cleaning device is tilted upward and the rearward part is tilted downward, and "tilt down" when the forward part of the automatic cleaning device is tilted downward and the rearward part is tilted upward. In addition, the automatic cleaning device can be rotated about the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is inclined to the right of the Y-axis, it is "turn right", and when the automatic cleaning device is inclined to the left of the y-axis, it is "turn left".
如图2所示，在移动平台100底部上并且在驱动轮组件141的前方和后方设置有悬崖传感器123，该悬崖传感器用于防止在自动清洁设备后退时发生跌落，从而能够避免自动清洁设备受到损坏。前述的“前方”是指相对于自动清洁设备行进方向相同的一侧，前述的“后方”是指相对于自动清洁设备行进方向相反的一侧。As shown in FIG. 2 , cliff sensors 123 are provided on the bottom of the mobile platform 100 and at the front and rear of the driving wheel assembly 141 . The cliff sensors are used to prevent the automatic cleaning device from falling when it retreats, so as to prevent the automatic cleaning device from being affected by damage. The aforementioned "front" refers to the same side with respect to the traveling direction of the automatic cleaning device, and the aforementioned "rear" refers to the opposite side with respect to the traveling direction of the automatic cleaning device.
位置确定装置121包括但不限于摄像头、激光测距装置(LDS)。The location determination device 121 includes, but is not limited to, a camera, a laser ranging device (LDS).
感知***120中的各个组件，既可以独立运作，也可以共同运作以更准确的实现目的功能。通过悬崖传感器123和超声波传感器对待清洁表面进行识别，以确定待清洁表 面的物理特性，包括表面材质、清洁程度等等，并可以结合摄像头、激光测距装置等进行更准确的判定。Each component in the perception system 120 can operate independently, or can operate together to achieve the purpose function more accurately. The surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical properties of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with cameras, laser ranging devices, etc. for more accurate determination.
例如，可以通过超声波传感器对待清洁表面是否为地毯进行判断，若超声波传感器判断待清洁表面为地毯材质，则控制***130控制自动清洁设备进行地毯模式清洁。For example, the ultrasonic sensor can determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.
移动平台100的前向部分111设置有缓冲器122，在清洁过程中驱动轮组件141推进自动清洁设备在地面行走时，缓冲器122经由传感器***，例如红外传感器，检测自动清洁设备的行驶路径中的一或多个事件(或对象)，自动清洁设备可通过由缓冲器122检测到的事件(或对象)，例如障碍物、墙壁，而控制驱动轮组件141使自动清洁设备来对所述事件(或对象)做出响应，例如远离障碍物。The forward portion 111 of the mobile platform 100 is provided with a bumper 122. During the cleaning process, when the drive wheel assembly 141 propels the automatic cleaning device to walk on the ground, the bumper 122 detects the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor. One or more events (or objects) that the automatic cleaning device can detect by the buffer 122, such as obstacles, walls, and control the drive wheel assembly 141 to cause the automatic cleaning device to respond to the events (or object) to respond, such as moving away from an obstacle.
控制***130设置在移动平台100内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器被配置为接收感知***120传来的所述多个传感器的感受到的环境信息，根据激光测距装置反馈的障碍物信息等利用定位算法，例如SLAM，绘制自动清洁设备所在环境中的即时地图，并根据所述环境信息和环境地图自主决定行驶路径，然后根据所述自主决定的行驶路径控制驱动***140进行前进、后退和/或转向等操作。进一步地，控制***130还可以根据所述环境信息和环境地图决定是否启动清洁模组150进行清洁操作。The control system 130 is provided on a circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, an application processing unit that communicates with non-transitory memory, such as hard disk, flash memory, random access memory, The device is configured to receive the environmental information sensed by the plurality of sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward, and/or steering according to the autonomously determined driving path. Further, the control system 130 may also decide whether to start the cleaning module 150 to perform the cleaning operation according to the environmental information and the environmental map.
具体地，控制***130可以结合缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得自动清洁设备的工作更加符合主人的要求，有更好的用户体验。进一步地，控制***能基于SLAM绘制的即时地图信息规划最为高效合理的清扫路径和清扫方式，大大提高自动清洁设备的清扫效率。Specifically, the control system 130 can combine the distance information and speed information fed back by the buffer 122 , the cliff sensor 123 and the ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices to comprehensively judge that the sweeper is currently in What working state, such as crossing the threshold, on the carpet, on the cliff, stuck above or below, the dust box is full, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the owner's requirements, and there is a better user experience. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, which greatly improves the cleaning efficiency of automatic cleaning equipment.
驱动***140可基于具体的距离和角度信息，例如x、y及θ分量，执行驱动命令而操纵自动清洁设备跨越地面行驶。图3、图4为本发明一实施例中一侧驱动轮组件141的斜视图和正视图，如图所示，驱动***140包含驱动轮组件141，驱动***140可以同时控制左轮和右轮，为了更为精确地控制机器的运动，优选驱动***140分别包括左驱动轮组件和右驱动轮组件。左、右驱动轮组件沿着由移动平台100界定的横轴对称设置。所述驱动轮组件包括本体部、驱动轮和弹性元件，本体部一端连接于机架，驱动轮设置于本体部并由驱动马达146驱动；弹性元件连接于本体部与机架之间，弹性元件被配置为在机架与本体部之间提供弹性力，驱动马达146位于驱动轮组件141外侧，且驱动马达146的轴心位于驱动轮的截面投影内，驱动轮组件141还可以连接测量驱动电流的电路和里程计。The drive system 140 may execute drive commands to steer the automated cleaning apparatus across the ground based on specific distance and angular information, such as x, y, and theta components. 3 and 4 are oblique views and front views of one side drive wheel assembly 141 in an embodiment of the present invention. As shown in the figures, the drive system 140 includes a drive wheel assembly 141, and the drive system 140 can control the left wheel and the right wheel at the same time. In order to more precisely control the motion of the machine, the drive system 140 preferably includes a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 . The driving wheel assembly includes a main body, a driving wheel and an elastic element. One end of the main body is connected to the frame, and the driving wheel is arranged in the main body and driven by the driving motor 146; the elastic element is connected between the main body and the frame, and the elastic element is connected to the frame. It is configured to provide elastic force between the frame and the main body, the drive motor 146 is located outside the drive wheel assembly 141, and the axis of the drive motor 146 is located in the cross-sectional projection of the drive wheel, and the drive wheel assembly 141 can also be connected to measure the drive current. circuit and odometer.
为了自动清洁设备能够在地面上更为稳定地运动或者更强的运动能力，自动清洁设 备可以包括一个或者多个转向组件142，转向组件142可为从动轮，也可为驱动轮，其结构形式包括但不限于万向轮，转向组件142可以位于驱动轮组件141的前方。In order for the automatic cleaning equipment to move more stably or have stronger movement ability on the ground, the automatic cleaning equipment may include one or more steering assemblies 142, and the steering assemblies 142 may be driven wheels or driving wheels, and their structural forms Including but not limited to caster wheels, the steering assembly 142 may be located in front of the drive wheel assembly 141 .
驱动马达146为驱动轮组件141和/或转向组件142的转动提供动力。 Drive motor 146 provides power for rotation of drive wheel assembly 141 and/or steering assembly 142 .
驱动轮组件141可以可拆卸地连接到移动平台100上，方便拆装和维修。驱动轮可具有偏置下落式悬挂***，以可移动方式紧固，例如以可旋转方式附接，到自动清洁设备移动平台100，并通过弹性元件143，如拉簧或者压簧以一定的着地力维持与地面的接触及牵引，同时自动清洁设备的清洁模组150也以一定的压力接触待清洁表面。The driving wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance. The drive wheel may have an offset drop suspension system, movably fastened, eg, rotatably attached, to the automatic cleaning device moving platform 100, and grounded to a certain degree by elastic elements 143, such as tension springs or compression springs The force maintains the contact and traction with the ground, and at the same time, the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.
