CLEANING ROBOT AND CLEANING SYSTEM

TECHNICAL FIELD

The present disclosure relates to the field of cleaning technologies, and in particular, to a cleaning robot and a cleaning system.

BACKGROUND

As an intelligent home appliance, a cleaning robot cleans a to-be-cleaned surface of an indoor environment (also referred to as an environmental surface), and plays an increasingly important role in people's daily lives. A robotic vacuum cleaner is used as an example. A working system of the robotic vacuum cleaner usually includes a dust suction system, a walking system, and a power supply system. However, in actual application scenarios of a cleaning robot, there is a problem of a cleaning efficiency being slightly low.

SUMMARY

Based on this, in view of the foregoing problem, it is necessary to provide a dust suction system and a cleaning robot. The structure of a dust suction system is improved to provide a solution to strategically improve the cleaning efficiency of a cleaning robot. Details are described as follows: the present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, the second distance is less than 5 mm, and a height difference between the first distance and the second distance is within 3 mm, so that when the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, under the first blocking member, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, under the second blocking member, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a ratio of the first area to the second area ranges from 0.7 to 1.3; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, the second distance is less than 5 mm, so that when the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, under the first blocking member, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, under the second blocking member, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a second distance exists between the free end of the second blocking member and the rigid ground, where the first distance is less than 5 mm, the second distance is less than 5 mm, and a difference value between the first distance and the second distance is within 3 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a ratio of the first area to the second area ranges from 0.7 to 1.3; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a second distance exists between the free end of the second blocking member and the rigid ground, where the first distance is less than 5 mm, the second distance is less than 5 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, in the first blocking member, a sealing area accounts for 70% or above, and in the second blocking member, a sealing area accounts for 70% or above; a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, and the second distance is less than 5 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, an area of an air leakage hole of at least one blocking member in the first blocking member and the second blocking member accounts for 30% or below of an area of the corresponding blocking member; a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, and the second distance is less than 5 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, in the first blocking member, a sealing area accounts for over 70%, and in the second blocking member, a sealing area accounts for over 70%; a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, and the second distance is less than 5 mm, so that when the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, under the first blocking member, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, under the second blocking member, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, wherein the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, an area of an air leakage hole of at least one blocking member in the first blocking member and the second blocking member accounts for 30% or below of an area of the corresponding blocking member; a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, and the second distance is less than 5 mm, so that when the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, under the first blocking member, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, under the second blocking member, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, wherein the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a difference value between the first area and the second area is greater than or equal to 0 and less than 1100 mm²; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, the second distance is less than 5 mm, so that when the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, under the first blocking member, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, under the second blocking member, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, wherein the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a difference value between the first area and the second area is greater than or equal to 0 and less than 1100 mm²; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, the second distance is less than 5 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, wherein the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a carpet and the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, the first roller brush and the second roller brush rotate toward each other in opposite directions, and a sum of flow rates of an air flow that flows through a bottom of the first roller brush and toward a space between the first roller brush and the second roller brush and an air flow that flows through a bottom of the second roller brush and toward the space between the first roller brush and the second roller brush accounts for 70% or above of a flow rate of an air flow that flows to a dust box.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and the cleaning robot is located on a carpet, and the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, to enable a first air flow to flow from an outside of the cavity to a dust inlet of the cavity through an inside of the carpet and a second air flow to flow from the outside of the cavity to the dust inlet through the inside of the carpet, where a range of a ratio of a flow rate of an air flow that flows through the inside of the carpet and toward the dust inlet of the cavity in the first air flow to a flow rate of an air flow that flows through the inside of the carpet and toward the dust inlet in the second air flow ranges from 0.7 to 1.3.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and the cleaning robot is located on a carpet, and the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, to enable a first air flow to flow from an outside of the cavity to a dust inlet of the cavity through an inside of the carpet and a second air flow to flow from the outside of the cavity to the dust inlet through the inside of the carpet, where in the first air flow, a flow rate of an air flow that flows through the inside of the carpet and toward the dust inlet accounts for 70% or above; and in the second air flow, a flow rate of an air flow that flows through the inside of the carpet and toward the dust inlet accounts for 70% or above.

According to an aspect of the present disclosure, a cleaning robot is provided, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; the dust suction assembly has a bottom surface, and the bottom surface is a surface of the dust suction assembly facing the environmental surface; each of the first blocking member and the second blocking member has a free end close to the bottom surface; and a minimum distance between the free end of the first blocking member and a reference plane is a first reference distance, and a minimum distance between the free end of the second blocking member and the reference plane is a second reference distance, where the reference plane is the bottom surface of the dust suction assembly, the first reference distance is greater than or equal to 0 and less than 5 mm, and the second reference distance is greater than or equal to 0 and less than 5 mm.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly and a cavity configured to accommodate the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; when a dust suction fan is turned on to make the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush; and a sum of a flow rate of an air flow that flows through a bottom of the first roller brush and toward a space between the first roller brush and the second roller brush and a flow rate of an air flow that flows through a bottom of the second roller brush and toward the space between the first roller brush and the second roller brush accounts for 70% or above of a flow rate of an air flow that flows into a dust box.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a sum value of the first area and the second area is greater than or equal to 0 and less than 2200 mm²; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, the second distance is less than 5 mm, so that when the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, under the first blocking member, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, under the second blocking member, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a sum value of the first area and the second area is greater than or equal to 0 and less than 2200 mm²; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a second distance exists between the free end of the second blocking member and the rigid ground, where the first distance is less than 5 mm, the second distance is less than 5 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a carpet and a pile length of the carpet is greater than a preset length, the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, to enable a first air flow to flow from an outside of the cavity to a dust inlet of the cavity through an inside of the carpet and a second air flow to flow from the outside of the cavity to the dust inlet through the inside of the carpet, where a ratio of the first air flow to the second air flow is ranges from 0.7 to 1.3, inclusive.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a ratio of the first area to the second area ranges from 0.7 to 1.3; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a second distance exists between the free end of the second blocking member and the rigid ground, where the first distance is less than 5 mm, the second distance is less than 5 mm, and a difference value between the first distance and the second distance is within 3 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

According to a first aspect of the present disclosure, a cleaning robot is provided. The cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a ratio of the first area to the second area ranges from 0.7 to 1.3; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, the second distance is less than 5 mm, and a height difference between the first distance and the second distance is within 3 mm, so that when the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, under the first blocking member, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, under the second blocking member, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

In some examples, when the cleaning robot is located on a carpet and the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, the first air flow and the second air flow are allowed to flow through an inside of the carpet centrally.

In some examples, the cleaning robot includes a dust suction fan, configured to generate a negative pressure; and when the cleaning robot is located on the carpet and the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, a flow rate of an air flow flowing through the inside of the carpet accounts for 70% or above of a flow rate of an air flow flowing out from a dust inlet of the cavity.

In some examples, the first distance is greater than or equal to the second distance, and a difference value between the first distance and the second distance is within 2 mm.

In some examples, a minimum distance between the free end of the first blocking member and a lowest position point of the first roller brush is a third distance, the third distance is less than 15 mm, and the first air flow is guided to the bottom of the first roller brush; and a minimum distance between the free end of the second blocking member and a lowest position point of the second roller brush is a fourth distance, the fourth distance is less than 15 mm, and the second air flow is guided to the bottom of the second roller brush.

In some examples, a length of a connecting line between the free end of the first blocking member and a lowest position point of the first roller brush is less than a distance between the lowest position point of the first roller brush and a lowest position point of the second roller brush.

In some examples, the first blocking member has at least a middle point different from the free end of the first blocking member, a distance between the middle point and a lowest position of the first roller brush is greater than the third distance, and a projection of the middle point onto a horizontal plane and the free end point to the lowest position of the first roller brush.

In some examples, the first distance is less than a distance between a lowest position point of the first roller brush and a lowest position point of the second roller brush.

In some examples, a first horizontal distance exists between the free end of the first blocking member and an outer contour of the first roller brush, and the first horizontal distance is less than or equal to 5 mm; and a second horizontal distance exists between the free end of the second blocking member and the second roller brush, and the second horizontal distance is less than or equal to 5 mm; or a minimum distance between the free end of the first blocking member and an outer contour of the first roller brush is less than or equal to 4 mm; and a minimum distance between the free end of the second blocking member and an outer contour of the second roller brush is less than or equal to 4 mm.

In some examples, the cavity has a dust inlet in communication with a dust suction fan; the first roller brush rotates in a first direction, the second roller brush rotates in a second direction, and the second direction and the first direction are opposite and face each other; a first horizontal distance exists between the free end of the first blocking member and the first roller brush to form a first opening/inlet for an air flow to enter, and the first direction hinders an air flow flowing through the first opening/inlet along a space between an outer contour of the first roller brush and the first blocking member toward the dust inlet of the cavity; and a second horizontal distance exists between the free end of the second blocking member and the second roller brush to form a second opening/inlet for an air flow to enter, and the second direction hinders an air flow flowing through the second opening/inlet along a space between an outer contour of the second roller brush and the first blocking member toward the dust inlet.

In some examples, hardnesses of materials of the first blocking member and the second blocking member are both greater than or equal to 80 HA.

In some examples, the first blocking member is movable to adjust a distance between the free end of the first blocking member and the rigid ground, providing the first blocking member with a closed state and an open state; when the first blocking member is in the closed state, the first distance exists between the free end of the first blocking member and the rigid ground; and when the first blocking member is in the open state, the distance between the free end of the first blocking member and the rigid ground is greater than the first distance.

In some examples, the dust suction assembly includes a housing, the housing includes a first roller brush support portion at least partially covering the first roller brush, and the first blocking member is movably disposed on the first roller brush support portion, to block the first roller brush.

In some examples, the housing further includes a second roller brush support portion at least partially covering the second roller brush, and the second blocking member is a part of the second roller brush support portion, to block the second roller brush; and the first roller brush support portion and the second roller brush support portion surround to form the cavity configured to accommodate the roller brush assembly.

In some examples, when the first blocking member is in the open state, a difference value between the first air flow and the second air flow is Δ1; and when the first blocking member is in the closed state, and the difference value between the first air flow and the second air flow is Δ2, where Δ2 is less than Δ1.

In some examples, a degree of vacuum at a position of the cavity when the first blocking member is in the closed state is greater than a degree of vacuum at the same position of the cavity when the first blocking member is in the open state.

In some examples, when the first blocking member is in the closed state, a dust inlet of the cavity has a first degree of vacuum, and when the first blocking member is in the open state, the dust inlet of the cavity has a second degree of vacuum, where the first degree of vacuum is greater than the second degree of vacuum.

In some examples, the second blocking member is movable to adjust a distance between the free end of the second blocking member and the rigid ground, providing the second blocking member with a closed state and an open state; when the second blocking member is in the closed state, the second distance exists between the free end of the second blocking member and the rigid ground; and when the second blocking member is in the open state, the distance between the free end of the second blocking member and the rigid ground is greater than the second distance.

In some examples, the dust suction assembly includes a housing, the housing includes a roller brush support configured to at least partially cover and support the roller brush assembly, and the roller brush support is configured to be vertically floatable relative to a horizontal plane; and the roller brush assembly is disposed on the roller brush support, and the roller brush assembly floats as the roller brush support floats.

In some examples, the housing includes a roller brush cover, the roller brush cover is disposed on a side of the housing close to the roller brush assembly and facing the environmental surface, the roller brush cover has a connecting portion connected to the roller brush support, and two connecting portions are provided; and in a direction parallel to a rotating axis, the two connecting portions are respectively disposed on two sides of the first blocking member.

In some examples, the first blocking member is configured to be floatable in a vertical direction.

In some examples, the first blocking member is configured to synchronously float with the roller brush support.

In some examples, the first blocking member is disposed on the roller brush support.

In some examples, the dust suction assembly includes a blocking member drive assembly configured to drive the first blocking member and a roller brush drive assembly configured to drive the roller brush assembly to rotate, and the blocking member drive assembly and the roller brush drive assembly are both disposed on the roller brush support, to enable both the blocking member drive assembly and the roller brush drive assembly to float as the roller brush support floats.

In some examples, a rib is disposed between the first blocking member and the first roller brush support portion, and the rib is configured to guide a blocking member to move along the first roller brush support portion.

In some examples, in a length direction between the roller brush assembly, a sealing strip is disposed between the first blocking member and the first roller brush support portion.

In some examples, the dust suction assembly includes a roller brush motor configured to drive the roller brush assembly to rotate and a drive motor configured to drive the first blocking member to move, and the roller brush motor and the drive motor are arranged at two ends of the roller brush assembly.

In some examples, the cleaning robot includes a lifting mechanism configured to drive the dust suction assembly to lift, the lifting mechanism includes the drive motor, and the drive motor is further configured to drive the dust suction assembly to rise and fall in a vertical direction.

In some examples, the first blocking member is rotatable to adjust a height of the free end of the first blocking member relative to the environmental surface, and a rotating axis of the first blocking member does not overlap with a rotating axis of at least one of the first roller brush and the second roller brush.

In some examples, the dust suction assembly includes a drive system configured to drive the first blocking member to move and a transmission system configured to transfer a driving force of the drive system to the first blocking member; and the drive system includes a drive motor, the transmission system includes a gear set, and a clearance exists between an output shaft of the drive motor and the gear set.

In some examples, the dust suction assembly has an anti-collision portion, in a direction of the front end of the body, the anti-collision portion has at least a part located at a front portion of the first blocking member, and the part located at the front portion of the first blocking member has no connection relationship with the first blocking member, to contact an obstacle when the cleaning robot collides with the obstacle.

In some examples, the dust suction assembly includes a housing, the housing has a first roller brush support portion at least partially covering the first roller brush, and the anti-collision portion includes a protrusion disposed on an outer side wall of the first roller brush support portion and protruding from the first blocking member.

In some examples, the cleaning robot includes a ground type detection apparatus, configured to detect a ground type; and the controller is configured to: when the detection apparatus detects that the ground type is a rigid ground, control the first blocking member to be opened; and when the detection apparatus detects that the ground type is a soft ground, control the first blocking member to be closed.

In some examples, the cleaning robot includes an environment detection apparatus, configured to detect a foreign object type; and when the cleaning robot performs cleaning work on the soft ground, the controller is at least configured to: when the environment detection apparatus recognizes that the foreign object type is garbage with a size meeting a preset condition, control the first blocking member to switch from the closed state to the open state.

In some examples, the cleaning robot has a deep cleaning mode and a common cleaning mode, the cleaning robot has a first cleaning parameter in the deep cleaning mode, the cleaning robot has a second cleaning parameter in the common cleaning mode, the first cleaning parameter is different from the second cleaning parameter, and each cleaning parameter includes at least one of the following parameters: a state of the first blocking member, a movement speed, and a fan power; and when the cleaning robot performs a cleaning operation on the soft ground, the controller controls the cleaning robot to switch between the two cleaning modes to alternately perform the cleaning operation.

In some examples, in the deep cleaning mode, the first blocking member is in the closed state; and in the common cleaning mode, the first blocking member is in the open state.

In some examples, the controller is configured to control the cleaning robot to perform the deep cleaning mode and the common cleaning mode alternately according to calendar days, and cleaning modes of the cleaning robot are different on two adjacent calendar days; or the controller is configured to control the cleaning robot to perform the deep cleaning mode and the common cleaning mode alternately according to a quantity of times, traversal of the environmental surface completed by the cleaning robot is referred to as one time, and in adjacent two times, cleaning modes of the cleaning robot are different.

In some examples, when the cleaning robot performs the cleaning operation on the soft ground, the controller controls the cleaning robot to first clean the soft ground in the deep cleaning mode and then perform at least one round of along-the-edge cleaning on the soft ground, and during the first round of along-the-edge cleaning, the cleaning robot is in the common cleaning mode.

In some examples, a guide surface is defined on an outer side wall of the first blocking member, and the guide surface is obliquely disposed facing the first roller brush and is disposed at an acute angle with respect to a horizontal plane; and the first blocking member is in the closed state, and the guide surface is at least partially closer to the environmental surface relative to a roller brush support.

In some examples, the cleaning robot includes an environment detection apparatus for detecting an obstacle in an environment; and when the environment detection apparatus recognizes an obstacle with a size meeting a preset condition, the controller controls the first blocking member to be closed.

In some examples, the cleaning robot includes a fan, and a power of the fan is greater than or equal to 60 W.

According to another aspect of the present disclosure, a cleaning system is provided, including the foregoing cleaning robot and a base station for parking by the cleaning robot, where the base station is further configured to maintain the cleaning robot.

In some examples, the cleaning robot includes a dust collection box, and the base station includes a dust collection fan and is configured to perform a dust collection maintenance operation; and when the base station performs a dust collection maintenance on the dust collection box, at least one of the first blocking member and the second blocking member is in an open state.

In some examples, a filtering apparatus is disposed in the dust collection box, and when the base station performs a dust collection maintenance on the filtering apparatus, the first blocking member and the second blocking member are in a closed state at least part time.

In some examples, the base station includes an air intake channel, in communication with an outside and at least one clearance at a bottom of the cavity.

According to another aspect of the present disclosure, a cleaning robot is provided, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a carpet and a pile length of the carpet is greater than a preset length, the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, to enable a first air flow to flow from an outside of the cavity to a dust inlet of the cavity through an inside of the carpet and a second air flow to flow from the outside of the cavity to the dust inlet through the inside of the carpet, where a ratio of the first air flow to the second air flow is ranges from 0.7 to 1.3, inclusive.

According to another aspect of the present disclosure, a cleaning robot is provided, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and when the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a ratio of the first area to the second area ranges from 0.7 to 1.3; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a second distance exists between the free end of the second blocking member and the rigid ground, where the first distance is less than 5 mm, the second distance is less than 5 mm, and a difference value between the first distance and the second distance is within 3 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

According to an aspect of the present disclosure, a cleaning system is provided, wherein the cleaning system including a cleaning robot and a base station for parking by the cleaning robot; herein the cleaning robot comprises a dust collection box, a first blocking member and a second blocking member; and the base station comprises a dust collection fan and is configured to perform a dust collection maintenance operation; and when the base station performs a dust collection maintenance on the dust collection box, at least one of the first blocking member and the second blocking member is in an open state.

In a dust suction system, a cleaning device, and a cleaning system provided in the present disclosure, a sealed adjustment mechanism is disposed based on an original dust suction mechanism to adjust or stabilize at least part time a negative pressure generated at a dust suction port, so that an action region and an action strength of the dust suction port on a cleaning surface in a cleaning process of a cleaning robot, a handheld vacuum cleaner, or another cleaning device can be affected, to strategically improve a cleaning efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a system block diagram of a cleaning robot of an example in an embodiment of the present disclosure;

FIG. 2 is a schematic state diagram of a roller brush mechanism cleaning a cleaning surface in existing technologies;

FIG. 3 is a schematic structural diagram of a cleaning robot according to an embodiment of the present disclosure;

FIG. 4 is a structural diagram of a dust suction system of an example in an embodiment of the present disclosure;

FIG. 5 is a structural diagram of a dust suction system of a cleaning robot according to an embodiment of the present disclosure;

FIG. 6 is a schematic state diagram of a roller brush mechanism cleaning a cleaning surface in an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of states that respectively correspond to a blocking member of a sealed adjustment mechanism being at a first position and a second position according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of states that respectively correspond to a blocking member of a sealed adjustment mechanism being at a first position and a second position according to an embodiment of the present disclosure;

FIG. 9 is a structural diagram of a dust suction system of a cleaning robot according to an embodiment of the present disclosure;

FIG. 10 is a structural diagram of a dust suction system of a cleaning robot according to an embodiment of the present disclosure;

FIG. 11 is a schematic state diagram of an example of the blocking member of a dust suction system in FIG. 8;

FIG. 12 is a schematic diagram of an example of the blocking member of a dust suction system in FIG. 8;

FIG. 13 is a structural diagram of a dust suction system of a cleaning robot according to an embodiment of the present disclosure;

FIG. 14 is a state diagram of a blocking member of the dust suction system in FIG. 10 being at a first position;

FIG. 15 is a state diagram of a blocking member of the dust suction system in FIG. 10 being at a second position;

FIG. 16 is a structural diagram of a dust suction system of a cleaning robot according to an embodiment of the present disclosure;

FIG. 17 is a schematic diagram of a driving principle of a traction unit in the dust suction system in FIG. 16;

FIG. 18 is a structural diagram of a dust suction system of a cleaning robot according to an embodiment of the present disclosure;

FIG. 19 is a schematic diagram of a traction unit of the dust suction system in FIG. 18 performing position switching;

FIG. 20 is a schematic diagram of a cleaning robot according to an embodiment of the present disclosure;

FIG. 21 is a schematic diagram of another cleaning robot according to an embodiment of the present disclosure;

FIG. 22 is a flowchart of a control system of a cleaning robot according to an embodiment of the present disclosure;

FIG. 23 is a flowchart of a control system of a cleaning robot according to an embodiment of the present disclosure;

FIG. 24 is a flowchart of a control system of a cleaning robot according to an embodiment of the present disclosure;

FIG. 25 is a schematic structural diagram of a dust suction system of a cleaning robot when a blocking member is in a closed state according to an embodiment of the present disclosure;

FIG. 26 is a schematic structural diagram of a dust suction system of a cleaning robot when a blocking member is in a closed state and floats according to an embodiment of the present disclosure;

FIG. 27 is a schematic structural diagram of a dust suction system of a cleaning robot when a blocking member is in an open state according to an embodiment of the present disclosure;

FIG. 28 is a schematic structural diagram of a dust suction system of a cleaning robot when a blocking member is in an open state and floats according to an embodiment of the present disclosure;

FIG. 29 is a schematic diagram of a dust suction system of a cleaning robot when a blocking member is in a closed state according to an embodiment of the present disclosure;

FIG. 30 is a state diagram of a dust suction system of a cleaning robot when a blocking member is at a second position according to an embodiment of the present disclosure;

FIG. 31 is a schematic diagram of a dust suction system of a cleaning robot when a blocking member is in an open state according to an embodiment of the present disclosure;

FIG. 32 is a state diagram of a dust suction system of a cleaning robot when a blocking member is at a first position according to an embodiment of the present disclosure;

FIG. 33 is a schematic diagram of the blocking member of the dust suction system in FIG. 29 being in the closed state;

FIG. 34 is a schematic diagram of the blocking member of the dust suction system in FIG. 31 being in the open state;

FIG. 35 is a schematic structural diagram of a cleaning robot according to the present disclosure;

FIG. 36 is a schematic structural diagram of a cleaning robot recognizing an obstacle according to the present disclosure;

FIG. 37 is a schematic structural diagram of a cleaning robot surmounting an obstacle according to the present disclosure;

FIG. 38 is a logic diagram of a cleaning robot performing a cleaning task on a hard ground according to the present disclosure;

FIG. 39 is a schematic structural diagram of a cleaning robot performing cleaning along a wall surface according to the present disclosure;

FIG. 40 is a three-dimensional schematic structural diagram of a cleaning robot according to the present disclosure;

FIG. 41 is a schematic structural diagram of the cleaning robot in FIG. 40 from a different viewing angle;

FIG. 42 is a logic diagram of a cleaning robot performing a cleaning task on a soft ground according to the present disclosure;

FIG. 43 is a schematic diagram of a cleaning robot being on a carpet with a first thickness according to the present disclosure;

FIG. 44 is a schematic diagram of a cleaning robot being on a carpet with a second thickness according to the present disclosure;

FIG. 45 is a flowchart of a cleaning robot traveling on a soft ground according to the present disclosure;

FIG. 46 is a schematic diagram of a cleaning robot cleaning a carpet according to an embodiment of the present disclosure;

FIG. 47 is a diagram of a speed change of a cleaning robot recognizing large particles on a carpet according to an embodiment of the present disclosure;

FIG. 48 is a schematic diagram of a cleaning robot encountering a carpet on a floor according to an embodiment of the present disclosure;

FIG. 49 is a schematic diagram of a cleaning robot encountering a carpet on a floor during cleaning according to an embodiment of the present disclosure;

FIG. 50 is a schematic diagram of a cleaning system according to an embodiment of the present disclosure;

FIG. 51 is a schematic diagram of an air intake channel according to an embodiment of the present disclosure;

FIG. 52 is a schematic structural diagram of a single roller brush with sealing according to the present disclosure;

FIG. 53 is a schematic structural diagram of double roller brushes without sealing according to the present disclosure;

FIG. 54 is a schematic structural diagram of double roller brushes with sealing according to the present disclosure;

FIG. 55 is a schematic structural diagram of a cleaning robot traveling on an uneven ground and a roller brush mechanism being floatable according to the present disclosure;

FIG. 56 is a schematic structural diagram of a cleaning robot traveling on an even ground and a roller brush mechanism being put down according to the present disclosure;

FIG. 57 is a schematic structural diagram of another cleaning robot traveling on an even ground and a roller brush mechanism being put down according to the present disclosure;

FIG. 58 is a schematic cross-sectional view of FIG. 55 in a B-B direction;

FIG. 59 is a schematic diagram of a blocking member being in an open state according to the present disclosure;

FIG. 60 is a schematic diagram of a blocking member being in a closed state according to the present disclosure;

FIG. 61 is a schematic structural diagram of a roller brush mechanism from a first viewing angle according to the present disclosure;

FIG. 62 is a structural enlarged view of a position I in FIG. 59;

FIG. 63 is a schematic structural diagram of a roller brush mechanism from another viewing angle according to the present disclosure;

FIG. 64 is a schematic structural diagram of a roller brush mechanism from a third viewing angle according to the present disclosure;

FIG. 65 is a schematic structural diagram of a right portion of FIG. 63;

FIG. 66 is a schematic diagram of a roller brush mechanism in an open state according to the present disclosure;

FIG. 67 is a schematic diagram of a roller brush mechanism in a state with a roller brush cover removed according to the present disclosure;

FIG. 68 is a schematic diagram of a roller brush cover according to the present disclosure;

FIG. 69 is a schematic diagram of details of a dust accommodating space in FIG. 68;

FIG. 70 is a schematic structural diagram of a position II in FIG. 69;

FIG. 71 is a bottom view of a cleaning robot according to the present disclosure;

FIG. 72 is a three-dimensional diagram of a cleaning robot according to the present disclosure;

FIG. 73 is a schematic structural diagram of a cleaning robot being on a surface of a base station according to the present disclosure;

FIG. 74 is a schematic structural diagram of a base station according to the present disclosure;

FIG. 75 is a schematic diagram of an internal structure of a cleaning robot according to the present disclosure;

FIG. 76 is a schematic structural diagram of a handheld vacuum cleaner according to the present disclosure;

FIG. 77 is a schematic diagram of a hepa self-maintenance according to the present disclosure;

FIG. 78 is a schematic diagram of a dust box maintenance according to the present disclosure;

FIG. 79 is a schematic diagram of a bottom structure of a cleaning robot according to the present disclosure;

FIG. 80 is a schematic structural diagram of a blocking member being in an open state according to the present disclosure;

FIG. 81 is a schematic structural diagram of a blocking member being in a closed state according to the present disclosure;

FIG. 82 is a schematic diagram of a central dust collection process according to the present disclosure;

FIG. 83 is a schematic diagram of another hepa self-maintenance according to the present disclosure;

FIG. 84 is a schematic diagram of another dust box maintenance according to the present disclosure;

FIG. 85 is a schematic structural diagram of a maintenance switch disposed at a channel 1 being in a closed state according to the present disclosure;

FIG. 86 is a schematic structural diagram of another maintenance switch disposed at a channel 1 being in an open state according to the present disclosure;

FIG. 87 is a schematic diagram of an arrangement position of still another maintenance switch in an open state according to the present disclosure;

FIG. 88 is a schematic diagram of an arrangement position of still another maintenance switch in a closed state according to the present disclosure;

FIG. 89 is a schematic structural diagram of a cleaning robot according to the present disclosure;

FIG. 90 is another schematic structural diagram of a cleaning robot according to the present disclosure;

FIG. 91 is still another schematic structural diagram of a cleaning robot according to the present disclosure;

FIG. 92 is yet another schematic structural diagram of a cleaning robot according to the present disclosure;

FIG. 93 to FIG. 97 are schematic structural diagrams of blocking members having different shapes according to the present disclosure;

FIG. 98 and FIG. 99 are schematic diagrams of blocking members having different hole structures according to the present disclosure;

FIG. 100 and FIG. 101 are respectively schematic structural diagrams of a dust suction assembly when a cleaning robot is located on a hard ground and a soft ground according to the present disclosure;

FIG. 102 to FIG. 104 are other schematic structural diagrams of a dust suction assembly according to the present disclosure;

FIG. 105 is a schematic diagram of a roller brush assembly according to the present disclosure, where one of the roller brushes is a pile roller brush; and

FIG. 106 is a schematic diagram of a roller brush assembly according to the present disclosure, where two roller brushes are pile roller brushes.

Reference Numerals: cleaning robot 100, body 10, sealed adjustment mechanism 11, dust suction port 12, first sensor 101, second sensor 102, dust suction system (also referred to as a dust suction assembly) 1, walking system (also referred to as a movement assembly) 2, controller 3, cavity 4, sensing assembly 5, filtering apparatus 114, maintenance switch 115, scraper 116, dust bag 202, large-size garbage (corresponding to large particles and clumps of hair) 01, first mounting portion 1101, second mounting portion 2102, traction unit 120, capstan 121, rope 122, compression spring 123, linkage 125, cam 126, housing 210, first support portion 2101, second support portion 2103, roller brush assembly 220, front roller brush (corresponding to a first roller brush) 2201, rear roller brush (corresponding to a second roller brush) 2202, roller brush support 230, tooth-shaped boss 2301, fan (also referred to as a negative pressure fan or a dust suction fan) 24, dust collection fan 25, air duct 240, guide portion 111, drive wheel 21, left drive wheel 211, right drive wheel 212, universal wheel 22, dust collection box 103, first roller brush support portion 230A, second roller brush support portion 230B, dust inlet 14, space 14A between an outer contour of a first roller brush and a first blocking member, space 14B between an outer contour of a second roller brush and a second blocking member, blocking member 109, free end 109A of the blocking member, first blocking member 110, free end 110A of the first blocking member, second blocking member 112, free end 112A of the second blocking member, first beating region 100A, second beating region 100B, rigid ground (also referred to as a hard ground) 2A, flexible ground (also referred to as a soft ground) 2B, lowest position point 2201A of the first roller brush, lowest position point 2202A of the second roller brush, connecting line 1C formed between the lowest position point 2201A of the first roller brush and the lowest position point of the second roller brush, first distance 1A, second distance 1B, third distance M1, fourth distance M2, first horizontal distance N1, second horizontal distance N2, fifth distance Y1, and sixth distance Y2.