能源***160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。如果裸露的充电电极上沾附有灰尘，会在充电过程中由于电荷的累积效应，导致电极周边的塑料机体融化变形，甚至导致电极本身发生变形，无法继续正常充电。The energy system 160 includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected with the single-chip microcomputer control circuit. The host is charged by connecting to the charging pile through the charging electrode arranged on the side or below of the fuselage. If there is dust on the bare charging electrode, the plastic body around the electrode will melt and deform due to the accumulation effect of the charge during the charging process, and even the electrode itself will be deformed, making it impossible to continue normal charging.
人机交互***170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。The human-computer interaction system 170 includes buttons on the host panel, and the buttons are used for user selection of functions; it may also include a display screen and/or indicator lights and/or horns, and the display screen, indicator lights and horns can show the user the current state of the machine or Feature selections; may also include mobile client programs. For the route navigation type cleaning equipment, the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, which can provide users with more abundant and user-friendly function items.
清洁模组150可包括干式清洁模组151和/或湿式清洁模组400。The cleaning module 150 may include the dry cleaning module 151 and/or the wet cleaning module 400 .
如图5-8所示，干式清洁模组151包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。扫地机的除尘能力可用垃圾的清扫效率DPU(Dust pickup efficiency)进行表征，清扫效率DPU受滚刷结构和材料影响，受吸尘口、尘盒、风机、出风口以及四者之间的连接部件所构成的风道的风力利用率影响，受风机的类型和功率影响，是个复杂的***设计问题。相比于普通的插电吸尘器，除尘能力的提高对于能源有限的清洁自动清洁设备来说意义更大。因为除尘能力的提高直接有效降低了对于能源要求，也就是说原来充一次电可以清扫80平米地面的机器，可以进化为充一次电清扫180平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加，使得用户更换电池的频率也会增加。更为直观和重要的是，除尘能力的提高是最为明显和重要的用户体验，用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁模组还可包含具有旋转轴的边刷152，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁模组150的滚刷区域中。As shown in FIGS. 5-8 , the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet. The roller brush with certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box. The dust removal ability of the sweeper can be characterized by the dust pickup efficiency DPU (Dust pickup efficiency). The wind utilization rate of the formed air duct is affected by the type and power of the fan, which is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can be evolved to clean 180 square meters or more with one charge. And the service life of the battery that reduces the number of charging times will also be greatly increased, so that the frequency of the user replacing the battery will also increase. What is more intuitive and important is that the improvement of dust removal ability is the most obvious and important user experience, and the user will directly come to the conclusion of whether the cleaning is clean or not. The dry cleaning module may also include a side brush 152 having an axis of rotation angled relative to the ground for moving debris into the rolling brush area of the cleaning module 150 .
图5为所述干式清洁模组中的尘盒152的结构示意图，图6为所述干式清洁模组中的风机156的结构示意图，图7为尘盒152的打开状态示意图，图8位尘盒、风机组装状态示意图。5 is a schematic diagram of the structure of the dust box 152 in the dry cleaning module, FIG. 6 is a schematic diagram of the structure of the fan 156 in the dry cleaning module, FIG. 7 is a schematic diagram of the opened state of the dust box 152, and FIG. 8 Schematic diagram of the assembled state of the dust box and the fan.
与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒152之间的吸尘口154前方，然后被风机156结构产生并经过尘盒152的有吸力的气体吸入尘盒152，垃圾被滤网153隔离在尘盒152内部靠近吸尘口154一侧，滤网153将吸尘口与出风口完全隔离，经过过滤后的空气通过出风口155进入风机156。The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the dust suction port 154 between the roller brush and the dust box 152, and then is generated by the structure of the fan 156 and passes through the dust box 152. The suction gas The dust box 152 is inhaled, and the garbage is isolated by the filter screen 153 on the side of the dust box 152 close to the dust suction port 154. The filter screen 153 completely isolates the dust suction port from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.
典型的，尘盒152的吸尘口154位于机器前方，出风口155位于尘盒152侧方，风机156的吸风口与尘盒的出风口相对接。Typically, the dust suction port 154 of the dust box 152 is located in front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction port of the fan 156 is opposite to the air outlet of the dust box.
尘盒152的前面板可以打开，用于清理尘盒152内的垃圾。The front panel of the dust box 152 can be opened for cleaning the garbage in the dust box 152 .
所述滤网153与尘盒152的盒体为可拆卸连接，方便滤网拆卸和清洗。The filter screen 153 and the box body of the dust box 152 are detachably connected to facilitate the removal and cleaning of the filter screen.
根据本发明的具体实施方式，如图9-11所示，本发明提供的湿式清洁模组400，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述湿式清洁模组400包括：清洁头410、驱动单元420，其中，清洁头410用于清洁所述操作面的至少一部分，驱动单元420用于驱动所述清洁头410沿着目标面基本上往复运动的，所述目标面为所述操作面的一部分。所述清洁头410沿待清洁表面做往复运动，清洁头410与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。According to a specific embodiment of the present invention, as shown in FIGS. 9-11 , the wet cleaning module 400 provided by the present invention is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes: a cleaning head 410 and a driving unit 420, wherein the cleaning head 410 is used for cleaning at least a part of the operation surface, the driving unit 420 is used for driving the cleaning head 410 to substantially reciprocate along the target surface, the The target surface is part of the operating surface. The cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through the reciprocating motion, thereby removing the surface to be cleaned. stains.
摩擦频率越高，代表单位时间内的摩擦次数越多，高频往复运动，也叫往复震动，清洁能力要远大于普通的往复运动，比如转动，摩擦清洗，可选地，摩擦频率接近声波，清洁效果会远高于每分钟几十圈的转动摩擦清洗。另一方面，清洁头表面的毛簇会在高频震动的抖动下更加整齐划一朝同一方向延展，因此整体清洁效果更加均匀，而不是在低频率转动的情况下仅仅被施加下压力增大摩擦力而提高清洁效果，仅仅下压力并不会使毛簇们朝接近同一方向延展，在效果上的体现就是高频震动清洁后的操作面水痕更加均匀，不会留下混乱的水渍。The higher the friction frequency, the more friction times per unit time. The high-frequency reciprocating motion, also called reciprocating vibration, has a much greater cleaning ability than ordinary reciprocating motion, such as rotation and friction cleaning. Optionally, the friction frequency is close to sound waves. The cleaning effect will be much higher than the rotating friction cleaning of dozens of revolutions per minute. On the other hand, the tufts on the surface of the cleaning head will be more uniformly extended in the same direction under the shaking of high-frequency vibration, so the overall cleaning effect is more uniform, rather than only applying down pressure to increase friction in the case of low-frequency rotation The cleaning effect can be improved by force, and only the downward pressure will not cause the tufts to extend in the same direction. The effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and there will be no chaotic water stains.
往复运动可以是沿操作面内任意一个或多个方向的反复运动，也可以是垂直于操作面的震动，对此不做严格限制。可选地，清洁模组的往复运动方向与机器行进方向大致垂直，因为平行于机器行进方向的往复运动方向会对行进中的机器本身带来不稳定，因为行进方向上的推力和阻力会使驱动轮容易打滑，在包含湿式清洁模组的情况下打滑的影响更为明显，因为操作面的湿滑增加了打滑的可能性，而打滑除了影响机器的平稳行进清洁外，更会造成里程计、陀螺仪等传感器测距不准，从而导致导航型自动清洁设备不能准确定位和画地图，在打滑频发的情况下，对SLAM的影响将不能忽略，因此需要尽量避免打滑的机器行为。除了打滑之外，在机器行进方向上的清洁头运动分量使得机器在行进时不停地受向前向后的推动，因此机器的行走会一顿一顿地不稳定平顺。The reciprocating motion may be repeated motion along any one or more directions within the operation surface, or may be vibration perpendicular to the operation surface, which is not strictly limited. Optionally, the direction of reciprocation of the cleaning module is approximately perpendicular to the direction of machine travel, as the direction of reciprocation parallel to the direction of machine travel can introduce instability to the traveling machine itself, as thrust and resistance in the The drive wheel is prone to slippage, and the effect of slippage is more obvious when the wet cleaning module is included, because the wetness of the operating surface increases the possibility of slippage, and the slippage will not only affect the smooth running and cleaning of the machine, but also cause the odometer. Sensors such as gyroscope and gyroscope are inaccurate, resulting in the inability of navigation-type automatic cleaning equipment to accurately locate and draw maps. In the case of frequent slippage, the impact on SLAM cannot be ignored. Therefore, it is necessary to avoid slippery machine behaviors. In addition to slippage, the component of cleaning head motion in the direction of machine travel causes the machine to be constantly pushed forwards and backwards as it travels, so the machine travels erratically and smoothly.
作为本发明可选的实施方式，如图9所示，所述驱动单元420包括：驱动平台421，连接于所述移动平台100底面，用于提供驱动力；支撑平台422，可拆卸的连接于所述驱动平台421，用于支撑所述清洁头410，且可以在驱动平台421的驱动下实现升降。As an optional embodiment of the present invention, as shown in FIG. 9 , the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the mobile platform 100 for providing driving force; a supporting platform 422 detachably connected to the The driving platform 421 is used to support the cleaning head 410 and can be lifted and lowered under the driving of the driving platform 421 .
作为本发明可选的实施方式，清洁模组150与移动平台100间设有升降模组，用于使 清洁模组150更好的与待清洁表面接触，或者针对不同材质的待清洁表面采用不同的清洁策略。As an optional embodiment of the present invention, a lifting module is provided between the cleaning module 150 and the mobile platform 100, so that the cleaning module 150 can better contact the surface to be cleaned, or different materials are used for the surface to be cleaned. cleaning strategy.
可选的，所述干式清洁模组151可以通过被动式升降模组与所述移动平台100相连接，当清洁设备遇到障碍时，干式清洁模组151可以通过升降模组更便捷的越过障碍。Optionally, the dry cleaning module 151 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters an obstacle, the dry cleaning module 151 can be more easily crossed through the lifting module. obstacle.
可选的，所述湿式清洁模组400可以通过主动式升降模组与所述移动平台100相连接，当湿式清洁模组400暂时不参与工作，或者遇到无法采用湿式清洁模组400进行清洁的待清洁表面时，通过主动式升降模组将湿式清洁模组400升起，与待清洁表面分离，从而实现清洁手段的变化。Optionally, the wet cleaning module 400 can be connected to the mobile platform 100 through an active lifting module. When the wet cleaning module 400 does not participate in the work temporarily, or the wet cleaning module 400 cannot be used for cleaning. When the surface to be cleaned is removed, the wet cleaning module 400 is lifted up by the active lifting module and separated from the surface to be cleaned, thereby realizing the change of cleaning means.
如图10-11所示，所述驱动平台421包括：电机4211，设置于所述驱动平台421的靠近所述移动平台100一侧，通过电机输出轴输出动力；驱动轮4212，与所述电机输出轴连接，所述驱动轮4212为非对称结构；震动件4213，设置于所述驱动平台421的与所述电机4211相反的一侧，与所述驱动轮4212连接，在所述驱动轮4212非对称的转动下实现往复运动。As shown in FIGS. 10-11 , the driving platform 421 includes: a motor 4211, which is arranged on the side of the driving platform 421 close to the moving platform 100, and outputs power through the motor output shaft; a driving wheel 4212, which is connected to the motor The output shaft is connected, and the driving wheel 4212 has an asymmetric structure; the vibration member 4213 is arranged on the opposite side of the driving platform 421 to the motor 4211, and is connected with the driving wheel 4212. Reciprocating motion is realized under asymmetrical rotation.
驱动平台421可以进一步包括齿轮机构。齿轮机构可以连接电机4211和驱动轮4212。电机4211可以直接带动驱动轮4212做回转运动，也可以通过齿轮机构间接带动驱动轮4212做回转运动。本领域普通技术人员可以理解，齿轮机构可以为一个齿轮，也可以是多个齿轮组成的齿轮组。The drive platform 421 may further include a gear mechanism. The gear mechanism may connect the motor 4211 and the drive wheel 4212. The motor 4211 can directly drive the driving wheel 4212 to perform a rotary motion, or indirectly drive the driving wheel 4212 to perform a rotary motion through a gear mechanism. Those skilled in the art can understand that the gear mechanism may be one gear, or may be a gear set composed of multiple gears.
电机4211通过动力传送装置将动力同时传递给清洁头410、驱动平台421、支撑平台422、送水机构、水箱等。能源***160为电机4211提供动力和能源，并由控制***130进行整体控制。所述动力传送装置可以是齿轮传动、链传动、带传动，也可以是蜗轮蜗杆等等。The motor 4211 transmits the power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water supply mechanism, the water tank and the like at the same time through the power transmission device. The energy system 160 provides power and energy for the motor 4211 and is controlled by the control system 130 as a whole. The power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear or the like.
电机4211包括正向输出模式和反向输出模式，正向输出模式时电机4211正向旋转，反向输出模式时电机4211反向旋转，电机4211的正向输出模式中，电机4211通过动力传送装置能同时带动湿式清洁组件400中的驱动平台震动件4213基本上往复运动、送水机构同步运动，电机4211的反向输出模式中，电机4211通过动力传送装置带动驱动平台421升降。The motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates in the forward direction. In the reverse output mode, the motor 4211 rotates in the reverse direction. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device. It can simultaneously drive the drive platform vibration member 4213 in the wet cleaning assembly 400 to basically reciprocate and the water supply mechanism to move synchronously. In the reverse output mode of the motor 4211, the motor 4211 drives the drive platform 421 to rise and fall through the power transmission device.
进一步的，所述驱动平台421还包括：连接杆4214，沿所述驱动平台421边缘延伸，连接所述驱动轮4212与所述震动件4213，使所述震动件4213延伸至预设位置，其中，所述震动件4213延伸方向与所述连接杆4214垂直，使得震动件4213的往复运动方向和机器行进方向大致垂直。Further, the driving platform 421 further includes: a connecting rod 4214, extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibration member 4213, so that the vibration member 4213 extends to a preset position, wherein , the extension direction of the vibration member 4213 is perpendicular to the connecting rod 4214 , so that the reciprocating motion direction of the vibration member 4213 is substantially perpendicular to the traveling direction of the machine.