DETAILED DESCRIPTION

For ease of understanding of the present disclosure, the present disclosure is described more fully below with reference to the related accompanying drawings. Examples of the present disclosure are given in the accompanying drawings. However, the present disclosure may be implemented in many different forms and is not limited to the examples described herein. Rather, these examples are provided for the purpose of providing a more thorough and comprehensive understanding of the disclosure of the present disclosure.

In the present disclosure, unless otherwise explicitly specified or defined, the terms such as “mount”, “connect”, “connection”, and “fastened” should be understood in a broad sense. For example, the connection may be a fixed connection, a detachable connection, or an integration; or the connection may be a mechanical connection or an electrical connection; or the connection may be a direct connection, an indirect connection through an intermediary, or internal communication between two components or an interaction relationship between two components, unless otherwise explicitly defined. A person of ordinary skill in the art may understand the specific meanings of the foregoing terms in the present disclosure according to specific cases.

Terms “first” and “second” are used merely for the purpose of description, and shall not be construed as indicating or implying relative importance or implying a quantity of indicated technical features. Therefore, a feature limited by “first” or “second” may explicitly indicate or implicitly include at least one such feature. In the description of the present disclosure, “plurality” means at least two, for example, two, three, etc., unless otherwise expressly and specifically limited.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by a person skilled in the art belonging to the present disclosure. The terms used herein in the specification of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The term “and/or” as used herein includes any and all combinations of one or more of the related listed items.

Technical features involved in different examples of the present disclosure described below may be combined together if there is no conflict.

The terms in the present disclosure are first briefly described below.

Cleaning efficiency (CE): If there are 100 units of dust on a to-be-cleaned surface, and after one time of cleaning, 1 unit of dust is cleaned, or in other words, the dust is reduced by 1 unit, it is defined that the cleaning efficiency is 1%.

Power: Powers in the present disclosure are all rated input powers of energy consuming devices (for example, a fan, a roller brush motor, and a driving motor), unless specially described.

Rotational speed: Rotational speeds in the present disclosure are all rotational speeds of rotatable devices when being loaded. For example, a rotational speed of a cleaning roller brush is a rotational speed of the cleaning roller brush when contacting a to-be-cleaned floor, unless otherwise specially described.

Dust agitation: Garbage such as dust, hair, and debris is at least partially separated or temporarily separated from a to-be-cleaned floor.

Beating frequency: The beating frequency is a quantity of beats on the to-be-cleaned floor within a unit of time.

A bottom of a roller brush is a space below the roller brush. When a cleaning robot is located on a rigid ground, a degree of interference between the roller brush and the rigid ground is a negative value. That is, a spacing exists between the roller brush and the rigid ground. In this case, the bottom of the roller brush is a space formed by the spacing below the roller brush. When the cleaning robot is located on a flexible ground, a degree of interference between the roller brush and the flexible ground is a positive value. In other words, the roller brush sinks into the flexible ground. In this case, the bottom of the roller brush is an internal space of the flexible ground.

A beating region is a region formed by a part in which the roller brush is in contact with an environmental surface. When the cleaning robot is located on a rigid ground, a degree of interference between the roller brush and the rigid ground is a negative value. That is, a spacing exists between the roller brush and the rigid ground. The roller brush is not in contact with the rigid ground. In this case, the beating region of the roller brush is 0. Alternatively, when the cleaning robot is located on a rigid ground, a degree of interference between the roller brush and the rigid ground is 0. That is, the roller brush is in perfect contact with the rigid ground. In this case, the beating region of the roller brush is a line. A length of the line is equal to an axial length of the roller brush, and a width of the line is equal to a thickness of bristles or a rubber strip in contact with the rigid ground. When the cleaning robot is located on a flexible ground, a degree of interference between the roller brush and the flexible ground is a positive value. In other words, the roller brush sinks into the flexible ground. In this case, the roller brush is in contact with the flexible ground and has a width. The beating region of the roller brush is a region that has a shape of a rectangle. A length of the rectangle is a length of the roller brush in an axial direction. A width of the rectangle is a length of a connecting line between two points by which a circumference (a circular outer contour) of the roller brush is in contact with a surface of the flexible ground.

As shown in FIG. 89 to FIG. 102, the present disclosure provides a cleaning robot 100, including: a body 10, having a front end; a movement assembly 2, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller (not shown), controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly 1, disposed on the body, and performing cleaning work on the environmental surface. The dust suction assembly includes a roller brush assembly 220 and a cavity 4 configured to accommodate the roller brush assembly.

In some examples, the cleaning robot further includes a sensing assembly 5 that performs detection on an environment and sends sensed information to a controller 3 in some embodiments.

To improve the cleaning efficiency of the cleaning robot, the structure of the dust suction assembly of the cleaning robot is improved, to enable a cleaning effect of the cleaning robot to reach a level equivalent to that of a handheld vacuum cleaner.

The applicant has improved a dust agitation effect of the cleaning robot. To improve the dust agitation effect, in some examples, the roller brush assembly includes a first roller brush 2201 and a second roller brush 2202, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body.

The first roller brush beats the environmental surface to form a first beating region 100A, and the second roller brush beats the environmental surface to form a second beating region 100B.

In some examples, the first roller brush and the second roller brush rotate toward each other in opposite directions.

The directions of the two roller brushes are arranged to rotate in opposite directions, to enable air flows on two sides in the front and rear (the front end of the body of the cleaning robot is used as the front) to better flow from an outside of the cavity, under a blocking member, through bottoms of the roller brushes, and toward a space between the two roller brushes.

In other words, the directions of the roller brushes have the function of promoting the flowing of the air flows in some embodiments, to enable the air flows to better flow through the bottoms of the roller brushes and toward the space between the two roller brushes, thereby keeping the air flows from directly running off through the bottoms of the roller brushes.

It needs to be noted that in an example of the roller brushes forming the beating regions, the roller brushes beat out garbage from the environmental surface through a beating action, and cleaning efficiency can be improved provided that the air flows can carry garbage agitated by the roller brushes. In other words, the air flows that pass through the beating regions can flow into a dust inlet in other directions. That is, the air flows do not necessarily need to pass through the regions between the two roller brushes to carry away the agitated garbage. For example, air flows further flow into the dust inlet through a space between beating work heads (for example, rubber strips) of the roller brushes or the like in some embodiments. Therefore, in some embodiments, the foregoing arrangement of rotational directions of the roller brushes is also applied to an example in which the roller brushes forming the beating regions as a means for improving the flowing of air flows from the beating regions toward the space between the two roller brushes.

The cleaning robot uses double roller brushes to perform beating. Compared with a single roller brush, a quantity of beating mechanisms and a beating area are increased, thereby improving the dust agitation effect.

In consideration of that dust and other garbage agitated by the double roller brushes may fail to be completely sucked in, the cleaning efficiency is not high. Therefore, to suck in dust agitated by the double roller brushes, the applicant has further improved a dust suction effect, to make the dust suction effect adapt to or match the dust agitation effect of the double roller brushes.

To improve the dust suction effect, in some examples, the sealing performance of the dust suction assembly is improved. To enable an air flow formed by a negative pressure of a dust suction mechanism (for example, a dust suction fan 24) to better flow through required places (for example, a place in which garbage is agitated), for example, flow through a bottom of the roller brush assembly 220, the beating regions (100A, 100B) formed through beating by the roller brush assembly, an inside of a soft ground (for example, a full-piece carpet with straight hair fiber and a thickness value of straight hair being between 5 mm and 15 mm, or the like), even gaps in a hard ground, and the like, to reduce the flowing and loss of an air flow from another place (for example, a place in which garbage is not agitated), so that dust suction energy is effectively improved, and loss of power or energy of the dust suction mechanism is reduced, thereby improving the dust suction effect.

It may be understood that sealing performance is improved, and a required place (for example, a place in which garbage is agitated) through which an air flow can better flow is represented by at least one of the bottom of the roller brush assembly 220, the beating regions (100A, 100B) formed through beating by the roller brush assembly, the inside of the soft ground (for example, the full-piece carpet with straight hair fiber and the thickness value of straight hair being between 5 mm and 15 mm, or the like), even the gaps in the hard ground, and the like. Therefore, the foregoing manners representing the required place through which an air flow can better flow are replaced or combined with each other in some embodiments. Similarly, an air flow that flows through another place (for example, a place in which garbage is not agitated) is represented by an air flow that does not flow through the bottom of the roller brush assembly 220, does not flow through the beating regions (100A, 100B) formed through beating by the roller brush assembly, or does not flow through the inside of the soft ground.

Certainly, in some other examples, the dust suction effect can be improved by directly improving a suction force of the dust suction mechanism, for example, by using a fan with a high power (the power is greater than 100 W) is used for a dust suction fan.

It should be pointed out that another manner of improving the dust suction effect is using a high-power fan. The manner of using a high-power fan is also combined or replaced with the foregoing manner of improving the sealing performance in some embodiments.

In some examples, the dust suction assembly includes a first blocking member 110 located on a front side of the roller brush assembly and a second blocking member 112 located on a rear side of the roller brush assembly. Each of the first blocking member and the second blocking member has a free end close to the environmental surface.

A free end of a blocking member 109 (for example, a general name of the first blocking member and the second blocking member) is a lower end face of the blocking member in some embodiments.

It is considered that the shape of the blocking member is designed as required in some embodiments. For example, in some examples, in a radial direction (a radial cross-section) of a roller brush, the blocking member has a regular structure and extends in one direction (always in a direction toward the environmental surface) in some embodiments. For ease of understanding, for example, the blocking member has a regular arc-shaped structure (referring to FIG. 100 to FIG. 104). The blocking member always extends in a direction from top to bottom toward the environmental surface. In some examples, the blocking member has an irregular multi-section structure. The multi-section structure extends in at least two directions. For ease of understanding, for example, the blocking member includes the foregoing arc-shaped structure (a first section structure) and a tailing structure (a second section structure) that extends outward (in a direction away from the roller brush) or upward (in a direction overlapping the arc-shaped structure) from a tail of the arc-shaped structure. A first section structure extends in a direction toward the environmental surface, and a second section structure extends in a direction away from the environmental surface. It may be understood that a turning point of the two sections of structures of the blocking member is a ground closest end of the blocking member from the environmental surface, and a sealing level of the blocking member for the cavity is represented by the ground closest end in some embodiments.

In an example, the blocking member is arranged as a stack structure (for example, the blocking member includes at least two layers, for example, a first blocking layer and a second blocking layer, and the two blocking layers are stacked, to enable the blocking member to present a layered effect, where during stacking, the first blocking layer and the second blocking layer are in contact in some embodiments or are not in contact in some embodiments, and this is not limited in the present disclosure), or a step-form structure (for example, the blocking member includes at least two layers, for example, a first blocking layer and a second blocking layer, and the two blocking layers are connected end to end, to enable the blocking member to present a step form). In this case, distances between different layers of the blocking member and the rigid ground are different in some embodiments. For example, a ground clearance of one layer of structure is greater than 5 mm, and a ground clearance of the other layer of structure is less than 5 mm. It may be understood that in this case a ground distance of the blocking member is a distance between the ground closest end of the blocking member and the rigid ground. Therefore, the ground distance of the blocking member is less than 5 mm.

In summary, the free ends of the first blocking member and the second blocking member close to the environmental surface are ground closest ends of the first blocking member and the second blocking member from the environmental surface, so that sealing levels of blocking members having different shapes for the cavity can be described.

In the present disclosure, the sealing performance is improved through the blocking member. The first blocking member is disposed on the front side of the roller brush assembly, and the second blocking member is disposed on the rear side of the roller brush assembly. The free ends of the first blocking member and the second blocking member are close to the environmental surface. The first blocking member seals the front of the roller brush assembly, and the second blocking member seals the rear of the roller brush assembly, to enable an air flow outside the cavity to flow through a place beaten by a roller brush on the environmental surface, for example, flow through a bottom or a beating region of the roller brush, thereby carrying away dust agitated by the roller brush.

The sealing level of the blocking member for the cavity is represented by at least one of the following manners in some embodiments: a distance between the free end (the ground closest end) of the blocking member and a reference target (for example, the rigid ground, a bottom surface of the dust suction assembly, a carpet, or another reference plane), a coverage length (for example, a length of the free end of the blocking member in the axial direction of the roller brush; and a ratio of the length of the free end of the blocking member to the length of the roller brush in the axial direction of the roller brush or a difference value therebetween) of the blocking member for the roller brush, an unsealed area (that is, an area of air leakage) in the blocking member, and a sealed area (an area of the cavity sealed by the blocking member) in the blocking member. The unsealed area in the blocking member is represented by a ratio of an unsealed area in each blocking member in some embodiments, for example, a ratio of an unsealed area in the first blocking member and a ratio of an unsealed area in the second blocking member, or is represented by a total sum of unsealed areas (areas of air leakage holes) of the blocking members in some embodiments, for example, a sum of an opening area in the first blocking member and an opening area in the second blocking member. Similarly, the sealed area in the blocking member is represented by a ratio of a sealed area in each blocking member in some embodiments, for example, a ratio of a sealed area in the first blocking member and a ratio of a sealed area in the second blocking member, or is represented by a total sum of sealed areas of the blocking members in some embodiments, for example, a sum of the sealed area in the first blocking member and the sealed area in the second blocking member.

It may be understood that when the reference target is a carpet, the free end of the blocking member is in contact with the carpet. In other words, for this carpet, a distance between the free end of the blocking member and the carpet is 0. This is also a manner of representing the sealing level of the blocking member for the cavity.

It needs to be noted that when being represented by the sealed area in the blocking member and the unsealed area in the blocking member, the sealing level is applicable to different environmental surfaces. In other words, the sealing level represented by the sealed area in the blocking member and the unsealed area in the blocking member is applicable to a soft ground and is also applicable to a hard ground. The sealed area and the unsealed area in the blocking member are related to the distance between the free end of the blocking member and the reference target (for example, the environmental surface) and the length (in an direction of a rotating axis of the roller brush) of the free end of the blocking member. Therefore, sealed areas and unsealed areas of the blocking member in different reference targets (for example, environmental surfaces) are also different. In other words, when the sealing level is represented by the sealed area in the blocking member and the unsealed area in the blocking member, the reference target needs to be specified.

It should be understood that representation manners of the sealing levels of the blocking member for the cavity are replaced or combined with each other in some embodiments.

Examples in which the sealing level of the blocking member for the cavity is represented in the foregoing manners are described below.

In some examples, a sealing level of the cavity by the blocking member is represented by a distance between the free end of the blocking member and the environmental surface in some embodiments.

When a same cleaning robot is located on different environmental surfaces, for example, a rigid ground, a flexible ground, and even a flexible ground with different thicknesses, distances between a blocking member and the environmental surfaces are different. Especially, when the cleaning robot is located on a flexible ground, due to the weight of the cleaning robot and a surface feature of the flexible ground, the cleaning robot (for example, the movement assembly, or the dust suction assembly) “sinks in” (it means that a degree of interference between the cleaning robot and the environmental surface is a positive value, for example, a degree of interference between the movement assembly, the dust suction assembly, or the like and the environmental surface is a positive value). The cleaning robot (for example, the movement assembly, or the dust suction assembly) usually does not “sink in” the rigid ground. In consideration of this, to improve the reliability of representing a distance between the blocking member and the environmental surface, therefore, in some examples, the sealing level of the cavity by the blocking member (including the first blocking member and the second blocking member) is represented by a distance between the free end of the blocking member and the rigid ground in some embodiments.

In some examples, when the cleaning robot is located on a rigid ground 2A, a minimum distance between the free end of the first blocking member and the rigid ground (or a plane formed by the movement assembly (for example, two drive wheels 21 and one universal wheel 22) of the cleaning robot) is a first distance 1A, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance 1B. The first distance is less than 5 mm, and the second distance is less than 5 mm.