电机4211通过动力传送装置与驱动轮4212、震动件4213、连接杆4214及震动缓冲装置4215连接。其中，震动件4213以及连接杆4214构成近似于L型结构，如图15所示，震动件4213在连接杆4214的带动下做往复运动。震动缓冲装置4215对驱动轮4212带动的运动行为起到减震减少抖动的作用，使震动件4213在支撑平台422所能提供的运动幅度范围内震动平稳。可选地，震动缓冲装置4215为软性材料，可选地为橡胶结构， 震动缓冲装置4215套设于连接杆4214。另一方面，震动缓冲装置4215还能保护震动件4213不与驱动平台421之间磕碰造成损坏，也就还对震动件4213的往复运动产生了影响。驱动平台421的活动件与固定件之间在机器行进方向上通过弹性较小的连接方式限制运动，在与行进方向大致垂直的方向上，即震动件4213的震动方向上通过灵活的方式连接并允许运动。上述两者运动限制使得震动件4213的运动方式不是准确的往复，而是基本上的往复运动。当湿式清洁组件400启动时，电机4211启动工作开始正转，电机4211通过驱动轮4212带动连接杆4214沿着驱动平台421表面做往复运动，同时震动缓冲装置4215带动震动件4213沿着驱动平台421表面做基本上往复运动，震动件4213带着清洁基板4221沿着支撑平台422表面做基本上往复运动，清洁基板4221带着活动区域412沿着待清洁表面做基本上往复运动。此时，清水泵使清水从清水箱流出，并通过出水装置4217将清水洒在清洁头410上，清洁头410则通过往复运动清洁待清洁表面。The motor 4211 is connected with the driving wheel 4212 , the vibration member 4213 , the connecting rod 4214 and the vibration buffer device 4215 through the power transmission device. Among them, the vibration member 4213 and the connecting rod 4214 constitute an approximate L-shaped structure. As shown in FIG. 15 , the vibration member 4213 reciprocates under the driving of the connecting rod 4214 . The vibration buffer device 4215 has the effect of damping and reducing the vibration of the motion behavior driven by the driving wheel 4212 , so that the vibration member 4213 can vibrate smoothly within the range of motion provided by the support platform 422 . Optionally, the shock buffering device 4215 is a soft material, optionally a rubber structure, and the shock buffering device 4215 is sleeved on the connecting rod 4214 . On the other hand, the vibration buffer device 4215 can also protect the vibration member 4213 from being damaged due to collision with the driving platform 421 , which also affects the reciprocating motion of the vibration member 4213 . The movable member of the driving platform 421 and the fixed member are connected in a flexible manner to limit the movement in the traveling direction of the machine. Movement is allowed. The above two movement restrictions make the movement of the vibrating member 4213 not exactly reciprocating, but basically reciprocating. When the wet cleaning assembly 400 is started, the motor 4211 starts to rotate forward, the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the drive platform 421 through the drive wheel 4212, and the vibration buffer device 4215 drives the vibration member 4213 along the drive platform 421. The surface basically reciprocates, the vibration member 4213 basically reciprocates along the surface of the support platform 422 with the cleaning substrate 4221, and the cleaning substrate 4221 basically reciprocates along the surface to be cleaned with the active area 412. At this time, the clean water pump makes clean water flow out from the clean water tank, and sprinkles clean water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 cleans the surface to be cleaned by reciprocating motion.
自动清洁设备的清洁强度/效率也可以根据自动清洁设备的工作环境自动动态调整。比如自动清洁设备可以根据感知***120检测待清洁表面的面的物理信息实现动态调整。例如，感知***120可以检测待清洁表面的平整度、待清洁表面的材质、是否有油污和灰尘，等等信息，并将这些信息传给自动清洁设备的控制***130。相应地，控制***130可以指挥自动清洁设备根据自动清洁设备的工作环境自动动态调整电机的转速及动力传送装置的传动比，因而调整所述清洁头410往复运动的预设往复周期。The cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment. For example, the automatic cleaning device can realize dynamic adjustment according to the physical information of the surface of the surface to be cleaned detected by the sensing system 120 . For example, the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit the information to the control system 130 of the automatic cleaning device. Correspondingly, the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotational speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating period of the reciprocating motion of the cleaning head 410 .
例如，当自动清洁设备在平坦的地面上工作时，所述预设往复周期可以自动动态调整地较长、水泵的水量可以自动动态调整地较小；当自动清洁设备在不太平坦的地面上工作时，所述预设往复周期可以自动动态调整地较短、水泵的水量可以自动动态调整地较大。这是因为，相对于不太平坦的地面，平面的地面较容易清洁，因此清洁不平坦地面需要清洁头410更快的往复运动(即更高的频率)和更大的水量。For example, when the automatic cleaning device works on a flat ground, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is on a less flat ground During operation, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because flat surfaces are easier to clean than less flat surfaces, so cleaning uneven surfaces requires faster reciprocation (ie, higher frequency) of cleaning head 410 and a larger volume of water.
又例如，当自动清洁设备在桌面上工作时，所述预设往复周期可以自动动态调整地较长、水泵的水量可以自动动态调整地较小；当自动清洁设备100在地面工作时，所述预设往复周期可以自动动态调整地较短、水泵的水量可以自动动态调整地较大。这是因为，相对于地面，桌面的灰尘、油污较少，构成桌面的材质也较容易清洁，因此需要清洁头410进行较少次数的往复运动、水泵提供相对较少的水量就能将桌面清理干净。For another example, when the automatic cleaning device is working on the desktop, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the The preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because, compared to the ground, the desktop has less dust and oil, and the materials that make up the desktop are easier to clean. Therefore, the cleaning head 410 needs to perform fewer reciprocating movements, and the water pump can provide a relatively small amount of water to clean the desktop. clean.
作为本发明可选的实施方式，所述支撑平台422包括：清洁基板4221，可自由活动的设置于所述支撑平台422，所述清洁基板4221在所述震动件4213的震动下做基本上往复运动。可选的，如图16所示，所述清洁基板4221包括：装配缺口42211，设置于与所述震动件4213接触的位置，当所述支撑平台422连接于所述驱动平台421上时，所述震动件4213装配于所述装配缺口42211，使得清洁基板4221可以随着震动件4213同步基本上往复运动。在清洁基板4221的清洁设备行进方向包括4个第一限制位42212，该4个第一限制位42212与清洁基板4221之间软性连接，但弹性缩放空间较小，因此限定清洁基板4221在清洁设备行进方向上的相对于支撑平台422的运动；在清洁基板4221的与清洁 设备行进方向垂直的方向包括两个第二限制位42213，该两个第二限制位42213限制了清洁基板4221在与清洁设备行进方向垂直的方向上做往复运动的范围。此外，在清洁基板4221的装配缺口42211附近设置有出水孔42214，用于使得出水装置4217流出的水经过出水孔流至清洁头410。因为受到限制位和震动缓冲装置的影响，清洁基板4221的运动在基本上是往复运动的。清洁基板4221位于支撑平台422的一部分，局部震动的方式可以将震动频率做到更大，比如达到声波频率范围。驱动平台421的活动件与固定件之间在机器行进方向上通过弹性较小的连接方式限制运动，在与行进方向大致垂直的方向上，即震动件4213的震动方向上通过灵活的方式连接并允许运动。As an optional embodiment of the present invention, the support platform 422 includes a cleaning substrate 4221 , which is freely movable on the support platform 422 , and the cleaning substrate 4221 basically reciprocates under the vibration of the vibration member 4213 . sports. Optionally, as shown in FIG. 16 , the cleaning substrate 4221 includes: an assembly notch 42211, which is arranged at a position in contact with the vibration member 4213. When the supporting platform 422 is connected to the driving platform 421, the The vibrating member 4213 is assembled to the assembling notch 42211 , so that the cleaning substrate 4221 can substantially reciprocate synchronously with the vibrating member 4213 . The cleaning substrate 4221 includes four first limiting positions 42212 in the traveling direction of the cleaning device. The four first limiting positions 42212 and the cleaning substrate 4221 are flexibly connected, but the elastic scaling space is small, so the cleaning substrate 4221 is limited in the cleaning process. The movement relative to the supporting platform 422 in the traveling direction of the equipment; the direction of the cleaning substrate 4221 perpendicular to the traveling direction of the cleaning equipment includes two second limiting positions 42213, the two second limiting positions 42213 limit the cleaning substrate 4221 between the The range of reciprocating motion in the direction perpendicular to the direction of travel of the cleaning equipment. In addition, a water outlet hole 42214 is provided near the assembly notch 42211 of the cleaning substrate 4221, so that the water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole. The movement of the cleaning substrate 4221 is basically a reciprocating movement due to the influence of the limiting position and the shock buffering device. The cleaning substrate 4221 is located in a part of the support platform 422, and the vibration frequency can be made larger by means of local vibration, such as reaching the frequency range of sound waves. The movable member of the driving platform 421 and the fixed member are connected in a flexible manner to limit the movement in the traveling direction of the machine. Movement is allowed.
图12示出了根据本申请多个实施例的另一种基于曲柄滑块机构的清洁头驱动机构500。驱动机构500可以应用在驱动平台421上。驱动机构500包括驱动轮4212、震动件4213、清洁基板4221、滑槽4222(第一滑槽)和滑槽4223(第二滑槽)。FIG. 12 illustrates another cleaning head drive mechanism 500 based on a crank-slider mechanism according to various embodiments of the present application. The drive mechanism 500 may be applied to the drive platform 421 . The driving mechanism 500 includes a driving wheel 4212, a vibration member 4213, a cleaning substrate 4221, a chute 4222 (a first chute) and a chute 4223 (a second chute).