The distance between the blocking member and the rigid ground is set small, to enable the airflow outside the cavity to flow into the cavity in a manner of flowing close to a surface of the rigid ground, which helps to carry away garbage agitated by the roller brush.

It should be pointed out that in the present disclosure, the ground distance and the degree of interference are two different concepts. A rigid ground is used as an example. Even if interaction occurs between the blocking member and the rigid ground, especially when the blocking member is made of a flexible material, the blocking member is compressed and deformed under the action of the rigid ground, and the degree of interference of the blocking member is a deformation amount of the blocking member due to compression and deformation. In this case, the blocking member and the rigid ground are in a contact state. Therefore, the ground distance between the blocking member and the rigid ground is 0. In addition, due to the action of “sinking”, the degree of interference is denoted by a positive value, and due to the action of “compression”, the degree of interference is denoted by a negative value. In summary, when the cleaning robot is on the rigid ground, the degree of interference and the ground distance of the blocking member are different. Even if on the hard ground, the degree of interference of the blocking member is negative (for example, is compressed and deformed by the hard ground), in this case, the ground distance of the blocking member is still 0. Similarly, on a soft ground, the degree of interference and the ground distance of the blocking member are also different. Even if the degree of interference on the soft ground is positive (for example, because the blocking member “sinks” inside the soft ground), in this case, the ground distance of the blocking member is also 0.

It is to be noted that, the blocking member has various shapes in some embodiments. For example, the free end of the blocking member (the lower end face of the blocking member) is a horizontal line in an axial direction of the roller brush (as shown in FIG. 93) in some embodiments, or is a straight line that tilts by a particular angle with respect to a horizontal plane (as shown in FIG. 94) in some embodiments, or even includes a wavy shape (as shown in FIG. 95), a tooth shape (a sawtooth shape shown in FIG. 96 or a pulse shape in FIG. 97), a combination of a wavy shape and a tooth shape, and the like in some embodiments. In consideration of this, therefore, distances between the free end of the blocking member and the rigid ground are not the same in some embodiments, and therefore are described through a minimum distance. Moreover, the minimum distance indicates a distance when the blocking member is in a near-ground mode in some other embodiments. Similarly, a distance between the free end of the blocking member and a lowest position point of the roller brush also uses a description manner of a minimum distance below.

Certainly, fitting, smoothing, and other processing are performed on blocking members with different shapes in some other embodiments. For example, the free end of the blocking member is equivalently considered as a horizontal straight line, to represent a sealing level of the blocking member.

The first blocking member enables a first air flow (also referred to as a front air flow, 1F) to flow close to the surface of the rigid ground, which helps to carry away garbage agitated by the first roller brush. The second blocking member enables a second air flow (also referred to as a rear air flow, 2F) to flow close to the surface of the rigid ground, which helps to carry away garbage agitated by the second roller brush.

In this way, the first blocking member and the first roller brush cooperate. For example, the first blocking member guides the first air flow to cooperate with the first roller brush, to enable the first air flow to flow through the first blocking member, a bottom of the first roller brush, or the first beating region of the first roller brush. The first blocking member and the first roller brush cooperate. For example, the second blocking member guides the second air flow to cooperate with the second roller brush. For example, the second air flow flows below the second blocking member, through a bottom of the second roller brush, or the second beating region of the second roller brush.

It is considered that the sealing level of the blocking member for the cavity needs to be represented by selecting a specific environmental surface (for example, a rigid ground), and the selected specific environmental surface is different from a major working scenario (for example, a soft ground) of the cleaning robot in some embodiments. In view of this, in some examples, the sealing level of the blocking member for the cavity is represented by the distance between the blocking member and a carpet. For example, a carpet is selected. When the cleaning robot is located on the carpet, the blocking member is in contact with the carpet.

In some examples, the sealing level at which the blocking member can seal the cavity is represented by a relative position relationship between the blocking member and a structural member of the cleaning robot.

In view of that the blocking member seals the cavity of the dust suction assembly, to represent the sealing level of the blocking member for the cavity more intuitively, in some examples, a structural member of the dust suction assembly is used as a reference target, and the sealing level of the blocking member for the cavity is represented by the distance between the free end of the blocking member and the reference target. It is considered that the dust suction assembly has the bottom surface facing the environmental surface, and the bottom surface does not depend on the environmental surface on which the cleaning robot operates. Therefore, in some examples, the bottom surface of the dust suction assembly is used as a reference plane to represent the sealing level of the blocking member for the cavity. In other words, the sealing level of the blocking member 109 for the cavity is represented by a minimum distance between the free end of the blocking member and the bottom surface of the dust suction assembly in some embodiments. In some examples, each of the first blocking member and the second blocking member has a free end close to the bottom surface of the dust suction assembly. A minimum distance between the free end of the first blocking member and the bottom surface of the dust suction assembly is a first reference distance, and a minimum distance between the free end of the second blocking member and the bottom surface of the dust suction assembly is a second reference distance, where the first reference distance is greater than or equal to 0 and less than 5 mm, and the second reference distance is greater than or equal to 0 and less than 5 mm.

It needs to be noted that the first reference distance and the second reference distance are only for distinguishing from the first distance and the second distance. Correspondingly, a first reference area and a second reference area are only for distinguishing from a first area and a second area, and should not be understood as a limitation to the present disclosure. In fact, these two groups of terms follow the same principle. The first reference distance, the second reference distance, the first reference area, and the second reference area are correspondingly set with reference to the corresponding first distance, the second distance, the first area, and the second area in some embodiments, and only different reference planes are selected.

For example, in some examples, a height difference between the first reference distance and the second reference distance is within 3 mm.

In an example, in some examples, a first opening portion formed by the free end of the first blocking member and the bottom surface (a plane in which the bottom surface is located) of the dust suction assembly has the first reference area, and a second opening portion formed by the free end of the second blocking member and the bottom surface of the dust suction assembly has the second reference area, where a ratio of the first reference area to the second reference area ranges from 0.7 to 1.3. Alternatively, a sum of the first reference area and the second reference area is greater than or equal to 0 and less than 2200 mm².

The free ends of the first blocking member and the second blocking member are arranged to be close enough to the bottom surface of the dust suction assembly, so that when the cleaning robot cleans the environmental surface, an air flow outside the cavity can flow into the cavity in a manner of getting close to the environmental surface, which helps to carry away garbage agitated by the roller brush.

It needs to be noted that in consideration of a traveling direction of the cleaning robot, the bottom surface of the dust suction assembly is a plane parallel to the environmental surface in some embodiments, or is a plane having an inclination angle with respect to the environmental surface in some embodiments, that is, the bottom surface of the dust suction assembly is an inclined plane in some embodiments. In other words, because the bottom surface of the dust suction assembly is designed differently, distances between the free end of the blocking member and the bottom surface are different in some embodiments. Therefore, the bottom surface of the dust suction assembly is a ground closest end (a part of the bottom surface closest to the environmental surface) of the bottom surface. For the reason of using the minimum distance, refer to the description of the related part. Details are not described herein.

Certainly, in some other examples, another member of the dust suction assembly is used as a reference in some embodiments to represent the sealing level of the blocking member for the cavity. For example, tangential planes (for example, lower tangential planes close to the environmental surface) of an outer contour of the first roller brush and an outer contour of the second roller brush are used as reference planes, and the sealing level is represented by distances between the free end of the blocking member 109 and the (lower) tangential planes of the outer contour of the first roller brush and the outer contour of the second roller brush.

In addition, in some examples, the sealing level of the cavity is represented by a relative position relationship between the blocking member and another structural member (for example, the movement assembly) of the cleaning robot in some embodiments. This is not limited in the present disclosure.

In some examples, the sealing level is represented by the coverage length (for example, the length of the free end of the blocking member, and the ratio of the length of the free end of the blocking member to the length of the roller brush) of the blocking member for the roller brush. Therefore, in some examples, the sealing level is represented by the ratio of the length of the free end of the blocking member to the length of the roller brush. For example, the ratio of the length of the free end of the blocking member to the length of the roller brush in the axial direction of the roller brush is greater than or equal to 50%. Further, the ratio of the length of the free end of the blocking member to the length of the roller brush is greater than or equal to 60%; and furthermore, the ratio of the length of the free end of the blocking member to the length of the roller brush is greater than or equal to 70%. In some embodiments, the ratio of the length of the free end of the blocking member to the length of the roller brush ranges from 80% to 100%.

For example, the blocking member includes the first blocking member and the second blocking member. For example, in some examples, in the axial direction of the roller brush, a ratio of a length of the free end of the first blocking member to a length of the first roller brush is greater than or equal to 50%, and a ratio of a length of the free end of the second blocking member to a length of the second roller brush is greater than or equal to 50%. Further, the ratio of the length of the free end of the first blocking member to the length of the first roller brush is greater than or equal to 60%, and the ratio of the length of the free end of the second blocking member to the length of the second roller brush is greater than or equal to 60%. Furthermore, the ratio of the length of the free end of the first blocking member to the length of the first roller brush is greater than or equal to 70%, and the ratio of the length of the free end of the second blocking member to the length of the second roller brush is greater than or equal to 70%. In some embodiments, the ratio of the length of the free end of the blocking member to the length of the roller brush ranges from 80% to 100%. In some examples, the sealing level is represented by an unsealed area in the blocking member on a rigid ground, for example, is represented by a ratio of an unsealed area in each blocking member. In the first blocking member, the ratio of the unsealed area is within 30%, and in the second blocking member, the ratio of the unsealed area is within 30%. In an example, the sealing level is represented by the total sum of unsealed areas (areas of air leakage holes) of the blocking members. It may be understood that in the first blocking member, the unsealed areas are related to a ground distance of the free end of the first blocking member and a length by which the free end of the first blocking member covers the roller brush. In the second blocking member, the unsealed areas are related to a ground distance of the free end of the second blocking member and a length by which the free end of the second blocking member covers the roller brush. Specifically, a value of the unsealed area in the blocking member is equal to a sum of an area of an opening formed by the free end of the blocking member and the reference plane and an area of a hollowed-out pattern (for example, gaps generated between adjacent teeth when the free end of the blocking member is a plurality of teeth arranged at intervals, a through hole provided in the blocking member, and a notch generated when the length of the blocking member is less than the length of the roller brush) causing air leakage in the blocking member. In other words, a value of the unsealed area in the first blocking member is equal to a sum of the first area and an area of a hollowed-out pattern (for example, gaps generated between adjacent free ends when a plurality of free ends are arranged at intervals, an open hole in the blocking member, and the notch generated when the length of the blocking member is less than the length of the roller brush) causing air leakage in the second blocking member. A value of the unsealed area in the second blocking member is equal to a sum of the second area and an area of a hollowed-out pattern (for example, gaps generated between adjacent free ends when a plurality of free ends are arranged at intervals, an open hole in the blocking member, and the notch generated when the length of the blocking member is less than the length of the roller brush) causing air leakage in the second blocking member. The first area is related to a ground distance of the free end of the first blocking member and a length by which the free end of the first blocking member covers the roller brush. In the second blocking member, the unsealed areas are related to a ground distance of the free end of the second blocking member and a length by which the free end of the second blocking member covers the roller brush.

In some examples, a value range of the length of the first roller brush is 170 mm to 220 mm, and a value range of the length of the second roller brush is 170 mm to 220 mm. In some examples, the cleaning robot is located on a hard ground, the ground distance of the free end of the first blocking member is greater than or equal to 0 and less than 5 mm, and the ground distance of the free end of the second blocking member is greater than or equal to 0 and less than 5 mm.

In some examples, the free ends of the first blocking member and the second blocking member are a horizontal line in a length direction of the roller brush. Neither of the first blocking member and the second blocking member is provided with a hollowed-out pattern (that is, the blocking member has no through hole, no gap, and basically covers the entire roller brush in the length direction, that is, the ratio of the length of the free end of the blocking member to the length of the roller brush is approximately 100%).

In addition, the value of the unsealed area in the first blocking member is equal to the first area: ground distance (0 to 5)*first roller brush (170 to 220). The value of the unsealed area in the second blocking member is equal to the second area: ground distance (0 to 5)*second roller brush (170 to 220). A sum of the unsealed area in the first blocking member and the unsealed area in the second blocking member is greater than or equal to 0 and less than 2200 mm²(that is, 5*220 mm²+5*220 mm²).

In addition, the value of the unsealed area in the first blocking member is: (2 mm to 3 mm)*(180 mm to 200 mm); the value of the unsealed area in the second blocking member is: (1 mm to 2 mm)*(180 mm to 200 mm); and a value of a sum of the unsealed area in the first blocking member and the unsealed area in the second blocking member is 540 mm²(that is, 2*180+1*180) to 1000 mm²(that is, 3*200+2*200).

In some examples, the sealing level is represented by a sealed area in the blocking member on a rigid ground, for example, is represented by a ratio of a sealed area in each blocking member. In the first blocking member, the ratio of the sealed area is 70% or above, and in the second blocking member, the ratio of the sealed area is 70% or above.

The sealed area in each blocking member is related to factors such as the length of the free end of the blocking member and a height (that is, a distance between the free end of the blocking member and a top end of the blocking member) by which the blocking member covers the cavity. It needs to be pointed out that when the blocking member has a movement stroke (the blocking member is movable), the height by which the blocking member covers the cavity is represented by the movement stroke of the blocking member in some embodiments. Therefore, in some examples, the sealed area in each blocking member is related to the length of the free end of the blocking member and the movement stroke of the blocking member.

As can be learned from the foregoing relationship, when the blocking member has a movement stroke (the blocking member is movable), the movement stroke of the blocking member is also used to represent the sealing level in some embodiments. In some examples, the movement stroke of the blocking member is greater than or equal to 3 mm; further, the movement stroke of the blocking member is greater than or equal to 5 mm; and furthermore, the movement stroke of the blocking member is greater than or equal to 7 mm.

For example, the blocking member includes the first blocking member and the second blocking member, and at least one of the first blocking member and the second blocking member is movable, a movement stroke of the movable blocking member is greater than or equal to 3 mm; further, the movement stroke of the movable blocking member is greater than or equal to 5 mm; and furthermore, the movement stroke of the movable blocking member is greater than or equal to 7 mm. For example, in some examples, the first blocking member is movable, and a movement stroke of the first blocking member is greater than or equal to 3 mm; further, the movement stroke of the first blocking member is greater than or equal to 5 mm; and furthermore, the movement stroke of the first blocking member is greater than or equal to 7 mm. In an example, the second blocking member is movable, and a movement stroke of the second blocking member is greater than or equal to 3 mm; further, the movement stroke of the second blocking member is greater than or equal to 5 mm; and furthermore, the movement stroke of the second blocking member is greater than or equal to 7 mm.

For example, the blocking member includes the first blocking member and the second blocking member, and both the first blocking member and the second blocking member are movable. For example, in some examples, a movement stroke of the first blocking member is greater than or equal to 3 mm, and a movement stroke of the second blocking member is greater than or equal to 3 mm; further, the movement stroke of the first blocking member is greater than or equal to 5 mm, and the movement stroke of the second blocking member is greater than or equal to 5 mm; and furthermore, the movement stroke of the first blocking member is greater than or equal to 7 mm, and the movement stroke of the second blocking member is greater than or equal to 7 mm.

In the present disclosure, the sealing performance of the cavity is improved in any of the foregoing manners or a combination thereof, and front and rear air flows become close.

In some examples, the front and rear air flows are equivalent (basically consistent).

The front and rear air flows being equivalent is represented by at least one of the following manners in some embodiments: (1) comparison between front and rear sealing parameters, for example, a difference value between (or ratio of) the first distance and the second distance, a ratio of (difference value between) a length of the first blocking member and a length of the second blocking member, and a ratio of (difference value between) the movement stroke of the first blocking member and the movement stroke of the second blocking member; (2) comparison between unsealed areas (leakage areas) in front and rear blocking members, for example, a ratio of (difference value between) a leakage area in the first blocking member and a leakage area in the second blocking member, a ratio of (difference value between) a ratio of the leakage area in the first blocking member and a ratio of the leakage area in the second blocking member; (3) comparison between sealed areas in front and rear blocking members, for example, a ratio of (difference value between) a sealed area in the first blocking member and a sealed area in the second blocking member, and a ratio of (difference value between) a ratio of the sealed area in the first blocking member and a ratio of the sealed area in the second blocking member; and (4) comparison between front and rear air flows, for example, a ratio of (difference value between) the first air flow and the second air flow, a ratio of an effective air flow in the first air flow and a ratio of an effective air flow in the second air flow, a ratio of (difference value between) the effective air flow (an air flow that flows through a required place) in the first air flow and the effective air flow in the second air flow, a ratio of a loss air flow (an air flow that does not flow through a required place) in the first air flow and a ratio of a loss air flow in the second air flow, and a ratio of (difference value between) the loss air flow in the first air flow and the loss air flow in the second air flow. It needs to be noted that the foregoing manners representing that the front and rear air flows are equivalent are replaced or combined with each other in some embodiments. In addition, similar to the foregoing, during calculation of a ratio of or difference value between air flows, an air flow parameter includes, for example, a flow rate or energy of an air flow.

It may be understood that a representation manner of the front and rear air flows being equivalent is further obtained based on the representation manner of the sealing level. Therefore, the representation manner of the front and rear air flows being equivalent and the representation manner of the sealing level are combined in some embodiments. For example, when the blocking member is in contact with a carpet (a representation manner of the sealing level), a ratio (a representation manner of the front and rear air flows being equivalent) of a flow rate of an air flow that flows through a place (for example, flows through the bottom of the roller brush, flows through the beating region formed by the roller brush, or flows inside the carpet) where an air flow needs to flow in an air flow (for example, the first air flow, and the second air flow) outside the cavity and a flow rate of an air flow that flows through the dust inlet in an air flow flowing toward a dust box is combined. The air flow flowing toward the dust box is represented by a flow rate (for example, of an air flow flowing out from the dust inlet) at the dust inlet in communication with the dust box in some embodiments.

Examples in which the front and rear air flows being equivalent is represented in the foregoing manners are described below. To make the first air flow and the second air flow equivalent, for example, control a difference value between the first air flow and the second air flow within a particular range, in some examples, it can be considered to set the first distance and the second distance approximately the same, or to make a difference value between the first distance and the second distance fall within a predetermined range.

In some examples, when the cleaning robot is located on the rigid ground, the difference value between the first distance and the second distance is within 3 mm. Further, the difference value between the first distance and the second distance ranges from 0 mm to 2 mm. Furthermore, the difference value between the first distance and the second distance ranges from 0 mm to 1.5 mm.

In consideration of that the blocking member has various shapes in some embodiments, in some examples, the sealing level of the blocking member is further represented by an area of an opening portion of the blocking member and the rigid ground in some embodiments.

To represent sealing levels of the cavity by blocking members with different shapes, in some examples, an area of an opening formed by the blocking member and the rigid ground is used for representation in some embodiments. For example, when the cleaning robot is located on the rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area.

To make the front and rear air flows equivalent, in some examples, it is considered that areas of openings between the front and rear blocking members and the environmental surface are defined to be close or a ratio of or a difference value between areas of front and rear openings is kept within a particular range in some embodiments. In some examples, the front and rear air flows being equivalent is represented by a ratio below. A ratio of the first area to the second area ranges from 0.7 to 1.3. Further, the ratio of the first area to the second area ranges from 0.8 to 1.2. Furthermore, the ratio of the first area to the second area ranges from 0.9 to 1.1.

For example, when the free end of the blocking member has a tooth-shape, the blocking member is located on the hard ground. An end face of the free end with a tooth shape of the blocking member and the hard ground form the first opening portion. An area of the first opening portion is equal to a sum of an area of the tooth shape and an area of an opening formed by a connecting line between end points of a lower surface of the tooth shape and the hard ground.

It is to be understood that, the free end of the blocking member has a partial tooth shape or another shape in some embodiments. The calculation of an area of an opening portion formed by the free end and the hard ground is similar to that above. Details are not excessively described herein.

The shape of the blocking member is taken into consideration herein. The sealing levels of the cavity by blocking members in the front and rear are made basically consistent, to enable air flows that enter the cavity from two sides to be close, thereby reducing a difference value between the two air flows in the front and rear.

A hole is further provided in the blocking member in some embodiments, especially at a position close to the free end. The hole has an elliptical shape or a triangular shape in some embodiments, as shown in FIG. 98 and FIG. 99, and certainly has another shape in some other embodiments. In consideration of this, to represent sealing levels of the cavity by blocking members with different shapes and provided with holes, in some examples, an area of an opening formed by the blocking member and the rigid ground is used in combination with an area of the hole for representation in some embodiments. For example, in a case that a first hole is provided in the first blocking member and the cleaning robot is located on the rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a ratio of a sum of the first area and an area of the first hole to the second area ranges from 0.7 to 1.3. Further, the ratio of the sum of the first area and the area of the first hole to the second area ranges from 0.8 to 1.2. Furthermore, the ratio of the sum of the first area and the area of the first hole to the second area ranges from 0.9 to 1.1.

It is to be understood that, when a second hole is provided in the second blocking member, an area of the second hole needs to be taken into consideration. For example, a ratio of the sum of the first area and the area of the first hole to a sum of the second area and the area of the second hole ranges from 0.7 to 1.3.

Impacts of the hole in the blocking member and the shape of the blocking member on the sealing level of the cavity are taken into consideration herein. The sealing levels of the cavity by blocking members in the front and rear are made basically consistent, to enable air flows that enter the cavity from two sides to be close or equivalent, thereby reducing a difference value between the two air flows in the front and rear.

It is considered that in some examples, the leakage area in the second blocking member is 0 in some embodiments. Therefore, to make the front and rear air flows equivalent, in some examples, a difference value between unsealed areas (areas of air leakage holes) between front and rear blocking members is used for representation. It may be understood that in the first blocking member, the unsealed areas are related to a ground distance of the free end of the first blocking member and a length by which the free end of the first blocking member covers the roller brush. In the second blocking member, the unsealed areas are related to a ground distance of the free end of the second blocking member and a length by which the free end of the second blocking member covers the roller brush. In some embodiments, a value range of the length of the first roller brush is 170 mm to 220 mm, and a value range of the length of the second roller brush is 170 mm to 220 mm. In some examples, the cleaning robot is located on a hard ground, the ground distance of the free end of the first blocking member is greater than or equal to 0 and less than 5 mm, and the ground distance of the free end of the second blocking member is greater than or equal to 0 and less than 5 mm.

In addition, the value of the unsealed area in the first blocking member is equal to the first area: ground distance (0 to 5)*first roller brush (170 to 220). The value of the unsealed area in the second blocking member is equal to the second area: ground distance (0 to 5)*first roller brush (170 to 220). A difference value between the unsealed area in the first blocking member and the unsealed area in the second blocking member is greater than or equal to 0 and less than 1100 mm²(that is, 5*220 mm²).

In some examples, the cleaning robot is located on a hard ground, and a value range of the ground distance of the free end of the first blocking member is 2 mm to 3 mm; a value range of the ground distance of the free end of the second blocking member is 1 mm to 2 mm; the ratio of the length of the free end of the blocking member to the length of the roller brush is 100%; and the value ranges of the length of the first roller brush and the length of the second roller brush are 180 mm to 200 mm. In this example, the value of the unsealed area in the first blocking member is: (2 mm to 3 mm)*(180 mm to 200 mm); the value of the unsealed area in the second blocking member is: (1 mm to 2 mm)*(180 mm to 200 mm); and the difference value between the unsealed area in the first blocking member and the unsealed area in the second blocking member is −40 mm²(that is, 2*180-2*200) to 420 mm²(that is, 3*200-1*180).

In some examples, the sealing level is represented by the first distance and the second distance, the difference value between the first distance and the second distance (to make the areas of the front and rear openings close) represents that the front and rear air flows are equivalent, and the beating region is used as a representation for a place where an air flow needs to flow. The first distance and the second distance are defined to be very small. For example, the first distance is less than 5 mm, and the second distance is less than 5 mm. The difference value between the first distance and the second distance is defined to be small. For example, the difference value between the first distance and the second distance is within 3 mm. Areas of openings between the blocking members in the front and rear and the environmental surface are defined to be close, so that when the first roller brush beats the environmental surface to form the first beating region and the second roller brush beats the environmental surface to form the second beating region, the first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and the second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet.

The dust inlet is in communication with the dust suction fan that generates a negative pressure in some embodiments.

In some examples, an area of an air leakage range caused by a shape of or a hole in a blocking member is used to represent a sealing level in some embodiments. A gap that is generated from the shape of the blocking member, the hole in the blocking member, or the like and is used for a gas to flow is referred to as an air leakage hole. For example, an area of the air leakage hole in the blocking member is controlled to be within 30% of an area of the entire blocking member. In some examples, an area of an air leakage hole in at least one blocking member of the blocking members in the front and rear accounts for less than 30% of a total area of the blocking member, to enable a difference between air flows of the blocking members in the front and rear to be controlled within a particular range, so that the air flows in the front and rear are close or equivalent.

It may be understood that in a case that the blocking member has at least two layers of structures (for example, including the first blocking layer and the second blocking layer), one layer is provided with a hollowed-out pattern (for example, a circular through hole), and the other layer is provided with no hollowed-out pattern, an area causing air leakage by the hollowed-out pattern is an area of a through hole that is in the layer provided with the hollowed-out pattern and is not covered by the other layer without a hollowed-out pattern. In other words, an area of an uncovered through hole is the area of the air leakage hole.

To make the front and rear air flows equivalent, in some examples, it is considered that sealed areas of the front and rear blocking members are defined to be close or a ratio of or a difference value between ratios of front and rear sealed areas is kept within a particular range in some embodiments. For example, the difference value between the ratios is used to represent that the front and rear air flows are equivalent. In the first blocking member, the ratio of the sealed area ranges from 70% to 100%, in the second blocking member, the ratio of the sealed area ranges from 70% to 100%, and a difference value between the ratio of the sealed area in the first blocking member and the ratio of the sealed area in the second blocking member ranges from −30% to 30%. In an example, the ratio of the ratios is used to represent that the front and rear air flows are equivalent. In the first blocking member, the ratio of the sealed area ranges from 70% to 100%, in the second blocking member, the ratio of the sealed area ranges from 70% to 100%, and the ratio of the ratio of the sealed area in the first blocking member to the ratio of the sealed area in the second blocking member ranges from 0.7 to 1.4.

To make the front and rear air flows equivalent, in some examples, air flows are used for representation in some embodiments. For example, a ratio of a flow rate of the effective air flow in the first air flow to a flow rate of the effective air flow in the second air flow is used for representation. In some examples, the ratio of the flow rate of the effective air flow in the first air flow to the flow rate of the effective air flow in the second air flow is greater than or equal to 0.7 and is less than or equal to 1.3. The effective air flow in the first air flow is an air flow that flows through a place (represented by the bottom of the first roller brush, the first beating region, or the interior of the carpet) where an air flow needs to flow in the first air flow; and the effective air flow in the second air flow is an air flow that flows through a place (represented by the bottom of the second roller brush, the second beating region, or the interior of the carpet) where an air flow needs to flow in the second air flow.

In an example, the ratios of the effective air flows in the front and rear air flows are used to represent that the front and rear air flows are equivalent. In some examples, the ratio of the effective air flow in the first air flow is greater than or equal to 70%, and the ratio of the effective air flow in the second air flow is greater than or equal to 70%.

In an example, the ratios of the loss air flows in the front and rear air flows are used to represent that the front and rear air flows are equivalent. In some examples, the ratio of the loss air flow in the first air flow is less than 30%, and the ratio of the loss air flow in the second air flow is less than 30%.

In an example, a ratio of (flow rates of) the first air flow and the second air flow is used for representation. In some examples, a ratio of a flow rate of the first air flow to a flow rate of the second air flow is greater than or equal to 0.7 and is less than or equal to 1.3.

In some examples, the first distance is greater than or equal to the second distance. For example, a value obtained by subtracting the second distance from the first distance ranges from 0 mm to 3 mm. Further, the value obtained by subtracting the second distance from the first distance ranges from 0 mm to 2 mm. Furthermore, the value obtained by subtracting the second distance from the first distance ranges from 0 mm to 1.5 mm.

In some examples, the first distance is equal to the second distance.

It is to be noted that, when the first distance is equal to the second distance, flow rates of the first air flow and the second air flow are approximately the same.

In some examples, the first distance is greater than the second distance.

In some examples, a value of the first distance ranges from 3 mm to 4 mm. When the cleaning robot is located on a rigid ground, the setting of the first distance allows the passage of garbage (also referred to as small particles) with a size ranging from 2 mm to 3 mm in some embodiments, to improve a collection effect of garbage, thereby improving the cleaning efficiency of the rigid ground.

In some examples, a value of the second distance ranges from 1 mm to 2 mm, so that the sealing performance of a rear portion of the cavity can be ensured, to enable the second air flow to better flow through the bottom of the second roller brush or the second beating region.

In some examples, in a case that the cleaning robot is located on a soft ground, the first air flow and the second airflow can centrally flow through a surface of the soft ground or even an inside of the soft ground. The meaning of “centrally” is as follows: An air flow is increased compared with that when no blocking member (or when the blocking member is in an open state as described below) is disposed on the cleaning robot. That is, in a case that the cleaning robot is located on a soft ground, air flow rates of the first air flow and the second air flow flowing through the surface of the soft ground or even the inside of the soft ground are both increased.

Due to the foregoing “sinking in”, in a case that the cleaning robot is located on a flexible ground, compared with a case in which the cleaning robot is located on a rigid ground, a distance between the blocking member and the flexible ground is further reduced, and the sealing performance is further improved, so that the air flow outside the cavity flows into the cavity in a manner of flowing closer to the surface of the flexible ground or even in a manner of flowing through the inside of the flexible ground, to cooperate with the roller brush assembly in the cavity, thereby implementing a better effect of carrying away garbage agitated by the roller brush. That is, a cleaning efficiency of the cleaning robot on a flexible ground is better than a cleaning efficiency of the cleaning robot on a rigid ground.

It is to be noted that, when the cleaning robot with improved sealing performance cleans a rigid ground, compared with a cleaning robot without improved sealing performance, a cleaning efficiency is improved to some extent (for example, improved by approximately 5%). When the cleaning robot cleans a soft ground, compared with a cleaning robot without improved sealing performance, a cleaning efficiency is significantly improved (for example, improved by approximately 25%).

In some examples, for some flexible grounds such as a carpet, channels (clearances in carpet pile) for a gas to flow through exist inside the carpet. In a case that the cleaning robot is located on a flexible ground with an inside allowing a gas to pass through, the first air flow and the second air flow centrally flow through the surface or even inside of the flexible ground in some embodiments, to implement a better cleaning effect.