滑槽4222、4223开在支撑平台422上。清洁基板4221的两端分别包括滑块525(第一滑块)和滑块528(第二滑块)。滑块525、528分别为在清洁基板4221两端的一个凸起。滑块525***在滑槽4222内并且可以沿着滑槽4222滑动；滑块4223***在滑槽4223内，并且可以沿着滑槽4223滑动。在一些实施例中，滑槽4222同滑槽4223在同一直线上。在一些实施例中，滑槽4222和滑槽4223不在同一直线上。在一些实施例中，滑槽4222同滑槽4223沿着同一方向延伸。在一些实施例中，滑槽4222同滑槽4223的延伸方向同清洁基板4221的延伸方向相同。在一些实施例中，滑槽4222同滑槽4223的延伸方向同清洁基板4221的延伸方向不同。在一些实施例中，滑槽4222同滑槽4223的延伸方向不同。比如，图12所示，滑槽4222的延伸方向同清洁基板4221的延伸方向相同，而滑槽4223的延伸方向同滑槽4222的延伸方向呈一定角度。The chutes 4222 and 4223 are opened on the support platform 422 . Both ends of the cleaning substrate 4221 include sliders 525 (first sliders) and sliders 528 (second sliders), respectively. The sliders 525 and 528 are respectively a protrusion at both ends of the cleaning substrate 4221 . The sliding block 525 is inserted in the sliding groove 4222 and can slide along the sliding groove 4222 ; the sliding block 4223 is inserted in the sliding groove 4223 and can slide along the sliding groove 4223 . In some embodiments, the chute 4222 and the chute 4223 are on the same line. In some embodiments, the chute 4222 and the chute 4223 are not on the same line. In some embodiments, the chute 4222 and the chute 4223 extend in the same direction. In some embodiments, the extending direction of the sliding groove 4222 and the sliding groove 4223 is the same as the extending direction of the cleaning substrate 4221 . In some embodiments, the extending directions of the sliding grooves 4222 and the sliding grooves 4223 are different from the extending directions of the cleaning substrate 4221 . In some embodiments, the extending directions of the chute 4222 and the chute 4223 are different. For example, as shown in FIG. 12 , the extension direction of the chute 4222 is the same as the extension direction of the cleaning substrate 4221 , and the extension direction of the chute 4223 and the extension direction of the chute 4222 are at a certain angle.
震动件4213包括回转端512和滑动端514。回转端512同驱动轮4212通过第一枢轴516连接，滑动端514同清洁基板4221通过第二枢轴518连接。The vibrating member 4213 includes a rotating end 512 and a sliding end 514 . The rotating end 512 is connected with the driving wheel 4212 through a first pivot shaft 516 , and the sliding end 514 is connected with the cleaning substrate 4221 through a second pivot shaft 518 .
驱动轮4212的回转中心为O点，第一枢轴516的枢转中心为A点。O点和A点不重合，他们之间的距离为预设距离d。The rotation center of the driving wheel 4212 is point O, and the pivot center of the first pivot shaft 516 is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
当驱动轮4212转动时，A点随之做圆形回转运动。相应地，回转端512跟着A点做圆形回转运动；滑动端514则通过第二枢轴518带动清洁基板4221做滑动运动。相应地，清洁基板4221的滑块525沿着滑槽4222做往复直线运动；滑块528沿着滑槽4223做往复线性运动。在图4中，移动平台210的移动速度为V0，移动方向为目标方向。根据一些实施例，当滑槽4223和滑槽4222分别近似垂直于移动平台210的移动速度V0的方向时，清洁基板4221的整***移大体上垂直于所述目标方向。根据另一些实施例，当滑槽4223和滑槽4222中的任意一个滑槽同所述目标方向呈90度以外的其他角度时，清洁基板4221的整***移同时包括垂直于所述目标方向和平行于所述目标方向的分量。When the driving wheel 4212 rotates, the point A performs a circular rotary motion accordingly. Correspondingly, the rotary end 512 performs a circular rotary motion following the point A; the sliding end 514 drives the cleaning substrate 4221 to perform sliding motion through the second pivot shaft 518 . Correspondingly, the slider 525 for cleaning the substrate 4221 reciprocates linearly along the chute 4222 ; the slider 528 performs a reciprocating linear motion along the chute 4223 . In FIG. 4 , the moving speed of the moving platform 210 is V0, and the moving direction is the target direction. According to some embodiments, when the chute 4223 and the chute 4222 are respectively approximately perpendicular to the direction of the moving speed V0 of the moving platform 210, the overall displacement of the cleaning substrate 4221 is substantially perpendicular to the target direction. According to other embodiments, when any one of the chute 4223 and the chute 4222 is at an angle other than 90 degrees from the target direction, the overall displacement of the cleaning substrate 4221 includes both being perpendicular to the target direction and parallel to the target direction. component in the target direction.
进一步的，包括震动缓冲装置4215，设置于所述连接杆4214上，用于减轻特定方向上的震动，本实施例中，用于减轻自动清洁设备目标方向垂直的移动分量方向上的震 动。Further, a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
图13示出了根据本申请多个实施例的另一种基于双曲柄机构的清洁头驱动机构600。驱动机构600可以应用在驱动平台421上。驱动机构600包括驱动轮4212(第一驱动轮)、驱动轮4212’(第二驱动轮)、和清洁基板4221。FIG. 13 shows another cleaning head driving mechanism 600 based on a double crank mechanism according to various embodiments of the present application. The drive mechanism 600 may be applied to the drive platform 421 . The driving mechanism 600 includes a driving wheel 4212 (a first driving wheel), a driving wheel 4212' (a second driving wheel), and a cleaning substrate 4221.
清洁基板4221有两端。第一端同驱动轮4212通过枢轴624(第一枢轴)连接；第二端同驱动轮4212’通过枢轴626(第二枢轴)连接。驱动轮4212的回转中心为O点，枢轴624的枢转中心为A点。O点和A点不重合，他们之间的距离为预设距离d。驱动轮236的回转中心为O’点，枢轴626的枢转中心为A’点。O’点和A’点不重合，他们之间的距离为预设距离d。在一些实施例中，A点、A’点、O点和O’点位于同一平面上。因此，驱动轮4212、驱动轮4212’和清洁基板4221可形成双曲轴机构(或平行四边形机构)，其中清洁基板4221用作耦合杆，驱动轮4212和4212’充当两个曲柄。The cleaning substrate 4221 has two ends. The first end is connected to the drive wheel 4212 through a pivot shaft 624 (first pivot shaft); the second end is connected to the drive wheel 4212' through a pivot shaft 626 (second pivot shaft). The rotation center of the driving wheel 4212 is point O, and the pivot center of the pivot shaft 624 is point A. Point O and point A do not coincide, and the distance between them is the preset distance d. The center of rotation of the drive wheel 236 is the point O', and the center of rotation of the pivot shaft 626 is the point A'. Point O' and point A' do not coincide, and the distance between them is the preset distance d. In some embodiments, points A, A', O, and O' lie on the same plane. Therefore, the driving wheel 4212, the driving wheel 4212' and the cleaning substrate 4221 may form a double crank mechanism (or parallelogram mechanism), wherein the cleaning substrate 4221 acts as a coupling lever and the driving wheels 4212 and 4212' act as two cranks.
进一步的，包括震动缓冲装置4215，设置于所述连接杆4214上，用于减轻特定方向上的震动，本实施例中，用于减轻自动清洁设备目标方向垂直的移动分量方向上的震动。Further, a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used for reducing vibration in a specific direction, in this embodiment, for reducing vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
图14示出了根据本申请多个实施例的一种基于曲柄滑块机构的驱动机构700。驱动机构700可以应用在驱动平台421上。所述驱动机构700包括驱动轮4212、清洁基板4221和滑槽4222。FIG. 14 shows a drive mechanism 700 based on a crank-slider mechanism according to various embodiments of the present application. The drive mechanism 700 may be applied to the drive platform 421 . The driving mechanism 700 includes a driving wheel 4212 , a cleaning substrate 4221 and a chute 4222 .
滑槽4222开在支撑平台422上。清洁基板4221包括回转端4227和滑动端4226。回转端4227通过枢轴4228连接在驱动轮4212上。其中，驱动轮4212的回转中心为O点，回转端枢轴4228枢转中心为A点。O点和A点不重合，他们之间的距离为预设距离d。滑动端4226包括滑块4225。滑块4225为在滑动端4226上的一个凸起。滑块4225***在滑槽4222内并且可以沿着滑槽4222滑动。因此，驱动轮4221、清洁基板4221和滑块4225和滑槽4222组成曲柄滑块机构。The chute 4222 is opened on the support platform 422 . The cleaning substrate 4221 includes a swivel end 4227 and a sliding end 4226 . Swivel end 4227 is connected to drive wheel 4212 by pivot 4228. The pivot center of the driving wheel 4212 is point O, and the pivot center of the pivot shaft 4228 at the pivot end is point A. Point O and point A do not coincide, and the distance between them is the preset distance d. Sliding end 4226 includes slider 4225. The slider 4225 is a protrusion on the sliding end 4226 . The slider 4225 is inserted into the chute 4222 and can slide along the chute 4222 . Therefore, the driving wheel 4221, the cleaning base plate 4221, the slider 4225 and the chute 4222 constitute a crank-slider mechanism.
当驱动轮4212转动时，A点做圆形回转运动。相应地，清洁基板4221的回转端4227跟着A点做圆形回转运动；而滑块4225则跟着在滑槽4222中滑动，做往复线性运动。其结果是清洁基板4221开始做往复运动。根据一些实施例，滑槽4222近似垂直于移动平台的移动速度所述目标方向的方向，因此，滑动端4226的线性移动包括垂直于所述目标方向的分量，回转端4227的圆形回转运动同时包括垂直于所述目标方向和平行于所述目标方向的分量。When the driving wheel 4212 rotates, point A performs a circular rotary motion. Correspondingly, the rotary end 4227 of the cleaning substrate 4221 performs a circular rotary motion following the point A; and the slider 4225 slides in the chute 4222 to perform a reciprocating linear motion. As a result, the cleaning substrate 4221 starts to reciprocate. According to some embodiments, the chute 4222 is approximately perpendicular to the direction of the target direction of the speed of movement of the mobile platform, therefore, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular swivel movement of the swivel end 4227 simultaneously Includes components perpendicular to the target direction and parallel to the target direction.
在图14中，移动平台的移动速度为V0，移动方向为目标方向；而滑槽4222近似垂直于目标方向。此时，清洁基板4221整体上做的往复运动既有同自动清洁设备目标方向平行的移动分量，又有同自动清洁设备目标方向垂直的移动分量。In Fig. 14, the moving speed of the mobile platform is V0, and the moving direction is the target direction; and the chute 4222 is approximately perpendicular to the target direction. At this time, the reciprocating motion of the cleaning substrate 4221 as a whole has both a movement component parallel to the target direction of the automatic cleaning device and a movement component perpendicular to the target direction of the automatic cleaning device.
进一步的，所述支撑平台422还包括：弹性拆卸按钮4229，设置于所述支撑平台422的至少一侧，用于使所述支撑平台422可拆卸的连接于所述驱动平台421的卡爪4216，使得支撑平台422可拆卸地机械固定在驱动平台421上，相对于驱动平台和自动清洁设备本 身固定。至少一个装配区域4224，设置于所述支撑平台422，用于装配所述清洁头410。装配区域4224可以为具有粘结层的粘结材料形成。Further, the support platform 422 further includes: an elastic disassembly button 4229, which is disposed on at least one side of the support platform 422, and is used to detachably connect the support platform 422 to the claw 4216 of the drive platform 421. , so that the supporting platform 422 is detachably mechanically fixed on the driving platform 421, and is fixed relative to the driving platform and the automatic cleaning device itself. At least one assembling area 4224 is disposed on the supporting platform 422 for assembling the cleaning head 410 . The mounting area 4224 may be formed of an adhesive material with an adhesive layer.
作为本发明可选的实施方式，如图9所示，所述清洁头410包括：活动区域412，与所述清洁基板4221连接，在所述清洁基板4221的驱动下沿着所述清洁表面基本上往复运动。活动区域412设置于清洁头410大致中央位置。As an optional embodiment of the present invention, as shown in FIG. 9 , the cleaning head 410 includes: an active area 412 connected to the cleaning substrate 4221 and substantially along the cleaning surface driven by the cleaning substrate 4221 Reciprocating motion. The active area 412 is disposed at a substantially central position of the cleaning head 410 .
可选的，所述活动区域412与所述清洁基板4221连接的一侧设置有粘结层，所述活动区域412与所述清洁基板4221通过所述粘结层连接。Optionally, an adhesive layer is provided on the side where the active area 412 is connected to the cleaning substrate 4221 , and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer.
可选的，所述清洁头410还包括：固定区域411，通过所述至少一个装配区域4224连接于所述支撑平台422底部，所述固定区域411随着所述支撑平台422的移动清洁所述操作面的至少一部分。Optionally, the cleaning head 410 further includes: a fixing area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224 , and the fixing area 411 cleans the at least a portion of the operating surface.
进一步的，所述清洁头410还包括：柔性连接部413，设置于所述固定区域411和所述活动区域412之间，用于连接所述固定区域411和所述活动区域412。所述清洁头410还包括：滑动卡扣414，沿所述清洁头410边缘延伸，可拆卸的安装于所述支撑平台422的卡接位置4225。Further, the cleaning head 410 further includes: a flexible connecting portion 413 disposed between the fixed area 411 and the active area 412 for connecting the fixed area 411 and the active area 412 . The cleaning head 410 further includes: a sliding latch 414 extending along the edge of the cleaning head 410 and detachably installed at the latching position 4225 of the support platform 422 .
本实施例中，如图9所示，清洁头410可以用有一定弹性的材料制成，清洁头410通过粘贴层固定于支撑平台422的表面，从而实现往复运动。在清洁头410工作时，清洁头410始终接触待清洁表面。In this embodiment, as shown in FIG. 9 , the cleaning head 410 may be made of a certain elastic material, and the cleaning head 410 is fixed on the surface of the support platform 422 through an adhesive layer, thereby realizing reciprocating motion. When the cleaning head 410 is in operation, the cleaning head 410 is always in contact with the surface to be cleaned.
所述送水机构包括出水装置4217，出水装置4217可以与水箱(未图示)的清洁液出口即清水箱的出液口直接或间接连接，其中，所述清洁液可以经水箱的所述清洁液出口流向出水装置4217，并可以通过出水装置均匀地涂在所述待清洁表面上。出水装置上可以设有连接件(图中未示出)，出水装置通过所述连接件与水箱的清洁液出口连接。出水装置上设有分配口，分配口可以是连续的开口，也可以由若干断开的小开口组合而成，分配口处可以设有若干喷嘴。所述清洁液经水箱的所述清洁液出口和出水装置的所述连接件流向分配口，经所述分配口均匀地涂在所述操作面上。The water supply mechanism includes a water outlet device 4217, and the water outlet device 4217 can be directly or indirectly connected with the cleaning liquid outlet of the water tank (not shown), that is, the liquid outlet of the clean water tank, wherein the cleaning liquid can pass through the cleaning liquid of the water tank. The outlet flows to the water outlet device 4217, and can be evenly coated on the surface to be cleaned by the water outlet device. A connecting piece (not shown in the figure) may be provided on the water outlet device, and the water outlet device is connected to the cleaning liquid outlet of the water tank through the connecting piece. The water outlet device is provided with a distribution port. The distribution port can be a continuous opening or a combination of several broken small openings. The distribution port can be provided with several nozzles. The cleaning liquid flows to the distribution port through the cleaning liquid outlet of the water tank and the connecting piece of the water outlet device, and is evenly coated on the operating surface through the distribution port.