Compared with a rigid ground, for a carpet, distances of the free end of the first blocking member and the free end of the second blocking member from a to-be-cleaned surface are further reduced, and the sealing performance is improved, so that the first air flow and the second air flow centrally flow through a surface or even an inside of the carpet in some embodiments. That is, compared with an existing cleaning robot, in a case that the cleaning robot is located on a carpet, an air flow flowing through a surface or an inside of the carpet is increased, which helps to improve a cleaning effect of the carpet.

In some examples, for a carpet with carpet pile being planted bristles (for example, free ends of produced pile face vertically upward) and a pile length is greater than a length (a preset length), in a case that the cleaning robot is located on the carpet, the free end of the first blocking member and the free end of the second blocking member can be in contact with a surface of the carpet, to enable a first air flow to flow from an outside of the cavity to a dust inlet of the cavity through an inside of the carpet and a second air flow to flow from the outside of the cavity to the dust inlet through the inside of the carpet, where a ratio of the first air flow to the second air flow is greater than or equal to 0.7 and is less than or equal to 1.3.

For blocking members with different shapes and even provided with holes, on a carpet, free ends of the blocking members are in contact with the carpet in some embodiments, and a preset sealing level is met, so that the first air flow and the second air flow are equivalent.

In some examples, the pile length of the carpet is greater than or equal to 5 mm and is less than or equal to 15 mm.

In some examples, the pile length of the carpet is greater than or equal to 5 mm and is less than or equal to 10 mm.

In some examples, the pile length of the carpet is greater than or equal to 5 mm and is less than or equal to 8 mm.

For example, in a case that the cleaning robot is located on a full-piece carpet with a pile length greater than or equal to 10 mm, the first air flow and the second air flow centrally flow through an inside of the full-piece carpet, to facilitate cleaning of the inside of the full-piece carpet. The full-piece carpet is a straight-hair carpet herein.

It is to be understood that, for a full-piece carpet with planted bristles of a pile length being equal to 4.5 mm, because the carpet usually has a backing (for example, 1 mm thick) configured to arrange pile, a thickness of the full-piece carpet with a pile length of 4.5 mm is greater than 5 mm. However, the pile length is not greater than 5 mm. Therefore, a carpet with a total thickness that meets the foregoing requirement and a pile length that does not meet the foregoing requirement does not fall within the scope of the foregoing carpets that meet conditions.

In a case that the cleaning robot is located on a full-piece carpet, distances of the free end of the first blocking member and the free end of the second blocking member from a to-be-cleaned surface are further reduced, or even the free end of the first blocking member and the free end of the second blocking member can be in contact with a surface of the full-piece carpet, so that the first air flow and the second air flow centrally flow through an inside of the full-piece carpet in some embodiments. That is, compared with an existing cleaning robot, in a case that the cleaning robot is located on a full-piece carpet, an air flow flowing through an inside of the full-piece carpet is increased.

In addition, the roller brush assembly “sinks in” the full-piece carpet, so that a lowest point at the bottom of the first roller brush and a lowest point at the bottom of the second roller brush are located inside the full-piece carpet. The first roller brush and the second roller brush can beat the inside of the full-piece carpet, to agitate garbage in clearances in the carpet pile. The first air flow carries away garbage agitated by the first roller brush in some embodiments, and the second air flow carries away garbage agitated by the second roller brush in some embodiments, so that a cleaning effect of the full-piece carpet is greatly improved.

In some examples, the cleaning robot includes a dust suction fan, configured to generate a negative pressure.

In a case that the cleaning robot is located on a carpet and the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, a flow rate of an air flow flowing through the inside of the carpet accounts for 70% or above of a flow rate of that flowing out from a dust inlet.

The flow rate of the air flow flowing out from the dust inlet is measured at the dust inlet or measured on a suction side (in communication with the dust inlet) of the dust suction fan in some embodiments.

In some examples, the flow rate of the air flow flowing through the inside of the carpet is measured at the dust inlet after a channel between a blocking member and a roller brush or even a space in a brush head of a roller brush is sealed in some embodiments.

It is to be noted that, the negative pressure is configured to generate an air flow configured to suck garbage on the environmental surface in some embodiments.

The sealing performance is improved. Especially, in a case that the cleaning robot is located on a carpet and the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, that is, distances between the first blocking member and the second blocking member and a surface of a standard test carpet are basically equal to 0 or even less than 0, where the distances being less than 0 indicates that a blocking member enters the standard test carpet, the air flow formed by the negative pressure of the dust suction fan centrally flows through an inside of the carpet. A level on which the air flow centrally flows through the carpet is represented by a ratio in some embodiments. For example, a flow rate of an air flow flowing through an inside of the standard test carpet accounts for more than 70% of a flow rate of an air flow on the suction side of the dust suction fan.

For another flexible ground, for a carpet with a hardness greater than a set value (for example, a hardness close to that of a floor) or a carpet with a pile length far less than a length, for example, a carpet of 2 mm, an air flow fails to flow through an inside of the carpet in some embodiments. Therefore, in a case that the cleaning robot is located on this type of flexible ground, the first air flow and the second air flow centrally flow through a surface of this type of flexible ground in some other embodiments, so that a cleaning effect of this type of flexible ground can be improved.

In some examples, the first distance is less than a length of a connecting line 1C formed between a lowest position point of the first roller brush and a lowest position point of the second roller brush.

The second distance is less than the length of the connecting line formed between the lowest position point of the first roller brush and the lowest position point of the second roller brush.

A distance between a blocking member and the environmental surface is small. An opening formed by the small distance has a first resistance on an air flow, and has a second resistance on an air flow inside a carpet with a pile length (for example, a straight-hair carpet with a pile length ranging from 3 mm to 5 mm). The first resistance is equal to the second resistance. For example, a ratio of the second resistance to the first resistance ranges from 0.8 to 1.2. In this case, when the cleaning robot is located on a flexible ground, especially on a carpet with a pile length, an air flow centrally flows through an inside of the carpet in some embodiments. A distance between lowest position points of outer contours of the first roller brush and the second roller brush is large. An opening formed by the large distance has a third resistance on the air flow. The third resistance is equal to the second resistance. For example, the third resistance is less than or equal to the second resistance, so that when the cleaning robot is located on a flexible ground, especially on a carpet with a pile length, the air flow flows out from a space between the first roller brush and the second roller brush in some embodiments.

To make an air flow better cooperate with a beating action of a roller brush, the air flow is guided to a required place (for example, the air flow is guided to a bottom/beating region of the roller brush), and the air flow is kept from flowing away from a non-required place (for example, the air flow does not flow through the bottom/beating region of the roller brush, but instead flows through a side clearance/space/channel formed at a blocking member and an outer contour of a roller brush), to improve the utilization of the air flow. In some examples, the free end of the blocking member extends close to the bottom of the roller brush or the beating region formed by the roller brush in some embodiments; or, when the roller brush is in contact with the environmental surface, the blocking member extends to a position that is of the roller brush and is close to a contact between the roller brush and the environmental surface.

Therefore, in some examples, a distance between the free end of the blocking member and the lowest position point of the adjacent roller brush is used to represent a level by which the blocking member extends.

For example, a minimum distance between the free end 110A of the first blocking member and a lowest position point 2201A of the first roller brush is a third distance M1, the third distance is less than 20 mm, and the first air flow is guided to the bottom of the first roller brush.

A minimum distance between the free end 112A of the second blocking member and a lowest position point 2202A of the second roller brush is a fourth distance M2, the fourth distance is less than 20 mm, and the second air flow is guided to the bottom of the second roller brush.

In some examples, a minimum distance between the free end 110A of the first blocking member and a lowest position point 2201A of the first roller brush is a third distance M1, the third distance is less than 15 mm, and the first air flow is guided to the bottom of the first roller brush.

A minimum distance between the free end 112A of the second blocking member and a lowest position point 2202A of the second roller brush is a fourth distance M2, the fourth distance is less than 15 mm, and the second air flow is guided to the bottom of the second roller brush.

Further, a minimum distance between the free end of the first blocking member and a lowest position point of the first roller brush is a third distance, the third distance is less than 12 mm, and the first air flow is guided to the bottom of the first roller brush.

A minimum distance between the free end of the second blocking member and a lowest position point of the second roller brush is a fourth distance, the fourth distance is less than 12 mm, and the second air flow is guided to the bottom of the second roller brush.

For ease of understanding, in a case that a center distance between the two roller brushes in the front and rear is 35.5 mm (a radius of the roller brush is approximately 17.25 mm) and a reserved spacing between the two roller brushes is 1 mm (to avoid mutual interference between the two roller brushes), when a lowest end of a front blocking member is 2 mm from the ground, a distance between the lowest end and a lowest point of a front roller brush in contact with the ground is approximately 11.76 mm. When a lowest end of a rear blocking member is 1 mm from the ground, a distance between the lowest end and a lowest point of a rear roller brush in contact with the ground is approximately 10.1 mm.

The first blocking member extends close to the lowest position point of the first roller brush, and guides the first air flow to the bottom of the first roller brush, to enable the first air flow to better cooperate with beating of the first roller brush. Further, the second blocking member extends close to the lowest position point of the second roller brush, and guides the second air flow to the bottom of the second roller brush, to enable the second air flow to better cooperate with beating of the second roller brush, thereby improving a cleaning effect of the environmental surface.

In some examples, the third distance M1 exists between the free end 110A of the first blocking member and the lowest position point 2201A of the first roller brush, the third distance is less than 15 mm, and the first air flow is guided to the first beating region of the first roller brush.

The fourth distance M2 exists between the free end 112A of the second blocking member and the lowest position point 2202A of the second roller brush, the fourth distance is less than 15 mm, and the second air flow is guided to the second beating region of the second roller brush.

Further, the third distance exists between the free end of the first blocking member and the lowest position point of the first roller brush, the third distance is less than 12 mm, and the first air flow is guided to the first beating region of the first roller brush.

The fourth distance exists between the free end of the second blocking member and the lowest position point of the second roller brush, the fourth distance is less than 12 mm, and the second air flow is guided to the second beating region of the second roller brush. Similarly, a blocking member is disposed at a position close to a beating region of a roller brush and guides an air flow to the beating region, to enable an air flow that can carry garbage to cooperate with a beating action of the roller brush more directly, which helps to improve the cleaning efficiency of the environmental surface.

It is to be noted that, a blocking member is close to a lowest position point of a roller brush, so that in a case that the cleaning robot is located on a flexible ground, especially on a carpet with a pile length, an air flow can flow through an inside of the carpet, thereby greatly improving a cleaning effect of the carpet.

The foregoing lowest position point of the roller brush is a lowest position point at an outer contour of the roller brush when the cleaning robot is located on the environmental surface.

When the distance between the free end of the first blocking member and the lowest position point of the first roller brush is small, in one aspect, the first air flow is guided to a required place in some embodiments, and in another aspect, a resistance of an opening formed by the distance between the free end of the first blocking member and the lowest position point of the first roller brush on an air flow is equal to a resistance of channels inside a carpet (for example, a pile carpet with a pile length ranging from 3 mm to 4 mm) with a pile length on an air flow, to enable the first air flow to flow through the inside of the carpet. That is, when the distance between the free end of the first blocking member and the lowest position point of the first roller brush is made small, in a case that the cleaning robot is located on a flexible ground, especially on a carpet with a pile length, the first air flow can be better guided to the bottom of the first roller brush or the first beating region, and the first air flow also flows through the inside of the carpet more easily. When the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush is large, a resistance of an opening formed by the lowest position point of the first roller brush and the lowest position point of the second roller brush on an air flow is less than or equal to a resistance of the carpet on an air flow, to enable an air flow flowing through the inside of the carpet to flow out from the space between the first roller brush and the second roller brush and flow to a dust box of the cleaning robot.

In some examples, a length of a connecting line between the free end of the second blocking member and a lowest position point of the second roller brush is less than a distance between the lowest position point of the first roller brush and a lowest position point of the second roller brush.

Similarly, the distance between the second blocking member and the lowest position point of the second roller brush is small, and the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush is large, so that in a case that the cleaning robot is located on a flexible ground, especially on a carpet with a pile length, the second air flow can be guided to the bottom of the second roller brush or the second beating region more smoothly, and the second air flow flows through an inside of the carpet more easily, flows out from the space between the first roller brush and the second roller brush, and eventually flows into the dust box of the cleaning robot.

In some examples, a horizontal distance between the free end of the blocking member and an outer contour of the adjacent roller brush (for example, a distance between the free end of the blocking member and a point that is on the outer contour of the roller brush, is located on the same horizontal plane as the free end, and is closest to the free end) is used to represent a level on which the blocking member extends in some embodiments.

In consideration of a manner in which the blocking member extends, in some examples, the first blocking member has at least a middle point different from the free end of the first blocking member, a distance between the middle point and a lowest position of the first roller brush is greater than the third distance, and a connecting line between a projection of the middle point onto a horizontal plane and the free end points to the lowest position of the first roller brush.

The blocking member is disposed as a blocking member that extends non-vertically, so that in a case that the cleaning robot encounters an obstacle and needs to surmount the obstacle, the blocking member further lifts the roller brush to assist in obstacle surmounting to some extent in some embodiments.

In some examples, the first blocking member has a non-free end portion. The non-free end portion is another part of the blocking member with a ground distance being greater than that of the free end.

A horizontal distance (corresponding to a first horizontal distance below) between the free end of the first blocking member and the first roller brush is less than or equal to a horizontal distance between the non-free end portion of the first blocking member and the first roller brush.

A horizontal distance (corresponding to a second horizontal distance below) between the free end of the second blocking member and the second roller brush is less than or equal to a horizontal distance between a non-free end portion of the second blocking member and the second roller brush.

In some examples, the first blocking member is arc-shaped, and extends toward the first roller brush; and the second blocking member is arc-shaped, and extends toward the second roller brush.

The blocking member is disposed to be arc-shaped, and the blocking member and the roller brush are better joined in shape, to enable the blocking member to be smoothly transitioned and extend to the roller brush. In one aspect, an air flow is guided more smoothly, and in another aspect, the arrangement better adapts to an obstacle surmounting scenario. The first blocking member smoothly extends to the first roller brush, and the second blocking member smoothly extends to the second roller brush.

Certainly, in some examples, the first blocking member and the second blocking member are disposed to be non-arc-shaped, for example, in a step form in some other embodiments.

In some examples, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area. A value range of a width (the first distance) of the first area is 0 mm to 5 mm, and a value range of a length (a length by which the roller brush is covered) is 170 mm to 210 mm. A value range of a width (the second distance) of the second area is 0 mm to 5 mm, and a value range of a length (a length by which the roller brush is covered) is 165 mm to 220 mm. Alternatively, a difference value between the first area and the second area ranges from 0 to 220*5 mm².

In some examples, at least one of the first blocking member and the second blocking member is movable, and the movement stroke of the movable blocking member is greater than or equal to 5 mm.

In some examples, a ratio of the length of the first blocking member to the length of the first roller brush is greater than or equal to 70%. A ratio of the length of the second blocking member to the length of the second roller brush is greater than or equal to 70%.

To reduce flowing of a gas from a non-required place, for example, reduce flowing of an air flow from a channel between the first blocking member and the first roller brush, in some examples, the horizontal distance between the free end of the blocking member and the outer contour of the adjacent roller brush is used to represent a size of an opening between the blocking member and the adjacent roller brush in some embodiments.

For example, a first horizontal distance N1 exists between the free end of the first blocking member and the outer contour of the first roller brush, and the first horizontal distance is less than or equal to 5 mm.

To reduce flowing of an air flow from a channel between the second blocking member and the second roller brush, in some examples, a second horizontal distance N2 exists between the free end of the second blocking member and the second roller brush, and the second horizontal distance is less than or equal to 5 mm.

Further, the first horizontal distance exists between the free end of the first blocking member and the outer contour of the first roller brush, and the first horizontal distance is less than or equal to 4 mm; and the second horizontal distance exists between the free end of the second blocking member and the second roller brush, and the second horizontal distance is less than or equal to 4 mm. Furthermore, the first horizontal distance is less than or equal to 3 mm; and the second horizontal distance exists between the free end of the second blocking member and the second roller brush, and the second horizontal distance is less than or equal to 3 mm.

It is to be noted that, to avoid wear, the free end of the blocking member cannot contact the outer contour of the adjacent roller brush. Therefore, in some examples, the foregoing first horizontal distance and second horizontal distance are greater than 0.

In some examples, the minimum distance between the free end of the blocking member and the outer contour of the adjacent roller brush is used to represent a size of an opening between the blocking member and the adjacent roller brush in some embodiments. The minimum distance is a minimum value obtained by subtracting a distance of the radius of the roller brush from a distance between a point on the free end and the center of the roller brush.

For example, a minimum distance between the free end of the first blocking member and the outer contour of the first roller brush is a fifth distance Y1, and the fifth distance is less than or equal to 8 mm; and a minimum distance between the free end of the second blocking member and an outer contour of the second roller brush is a sixth distance Y2, and the sixth distance is less than or equal to 8 mm.

In some examples, a minimum distance between the free end of the first blocking member and the outer contour of the first roller brush is a fifth distance Y1, and the fifth distance is less than or equal to 4 mm; and a minimum distance between the free end of the second blocking member and an outer contour of the second roller brush is a sixth distance Y2, and the sixth distance is less than or equal to 4 mm.

Further, the minimum distance between the free end of the first blocking member and the outer contour of the first roller brush is less than or equal to 3 mm; and the minimum distance between the free end of the second blocking member and the outer contour of the second roller brush is less than or equal to 3 mm. Furthermore, the minimum distance between the free end of the first blocking member and the outer contour of the first roller brush is less than or equal to 2 mm; and the minimum distance between the free end of the second blocking member and the outer contour of the second roller brush is less than or equal to 2 mm.

It is to be noted that, to avoid wear, the free end of the blocking member cannot contact the outer contour of the adjacent roller brush. Therefore, in some examples, the foregoing minimum distance between the free end of the first blocking member and the outer contour of the first roller brush and the foregoing minimum distance between the free end of the second blocking member and the outer contour of the second roller brush are greater than 0.

The openings in the two sides are made small, to reduce air flows that enter through the openings in the two sides, so that more air flows can flow through the bottom/the beating region of the roller brush. Moreover, interference between the roller brush and the blocking member is avoided, to prevent wear from affecting the service life of parts.

Specifically, for example, a horizontal distance is used to represent a size of an opening. The free end of the first blocking member and the first horizontal distance of the first roller brush are made small, to reduce entry of the first air flow through the opening in the first horizontal distance, so that more air flows flow to the bottom of the first roller brush or the first beating region.

The second horizontal distance between the free end of the second blocking member and the outer contour of the second roller brush is made small, to reduce entry of the second air flow through an opening formed by the second horizontal distance, so that more air flows flow through the bottom of the second roller brush or the second beating region.

In some examples, when the first roller brush and the second roller brush rotate toward each other in opposite directions, the first air flow flows from the outside of the cavity, below the first blocking member, through the bottom of the first roller brush, and toward the space between the first roller brush and the second roller brush, and the second air flow flows from the outside of the cavity, below the second blocking member, through the bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

The double roller brushes perform beating in opposite directions. In one aspect, the beating in two opposite and facing directions can improve agitation of garbage in gaps of a hard ground, in carpet pile, or deep in a carpet, which helps to improve the dust agitation effect. In another aspect, when the double roller brushes rotate, an air flow is stirred, and better stirring is implemented compared with a single roller brush. The reason is that for a single roller brush, an air flow on one side is definitely promoted, and an air flow on the other side fails to effectively used (the air flow fails to flow through the bottom of the roller brush, and instead directly flows through a channel between the roller brush support and a contour of the roller brush and is lost). The double roller brushes rotate toward each other in two opposite directions, which helps to promote flowing of air flows on both sides of the roller brush assembly. For example, after the first air flow cooperates with the first roller brush (the bottom or the beating region) and the second air flow cooperates with the second roller brush (the bottom or the beating region), the first air flow and the second air flow are both promoted to flow through a space between the double roller brushes centrally. In other words, when the first roller brush and the second roller brush rotate toward each other in opposite directions, the first air flow flows from the outside of the cavity, below the first blocking member, through the bottom of the first roller brush, and toward the space between the first roller brush and the second roller brush, and the second air flow flows from the outside of the cavity, below the second blocking member, through the bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

In some examples, the cavity has a dust inlet 14 connected to the dust suction fan.

The first roller brush rotates in a first direction, the second roller brush rotates in a second direction, and the second direction and the first direction are opposite and face each other. For example, the first direction is a counterclockwise direction, and the second direction is a clockwise direction.

A first horizontal distance exists between the free end of the first blocking member and the first roller brush to form a first inlet for an air flow to enter, and the first direction hinders an air flow flowing through the first inlet along a space 14A between an outer contour of the first roller brush and the first blocking member toward the dust inlet of the cavity.

A second horizontal distance exists between the free end of the second blocking member and the second roller brush to form a second opening for an air flow to enter, and the second direction hinders an air flow flowing through the second opening along a space 14B between an outer contour of the second roller brush and the first blocking member toward the dust inlet.

Compared with the single roller brush, the double roller brushes have a better stirring effect on air when rotating in opposite directions. In addition to promoting an air flow to flow through a required place (for example, promoting air flows on two side to respectively flow through the bottoms/beating regions of the first roller brush and the second roller brush and then centrally flow to a space between the double roller brushes), rotational directions of the double roller brushes further hinder an air flow from flowing through a non-required place in some embodiments, for example, hinder air flows flowing on two sides through the channel between the blocking member and the roller brush (for example, an air flow flowing through the first inlet, along a space between the outer contour of the first roller brush and the first blocking member, and toward the dust inlet of the cavity and an air flow flowing through the second opening, along a space between the outer contour of the second roller brush and the first blocking member, and toward the dust inlet of the cavity).

In some examples, the double roller brushes share one roller brush motor for driving, and a power of the roller brush motor ranges from 20 W to 40 W.

In the cleaning robot, the power (for example, 25 W to 35 W) of the roller brush motor of the double roller brushes is greater than a power (10 W to 20 W) of the roller brush motor of the single roller brush, so that a quantity of beats within a unit time is increased, thereby improving the dust agitation effect.

To reduce a possible adverse impact of a suction force of an air flow on a blocking member, for example, a deformation of the blocking member, which affect the sealing performance, therefore, in some examples, a hardness of a material of at least one of the first blocking member and the second blocking member is greater than or equal to 80 HA.

In some examples, a hardness of the material of the first blocking member is greater than or equal to 80 HA. Further, the hardness of the material of the second blocking member is greater than or equal to 80 HA.

The hardnesses of the materials of the first blocking member and the second blocking member are both greater than or equal to 80 HA, so that the blocking members can match a suction force after sealing, and is not prone to deformations.

In consideration of that there are some large-size garbage 01 (for example, large particles, and clumps of hair) with large sizes (for example, sizes greater than the first distance and less than a threshold, for distinguishing from an obstacle) on the environmental surface, to further deal with cleaning of garbage such as large particles and clumps of hair (for example, with sizes ranging from 5 mm to 20 mm), at least one of the first blocking member and the second blocking member is disposed to be movable.

It is to be noted that, in a case that the first blocking member or the second blocking member is movable, the foregoing sealing level and an effect thereof are reached in a case that the first blocking member or the second blocking member is in the near-ground mode. For example, the first blocking member is movable and has an open state and a closed state, and the foregoing sealing level can only be reached in the near-ground mode in which the first blocking member is in the closed state. For example, when the first roller brush and the second roller brush rotate toward each other in opposite directions, the first air flow flows from the outside of the cavity, under the first blocking member, through the bottom of the first roller brush, and toward the space between the first roller brush and the second roller brush, and the second air flow flows from the outside of the cavity, under the second blocking member, through the bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush. Alternatively, when the first roller brush beats the environmental surface to form the first beating region and the second roller brush beats the environmental surface to form the second beating region, the first air flow flows from the outside of the cavity, through the first beating region, and toward the dust inlet of the cavity, and the second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet. In an example, in a scenario in which the cleaning robot is located on a carpet with a thickness value greater than a thickness, the free end of the second blocking member is in contact with the carpet, and when the first blocking member is in the closed state, the free end of the first blocking member is in contact with the carpet (reaching a corresponding sealing level), to enable the first air flow to flow from the outside of the cavity, through the inside of the carpet, and toward the dust inlet of the cavity and the second air flow to flow from the outside of the cavity, through the inside of the carpet, and toward the dust inlet. The ratio of the first air flow to the second air flow is greater than or equal to 0.7 and is less than or equal to 1.3.

It is to be understood that, when the second blocking member is movable, the sealing effect described above can also be reached in a case that the second blocking member is in the near-ground mode. Details are not excessively described herein.

Because the cleaning robot usually travels toward the front (the front end of the body is the front), in some examples, the first blocking member is movable to adjust a distance between the free end of the first blocking member and a rigid ground, providing the first blocking member with a closed state and an open state.

When the first blocking member is in the closed state, the first distance exists between the free end of the first blocking member and the rigid ground. In consideration of factors such as the shape of the blocking member, the first distance is the minimum distance of the foregoing first blocking member in the near-ground mode.

When the first blocking member is in the open state, the second distance exists between the distance between the free end of the first blocking member and the rigid ground. The second distance is greater than the first distance. It is to be noted that, in consideration of factors such as the shape of the blocking member, the second distance is the minimum distance of the first blocking member in a non-near-ground mode (for example, a far-away-from-ground mode).

The first blocking member is disposed to be movable, so that the first blocking member has the open state and the closed state. When the first blocking member is in the closed state, the cleaning robot can perform cleaning with a high cleaning efficiency. When the first blocking member is in the open state, the cleaning robot can suck large particles and clumps of hair (also referred to as hair clumps) in front.

That is, in a case that the cleaning robot recognizes clumps of hair, the blocking member is in the open state. For example, the first blocking member is movable, and in a case that the cleaning robot recognizes clumps of hair, the first blocking member is opened, to clean up clumps of hair.

In some examples, the second blocking member is also movable to adjust a distance between the free end of the second blocking member and a rigid ground, providing the second blocking member with a closed state and an open state.

The second blocking member has the closed state and the open state;

When the second blocking member is in the closed state, the second distance exists between the free end of the second blocking member and the rigid ground. When the second blocking member is in the open state, the distance between the free end of the second blocking member and the rigid ground is greater than the second distance.

Similarly, when the second blocking member is movable and large particles or clumps of hair near the second blocking member need to be cleaned up, the second blocking member is opened.

It is to be noted that, because the second blocking member is disposed at a rear end of the body, usually, the second blocking member is in the closed state, to improve a sealing effect of the cavity.

In some examples, the dust suction assembly includes a housing, and the housing includes a first roller brush support portion at least partially covering the first roller brush.

In some examples, the housing further includes a second roller brush support portion at least partially covering the second roller brush.

In some examples, the housing includes the first roller brush support portion at least partially covering the first roller brush and the second blocking member at least partially covering the second roller brush. The first roller brush support portion extends from a dust suction port, along the outer contour of the first roller brush, and toward an end away from the environmental surface. The second blocking member extends from the dust suction port, along the outer contour of the second roller brush, and toward the end away from the environmental surface. At least one of the first roller brush support portion and the second blocking member has a non-arc shape, and distances between the first roller brush support portion and a roller brush support portion with a non-arc shape design in the second blocking member and the outer contour of the roller brush vary between 1 mm and 4 mm.

It is to be noted that, the dust suction assembly has the housing, and the first blocking member and the second blocking member are parts of the housing in some embodiments, or are parts that are independent of the housing and are additionally disposed in some embodiments.

In some examples, the dust inlet 14 is opened in an upper portion of the housing.

For example, referring to FIG. 100 and FIG. 101, the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The first blocking member 110 is disposed independently of the housing, for example, is disposed on the first roller brush support portion 230A in some embodiments, or is disposed on the body of the cleaning robot in some embodiments. The second blocking member 112 is a part (for example, a part that is located at a lower end of the second roller brush support portion and produces a sealing effect) of the second roller brush support portion 230B. In this case, the first blocking member, the first roller brush support portion, and the second roller brush support portion surround to form the cavity.

In an example, referring to FIG. 102, the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The second blocking member 112 is disposed independently of the housing, for example, is disposed on the second roller brush support portion 230B in some embodiments, or is disposed on the body of the cleaning robot in some embodiments. The first blocking member 110 is a part (for example, a part that is located at a lower end of the first roller brush support portion and produces a sealing effect) of the first roller brush support portion 230A. In this case, the first blocking member, the first roller brush support portion, and the second roller brush support portion surround to form the cavity.

In an example, referring to FIG. 103, the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The first blocking member 110 is a part (for example, a part that is located at a lower end of the first roller brush support portion and produces a sealing effect) of the first roller brush support portion 230A. The second blocking member 112 is a part (for example, a part that is located at a lower end of the second roller brush support portion and produces a sealing effect) of the second roller brush support portion 230B. In this case, the first roller brush support portion and the second roller brush support portion surround to form the cavity.

In an example, referring to FIG. 104, the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The first blocking member 110 is disposed independently of the housing, for example, is disposed on the first roller brush support portion 230A in some embodiments, or is disposed on the body of the cleaning robot in some embodiments. The second blocking member 112 is disposed independently of the housing, for example, is disposed on the second roller brush support portion 230B in some embodiments, or is disposed on the body of the cleaning robot in some embodiments. In this case, the first blocking member, the first roller brush support portion, the second roller brush support portion, and the second blocking member surround to form the cavity.

In some examples, the housing further includes a roller brush cover in some embodiments. As shown in FIG. 66, the roller brush support and the roller brush cover are detachably connected in some embodiments, to facilitate a maintenance of the roller brush assembly.

In some examples, the housing includes an upper housing (also referred to as an upper support) and a lower housing (also referred to as a roller brush cover or a lower support). The upper housing and the lower housing jointly form the roller brush support, that is, the roller brush support includes a roller brush cover, configured to cover the roller brush assembly in some embodiments. Further, the roller brush support includes a first roller brush support portion configured to at least partially cover the first roller brush and a second roller brush support portion configured to at least partially the second roller brush. The first roller brush support portion includes front half parts of the upper housing and the lower housing, and the second roller brush support portion includes rear half parts of the upper housing and the lower housing.

In some examples, the dust inlet 14 in communication with the dust suction fan is formed in the upper housing in some embodiments.

In some examples, the first blocking member is movably disposed on the first roller brush support portion, to block the first roller brush.

The first blocking member is disposed independently of the housing, so that while it is convenient to control the first blocking member to ensure both cleaning of large particles and sealing performance of the cavity, an impact of opening and closing of the first blocking member on the entire structure of the housing is reduced.

It is to be noted that, the first blocking member is disposed on an outer side of the first roller brush support portion in some embodiments, or is disposed on an inner side of the first roller brush support portion in some embodiments (that is, the first blocking member is disposed between the first roller brush and the first roller brush support portion in some embodiments).