送水机构还可以包括清水泵4219和/或清水泵管4218，清水泵4219与水箱的清洁液出口可以直接连通，也可以通过清水泵管4218连通。The water supply mechanism may further include a clean water pump 4219 and/or a clean water pump pipe 4218 , and the clean water pump 4219 may communicate with the clean liquid outlet of the water tank directly or through the clean water pump pipe 4218 .
清水泵4219可以同出水装置的所述连接件连接，并且可以被配置为从水箱中抽取所述清洁液至出水装置。清水泵可为齿轮泵、叶片泵、柱塞泵、蠕动泵等等。The clean water pump 4219 may be connected to the connection of the water outlet, and may be configured to draw the cleaning fluid from the water tank to the water outlet. The clean water pump can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, and the like.
送水机构通过清水泵4219和清水泵管4218将清水箱中的清洁液抽出，并运送到出水装置，所述出水装置4217可以为喷头、滴水孔、浸润布等，并将水均匀散布在清洁头上，从而湿润清洁头与待清洁表面。湿润后的待清洁表面上的污渍能够更容易的被清洁干净。在湿式清洁组件400中，清水泵的功率/流量可以调整。The water supply mechanism extracts the cleaning liquid in the clean water tank through the clean water pump 4219 and the clean water pump pipe 4218, and transports it to the water outlet device. to wet the cleaning head and the surface to be cleaned. Stains on the wetted surface to be cleaned can be cleaned more easily. In the wet cleaning assembly 400, the power/flow rate of the clean water pump can be adjusted.
进一步的，如图17所示，电机4211通过齿轮组42193带动清水泵4219蠕动，通过清水泵4219的蠕动实现清水从进水口42191进入，从出水口42192流出，再通过清水泵管4218运送到出水装置4217，经出水装置4217流出的水经过出水孔流至清洁头410。Further, as shown in FIG. 17 , the motor 4211 drives the clean water pump 4219 to peristate through the gear set 42193, and the clean water enters from the water inlet 42191 through the peristalsis of the clean water pump 4219, flows out from the water outlet 42192, and is transported to the water outlet through the clean water pump pipe 4218. The device 4217, the water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.
进一步的，如图18所示，电机4211通过齿轮组42193带动拉索齿轮42196转动，拉索齿轮42196上缠绕有拉索42194，拉索42194缠挂在驱动平台421上，拉索齿轮42196拉动拉索42194提升和下落从而实现驱动平台421的上升和下降。拉索齿轮42196和拉索42194是升降模组的核心组成部件。Further, as shown in FIG. 18, the motor 4211 drives the cable gear 42196 to rotate through the gear set 42193, the cable gear 42196 is wound with a cable 42194, the cable 42194 is wound on the driving platform 421, and the cable gear 42196 pulls the cable 42196. The cable 42194 is lifted and lowered so as to realize the lifting and lowering of the driving platform 421 . Cable gear 42196 and cable 42194 are the core components of the lift module.
齿轮组42193和拉索齿轮42196上设置有离合器42195，离合器42195包括一个弹簧和片状件，通过控制离合器42195的离合实现电机4211对三个运动模组的控制，在一个方向旋转，驱动震动件的震动，同时实现清水泵4219的供水，在反方向旋转通过拉索42194驱动升降模组升降。可选地，对齿轮组的组合设计实现对三个运动模组的不同组合形式的控制，例如一个方向旋转清水泵供水，反方向实现升降和震动的控制。可选地，也可以用两个电机实现对三个运动模组的控制，但多使用一个电机也是成本的增加。The gear set 42193 and the cable gear 42196 are provided with a clutch 42195. The clutch 42195 includes a spring and a piece. The motor 4211 controls the three motion modules by controlling the clutch 42195 to rotate in one direction to drive the vibrating element. vibration, and at the same time realize the water supply of the clean water pump 4219, and rotate in the opposite direction to drive the lifting module to rise and fall through the cable 42194. Optionally, the combined design of the gear set realizes the control of different combinations of the three motion modules, for example, rotating the clean water pump in one direction to supply water, and in the opposite direction realizes the control of lifting and vibration. Optionally, two motors can also be used to control the three motion modules, but using one more motor also increases the cost.
本发明提供的扫拖一体清洁设备，由于自动清洁设备的清洁模组设置有干式清洁模组和湿式清洁模组，能够提供更加全面的清洁功能。同时，在湿式清洁模组中，通过增加驱动单元、震动区域，使清洁头可以往复运动，从而可以在待清洁表面进行反复清洁，使得在清洁机器人运动轨迹中，一次通过某一区域可以实现多次清洁，从而大大增强了清洁效果，特别是对于污渍比较多的区域，清洁效果明显。The sweeping and mopping integrated cleaning device provided by the present invention can provide a more comprehensive cleaning function because the cleaning module of the automatic cleaning device is provided with a dry cleaning module and a wet cleaning module. At the same time, in the wet cleaning module, by increasing the drive unit and the vibration area, the cleaning head can reciprocate, so that the surface to be cleaned can be repeatedly cleaned, so that in the movement trajectory of the cleaning robot, one pass through a certain area can achieve multiple The cleaning effect is greatly enhanced, especially for areas with more stains, the cleaning effect is obvious.
配合表面介质传感器等能够检测待清洁表面的表面类型的传感器，升降模组能够将湿式清洁模组根据不同的待清洁表面进行清洁操作，如在地毯表面将湿式清洁模组抬升，并在地板/地砖等表面将湿式清洁模组放下进行清洁，从而实现更为全面的清洁效果。最后应说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的***或装置而言，由于其与实施例公开的方法相对应，所以描述比较简单，相关之处参见方法部分说明即可。With surface media sensors and other sensors that can detect the surface type of the surface to be cleaned, the lifting module can clean the wet cleaning module according to different surfaces to be cleaned. For surfaces such as floor tiles, put the wet cleaning module down for cleaning, so as to achieve a more comprehensive cleaning effect. Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments may be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and reference may be made to the description in the method section for related parts.
以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The recorded technical solutions are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims (19)

  1. 一种自动清洁设备，其特征在于，包括：A kind of automatic cleaning equipment, is characterized in that, comprises:
    移动平台(100)，被配置为在操作面上自动移动；a moving platform (100) configured to move automatically on the operating surface;
    清洁模组(150)，设置于所述移动平台(100)上，包括：A cleaning module (150), arranged on the mobile platform (100), includes:
    干式清洁模组(151)，被配置为采用干式清洁方式清洁所述操作面的至少一部分；a dry cleaning module (151), configured to clean at least a part of the operating surface in a dry cleaning manner;
    湿式清洁模组(400)，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述湿式清洁模组(400)包括：A wet cleaning module (400) is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein the wet cleaning module (400) includes:
    用于清洁所述操作面的清洁头(410)，以及，a cleaning head (410) for cleaning the operating surface, and,
    用于驱动所述清洁头(410)沿着目标面在与自动清洁设备的移动方向大致垂直的方向上做基本上往复运动的驱动单元(420)，所述目标面为所述操作面的一部分。A drive unit (420) for driving the cleaning head (410) to substantially reciprocate in a direction substantially perpendicular to the moving direction of the automatic cleaning device along a target surface, the target surface being a part of the operating surface .
  2. 根据权利要求1所述的自动清洁设备，其特征在于，所述驱动单元(420)包括：The automatic cleaning device according to claim 1, wherein the drive unit (420) comprises:
    驱动平台(421)，连接于所述移动平台(100)底面，用于提供驱动力；a driving platform (421), connected to the bottom surface of the moving platform (100), for providing driving force;
    支撑平台(422)，可拆卸的连接于所述驱动平台(421)，用于支撑所述清洁头(410)。A supporting platform (422) is detachably connected to the driving platform (421) for supporting the cleaning head (410).
  3. 根据权利要求2所述的自动清洁设备，其特征在于，所述驱动平台(421)包括：The automatic cleaning device according to claim 2, wherein the driving platform (421) comprises:
    电机(4211)，设置于所述驱动平台(421)的靠近所述移动平台(100)一侧，通过电机输出轴输出动力；a motor (4211), disposed on the side of the driving platform (421) close to the moving platform (100), and outputting power through the motor output shaft;
    驱动轮(4212)，与所述电机输出轴连接，所述驱动轮(4212)为非对称结构。A driving wheel (4212) is connected to the output shaft of the motor, and the driving wheel (4212) has an asymmetric structure.
  4. 根据权利要求3所述的自动清洁设备，其特征在于，所述驱动平台(421)还包括：The automatic cleaning device according to claim 3, wherein the driving platform (421) further comprises:
    震动件(4213)，设置于所述驱动平台(421)的与所述电机(4211)相反的一侧，与所述驱动轮(4212)连接，在所述驱动轮(4212)非对称的转动下实现基本上往复运动。A vibrating member (4213) is arranged on the opposite side of the driving platform (421) to the motor (4211), is connected with the driving wheel (4212), and rotates asymmetrically on the driving wheel (4212) The lower realizes a substantially reciprocating motion.
  5. 根据权利要求4所述的自动清洁设备，其特征在于，所述驱动平台(421)还包括：The automatic cleaning device according to claim 4, wherein the driving platform (421) further comprises:
    连接杆(4214)，沿所述驱动平台(421)边缘延伸，连接所述驱动轮(4212)与所述震动件(4213)，使所述震动件(4213)延伸至预设位置。A connecting rod (4214), extending along the edge of the driving platform (421), connects the driving wheel (4212) and the vibration member (4213), so that the vibration member (4213) extends to a preset position.
  6. 根据权利要求5所述的自动清洁设备，其特征在于，所述震动件(4213)为杆状结构，其延伸方向与所述连接杆(4214)垂直。The automatic cleaning device according to claim 5, characterized in that, the vibration member (4213) is a rod-shaped structure, and its extending direction is perpendicular to the connecting rod (4214).
  7. 根据权利要求5所述的自动清洁设备，其特征在于，所述驱动平台包括，震动缓冲装置(4215)，设置于所述连接杆(4214)上。The automatic cleaning device according to claim 5, characterized in that, the driving platform comprises a shock buffering device (4215), which is arranged on the connecting rod (4214).
  8. 根据权利要求2所述的自动清洁设备，其特征在于，所述支撑平台(422)包括：The automatic cleaning device according to claim 2, wherein the support platform (422) comprises:
    清洁基板(4221)，可自由活动的设置于所述支撑平台(422)，所述清洁基板(4221)在所述震动件(4213)的震动下相对所述支撑平台(422)做基本上往复运动。A cleaning substrate (4221) is freely movable on the supporting platform (422), and the cleaning substrate (4221) substantially reciprocates relative to the supporting platform (422) under the vibration of the vibration member (4213) sports.
  9. 根据权利要求8所述的自动清洁设备，其特征在于，所述清洁基板(4221)包括：The automatic cleaning device according to claim 8, wherein the cleaning substrate (4221) comprises:
    装配缺口，设置于与所述震动件(4213)接触的位置，当所述支撑平台(422)连接于所述驱动平台(421)上时，所述震动件(4213)装配于所述装配缺口。An assembly notch is provided at a position in contact with the vibration member (4213), when the support platform (422) is connected to the drive platform (421), the vibration member (4213) is assembled in the assembly notch .
  10. 根据权利要求2或8所述的自动清洁设备，其特征在于，所述支撑平台(422)还包括：The automatic cleaning device according to claim 2 or 8, wherein the support platform (422) further comprises:
    拆卸按钮(4229)，用于使所述支撑平台(422)可拆卸的连接于所述驱动平台(421)。A dismounting button (4229) is used for detachably connecting the supporting platform (422) to the driving platform (421).
  11. 根据权利要求8所述的自动清洁设备，其特征在于，所述支撑平台(422)还包括：The automatic cleaning device according to claim 8, wherein the support platform (422) further comprises:
    至少一个装配区域(4224)，设置于所述支撑平台(422)，用于装配所述清洁头(410)。At least one assembling area (4224) is provided on the supporting platform (422) for assembling the cleaning head (410).
  12. 根据权利要求11所述的自动清洁设备，其特征在于，所述清洁头(410)包括：The automatic cleaning device according to claim 11, wherein the cleaning head (410) comprises:
    活动区域(412)，与所述清洁基板(4221)连接，在所述清洁基板(4221)的驱动下沿着所述目标面基本上往复运动。The active area (412) is connected to the cleaning substrate (4221), and substantially reciprocates along the target surface under the driving of the cleaning substrate (4221).
  13. 根据权利要求12所述的自动清洁设备，其特征在于，The automatic cleaning device of claim 12, wherein:
    所述活动区域(412)与所述清洁基板(4221)连接的一侧设置有粘结层，所述活动区域(412)与所述清洁基板(4221)通过所述粘结层连接。An adhesive layer is provided on the side where the active area (412) is connected to the cleaning substrate (4221), and the active area (412) and the cleaning substrate (4221) are connected through the adhesive layer.
  14. 根据权利要求13所述的自动清洁设备，其特征在于，所述清洁头(410)还包括：The automatic cleaning device according to claim 13, wherein the cleaning head (410) further comprises:
    固定区域(411)，通过所述至少一个装配区域(4224)连接于所述支撑平台(422)底部，所述固定区域(411)随着所述支撑平台(422)的移动清洁所述操作面的至少一部分。A fixing area (411) is connected to the bottom of the supporting platform (422) through the at least one assembling area (4224), and the fixing area (411) cleans the operation surface as the supporting platform (422) moves at least part of it.
  15. 根据权利要求14所述的自动清洁设备，其特征在于，所述清洁头(410)还包括：The automatic cleaning device according to claim 14, wherein the cleaning head (410) further comprises:
    柔性连接部(413)，设置于所述固定区域(411)和所述活动区域(412)之间，用于连接所述固定区域(411)和所述活动区域(412)。A flexible connection portion (413) is provided between the fixed area (411) and the movable area (412), and is used for connecting the fixed area (411) and the movable area (412).
  16. 根据权利要求13所述的自动清洁设备，其特征在于，所述清洁头(410)还包括：The automatic cleaning device according to claim 13, wherein the cleaning head (410) further comprises:
    滑动卡扣(414)，沿所述清洁头(410)边缘延伸，可拆卸的安装于所述支撑平台(422)。A sliding buckle (414) extends along the edge of the cleaning head (410) and is detachably mounted on the support platform (422).
  17. 根据权利要求1所述的自动清洁设备，其特征在于，所述清洁模组(150)与移动平台(100)间设有升降模组。The automatic cleaning device according to claim 1, characterized in that a lifting module is arranged between the cleaning module (150) and the mobile platform (100).
  18. 根据权利要求17所述的自动清洁设备，其特征在于，所述干式清洁模组(151)通过被动式升降模组与所述移动平台(100)相连接。The automatic cleaning device according to claim 17, wherein the dry cleaning module (151) is connected to the mobile platform (100) through a passive lifting module.
  19. 根据权利要求17所述的自动清洁设备，其特征在于，所述湿式清洁模组(400)通过主动式升降模组与所述移动平台(100)相连接。The automatic cleaning device according to claim 17, wherein the wet cleaning module (400) is connected to the mobile platform (100) through an active lifting module.
PCT/CN2021/099231 2021-01-04 2021-06-09 Automatic cleaning device WO2022142147A1 (en)

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