To ensure sealing, prevent a mutual interference problem of parts, and fully use an internal space of a device, a clearance between the first roller brush support portion and the outer contour of the first roller brush is usually very small. Therefore, in some examples, the first blocking member is disposed on the outer side of the first roller brush support portion in some embodiments.

The first blocking member (for example, a baffle or a door, or the like) is disposed on the outer side of the first roller brush support portion, so that it is convenient to arrange a traction mechanism for driving the first blocking member to move, no interference is generated with the first roller brush support portion and the first roller brush, and the extension of a lower portion of the first blocking member is facilitated, making it easier for the lower portion to approach the lowest position of the first roller brush, which helps to ensure the sealing effect.

In consideration of that the second blocking member is located at the rear end of the body and is usually located at a fixed position of a closed state, to improve the sealing effect of the entire cavity, it is scarcely necessary to frequently open the second blocking member for large particles. In addition, software and hardware costs of the controller of the entire cleaning robot are reduced, and operations are simplified.

In some examples, the second blocking member (for example, a baffle or a door, or the like) is a part of the second roller brush support portion, to block the second roller brush. The first roller brush support portion and the second roller brush support portion surround to form the cavity configured to accommodate the roller brush assembly.

The second blocking member is disposed as a part of the housing, so that while the sealing performance of the cavity is improved, control logic is simplified, which helps to reduce the costs of the device.

In a case that the second blocking member remains in a closed state, for example, is used as a part of the housing and keeps sealing the rear portion of the cavity, before and after the first blocking member is closed, the difference value between the first air flow and the second air flow decreases.

It is to be understood that, regardless of whether the environmental surface is a rigid ground or a flexible ground, the first blocking member can improve sealing in the closed state, to achieve the foregoing effect brought by the improvement of the sealing performance. In addition, a cleaning efficiency when the cleaning robot is located on a soft ground and the blocking member is in the closed state is higher than a cleaning efficiency when the cleaning robot is located on a hard ground and the blocking member is in the closed state.

Before the first blocking member is closed, the first blocking member has a large ground distance in the open state and has a small resistance. The second blocking member is in the closed state, that is, the second blocking member has a small ground distance in the closed state and has a large resistance. An air flow tends to flow through a place with a small resistance. Therefore, an air flow formed by a negative pressure is more likely to enter the cavity through the first blocking member (the front side of the body) and is kept from entering the cavity through the second blocking member (the rear side of the body). Therefore, the first air flow is large, and centrally enters through the front side of the body, and the second air flow is small, and is nearly 0. In addition, the first air flow that enters through a large opening formed between the first blocking member and the environmental surface cannot effectively reach the first roller brush. Therefore, the first air flow cannot effectively cooperate with the bottom or the beating region of the first roller brush. After the first blocking member is closed, the ground distance of the first blocking member decreases, and the resistance is increased. The first blocking member and the second blocking member have close ground distances and have basically consistent resistances. The air flow generated by the negative pressure (including the first air flow and the second air flow) centrally enters from the front and rear sides of the body in some embodiments, so that the first air flow reaches the bottom or the beating region of the first roller brush through the first blocking member, and the second air flow reaches the bottom or the beating region of the second roller brush through the second blocking member, thereby greatly improving the cleaning efficiency.

In some examples, when the first blocking member is in the closed state, an air flow at a beating region in which the first roller brush beats the environmental surface has a first flow speed; and when the first blocking member is in the open state, the air flow at the beating region has a second flow speed, where the first flow speed is greater than the second flow speed.

That is, in a case that the second blocking member remains in the closed state or the second blocking member has a distance less than or equal to 5 mm from the hard ground or on a carpet, the free end of the second blocking member is in contact with the carpet, before and after the first blocking member is closed, a flow speed of an air flow at a beating region is increased, to better carry away garbage agitated by, thereby improving the cleaning effect.

In some examples, in a case that the cleaning robot is located on a carpet and the free ends of the first blocking member and the second blocking member are in contact, when the first blocking member is in the closed state, an air flow at a first beating region in which the first roller brush beats the environmental surface has a first flow speed; and when the first blocking member is in the open state, the air flow at the first beating region has a second flow speed, where the first flow speed is greater than the second flow speed.

In some examples, in a case that the cleaning robot is located on a carpet and the free end of the second blocking member is in contact with the carpet, a flow rate of an air flow flowing through an inside of the carpet from the first blocking member when the first blocking member is in the closed state is greater than a flow rate of an air flow flowing through an inside of a standard carpet from the first blocking member when the first blocking member is in the open state.

In other words, in a case that the second blocking member remains in the closed state or the second blocking member has a distance less than or equal to 5 mm from the hard ground or on a carpet, the free end of the second blocking member is in contact with the carpet, before and after the first blocking member is closed, a flow rate of an air flow flowing through an inside of the carpet from the bottom of the first blocking member is increased, thereby improving a cleaning effect of a standard test carpet.

The reason lies in that, the distance between the free end of the first blocking member and the carpet when the first blocking member is in the closed state (for example, the distance is 0 when the first blocking member is in contact with the carpet) is less than that when the first blocking member is in the open state (for example, a small clearance exists and allows an air flow to flow through in some embodiments), a resistance at an opening in the closed state is greater than a resistance at an opening in the open state, and the air flow flows through the inside of the carpet more easily.

In some examples, in a case that the cleaning robot is located on a carpet and the free end of the second blocking member is in contact with the carpet, a flow rate of an air flow flowing through an inside of the carpet from the second blocking member when the first blocking member is in the closed state is greater than a flow rate of an air flow flowing through the inside of the carpet from the second blocking member when the first blocking member is in the open state.

That is, in a case that the second blocking member remains in the closed state before and after the first blocking member is closed, a flow rate of an air flow flowing through the inside of the carpet from the bottom of the second blocking member is also increased, thereby improving a cleaning effect of the carpet.

In a case that the second blocking member remains in the closed state or the second blocking member has a distance less than or equal to 5 mm from the hard ground or on a carpet, the free end of the second blocking member is in contact with the carpet, before and after the first blocking member is closed, sealing performance at a same position of the cavity is improved.

A position of the cavity includes, but is not limited to, the dust inlet of the cavity, and the space between the first roller brush and the second roller brush.

Therefore, in some examples, when the first blocking member is in the closed state, a dust inlet of the cavity has a first degree of vacuum, and when the first blocking member is in the open state, the dust inlet of the cavity has a second degree of vacuum, where the first degree of vacuum is greater than the second degree of vacuum.

To implement that the blocking member is movable, in some examples, the dust suction assembly includes a traction unit, and the traction unit is disposed on the housing, to drive the first blocking member to switch between the open state and the closed state.

For details of the structure of the traction unit 120, refer to the following description about the traction unit. Details are not excessively described herein.

To implement resetting of the blocking member, in some examples, the dust suction assembly includes a reset unit in some embodiments.

It is to be understood that, in some examples, through the control of the traction unit, the function of resetting is also implemented the blocking member without additionally arranging the reset unit in some embodiments.

To adapt to obstacle surmounting, cleaning, sealing, and other requirements on an uneven environmental surface, in some examples, the dust suction assembly includes a housing, the housing includes a roller brush support configured to at least partially cover and support the roller brush assembly, and the roller brush support is configured to be vertically floatable relative to a horizontal plane or the body of the cleaning robot.

The roller brush assembly is disposed on the roller brush support, and the roller brush assembly floats as the roller brush support floats.

To better ensure the sealing effect, in some examples, the blocking member is also disposed to be floatable in some embodiments, to enable the blocking member to remain a relatively stable state with a corresponding roller brush.

For example, the first blocking member is configured to be floatable in a vertical direction.

The first blocking member floats vertically relative to the horizontal plane or the body of the cleaning robot in some other embodiments, to enable the first blocking member to remain a relatively stable state with the first roller brush, to ensure the sealing effect of the cavity.

In an example, the second blocking member is configured to be floatable in a vertical direction.

The second blocking member floats vertically relative to the horizontal plane or the body of the cleaning robot in some other embodiments, to enable the second blocking member to remain a relatively stable state with the second roller brush, to ensure the sealing effect of the cavity.

The second blocking member is usually used as a part of the roller brush support. Therefore, the roller brush support and the roller brush assembly are synchronously floatable. Therefore, the second blocking member and the second roller brush can always remain in a relatively stable state.

The first blocking member is usually disposed independently. Therefore, in some examples, the first blocking member is configured to synchronously float with the roller brush support, to keep a relatively stable state of the first blocking member and the first roller brush.

To achieve synchronous floating and at the same time ensure simplicity and easy feasibility without increasing costs, in some examples, the first blocking member is disposed on the roller brush support, to enable the first blocking member to float as the roller brush support floats like the roller brush assembly, thereby keeping a relatively stable state between the first blocking member and the first roller brush.

In consideration of that various parts such as a part (for example, a motor) for driving and a part (for example, a transmission mechanism) for transmission are disposed on the dust suction assembly, in some examples, the dust suction assembly includes a blocking member drive assembly configured to drive the first blocking member and a roller brush drive assembly configured to drive the roller brush assembly to rotate, and the blocking member drive assembly and the roller brush drive assembly are both disposed on the roller brush support, to enable both the blocking member drive assembly and the roller brush drive assembly to float as the roller brush support floats.

The blocking member drive assembly includes a blocking member drive motor and a first transmission part connected to the drive motor.

The roller brush drive assembly includes a roller brush drive motor and a second transmission part connected to the roller brush drive motor.

The foregoing first transmission part and second transmission part both use, for example, a gear rack transmission structure, a cam transmission structure or another mechanical transmission structure in some embodiments. This is not limited in the present disclosure.

Certainly, in consideration of whether a blocking member is switched in position, in some examples, an in-position detection apparatus is further disposed on the dust suction assembly in some embodiments, to implement in-position detection of the blocking member. For details, refer to the following description. Details are not excessively described herein.

It is to be noted that, the in-position detection apparatus is also disposed on the roller brush support in some embodiments, to enable the in-position detection apparatus to floats as the roller brush support floats.

For sealing and adaptation to various different scenarios, for example, obstacle surmounting, and cleaning on different environmental surfaces, in some examples, all parts of the dust suction assembly float together synchronously in some embodiments, and the structure is simple.

To facilitate a detachable maintenance of a roller brush, in some examples, the housing includes a roller brush cover.

In consideration of how to arrange a blocking member, especially a movable first blocking member, in some examples, the roller brush cover has a connecting portion connected to the roller brush support (which is to be understood as an upper support in a narrow sense herein). Two connecting portions are provided. In a direction parallel to a rotating axis, two connecting portions are arranged respectively disposed on two sides of the first blocking member.

The connecting portions of the roller brush cover and the roller brush support are disposed on the two sides of the first blocking member, to avoid an impact on the movement or floating of the first blocking member. Moreover, the first blocking member also does not affect the maintenance of the roller brush assembly.

It is to be noted that the movement is active, and is, for example, implemented through active control by a controller or through a manual operation on the traction unit; and the floating is passive, and only requires a space for floating.

To guide a movable blocking member and at the same time keep the blocking member from getting stuck by dust during movement, using the first blocking member being movable as an example, in some examples, a rib is disposed between the first blocking member and the first roller brush support portion, and the rib is configured to guide a blocking member to move along the first roller brush support portion. In some examples, a plurality of ribs are provided in some embodiments, and a space configured to accommodate dust is formed between adjacent ribs in some embodiments.

To prevent an air flow from flowing away through a clearance between the roller brush support portion and the blocking member, improve a sealing effect, and achieve a better cleaning efficiency, using the first blocking member being movable as an example, in some examples, in a length direction between the roller brush assembly, a sealing strip is disposed between the first blocking member and the first roller brush support portion. For the details of the above, refer to the following description about a dust accommodating space.

In consideration of a scenario in which a roller brush is lifted, a lifting drive structure needs to be disposed. To reduce costs, in some examples, the blocking member drive motor and a roller brush lifting mechanism share one motor. The first blocking member is used as an example. In some examples, the cleaning robot includes a lifting mechanism configured to drive the dust suction assembly to lift, the lifting mechanism includes a drive motor 1291, and the drive motor is further configured to drive the dust suction assembly to rise and fall in a vertical direction. For details, refer to the following.

To make the structure of the dust suction assembly more compact, in some examples, the first blocking member is rotatable to adjust a height of the free end of the first blocking member relative to the environmental surface, and a rotating axis of the first blocking member does not overlap with a rotating axis of at least one of the first roller brush and the second roller brush.

To avoid damage of a gear set in a collision scenario: In some examples, a fit between a motor output shaft and a gear is designed to be a loose fit (with a tolerance). For example, the dust suction assembly includes a drive system configured to drive the first blocking member to move and a transmission system configured to transfer a driving force of the drive system to the first blocking member; and the drive system includes a drive motor, the transmission system includes a gear set, and a clearance exists between an output shaft of the drive motor and the gear set. For details, refer to the following description about the loose fit.

To reduce a force on a blocking member in a collision scenario, in some examples, an anti-collision portion is disposed on a support for anti-collision in some embodiments. For example, to reduce a force on the first blocking member, in some examples, the dust suction assembly has an anti-collision portion, in a direction of the front end of the body, the anti-collision portion has at least a part located at a front portion of the first blocking member, and the part located at the front portion of the first blocking member has no connection relationship with the first blocking member, to contact an obstacle when the cleaning robot collides with the obstacle. Further, the dust suction assembly includes a housing, the housing has a first roller brush support portion at least partially covering the first roller brush, and the anti-collision portion includes a protrusion disposed on an outer side wall of the first roller brush support portion and protruding from the first blocking member.

To implement the intelligentization of the cleaning robot and implement intelligent sealing, real-time detection and intelligent control of the movable first blocking member is used as an example. In some examples, the cleaning robot includes a ground type detection apparatus, configured to detect a ground type.

The controller is configured to: when the detection apparatus detects that the ground type is a rigid ground, control the first blocking member to be opened; and when the detection apparatus detects that the ground type is a soft ground, control the first blocking member to be closed.

Further, the cleaning robot includes an environment detection apparatus, configured to detect a foreign object type.

When the cleaning robot performs cleaning work on the soft ground, the controller is at least configured to: when the environment detection apparatus recognizes that the foreign object type is garbage with a size meeting a preset condition, control the first blocking member to switch from the closed state to the open state.

To reduce hardware costs of real-time detection, using reduction of real-time detection and sealing of the movable first blocking member is used as an example, in some examples, the cleaning robot has a deep cleaning mode and a common cleaning mode, the cleaning robot has a first cleaning parameter in the deep cleaning mode, the cleaning robot has a second cleaning parameter in the common cleaning mode, the first cleaning parameter is different from the second cleaning parameter, and each cleaning parameter includes at least one of the following parameters: a state of the first blocking member, a movement speed, and a fan power.

In a case that the cleaning robot performs a cleaning operation on the soft ground, the controller controls the cleaning robot to switch between the two cleaning modes to alternately perform the cleaning operation.

Further, in the deep cleaning mode, the first blocking member is in the closed state; and in the common cleaning mode, the first blocking member is in the open state.

Further, the controller is configured to control the cleaning robot to perform the deep cleaning mode and the common cleaning mode alternately according to calendar days, and cleaning modes of the cleaning robot are different on two adjacent calendar days; or

the controller is configured to control the cleaning robot to perform the deep cleaning mode and the common cleaning mode alternately according to a quantity of times, traversal of the environmental surface completed by the cleaning robot is referred to as one time, and in adjacent two times, cleaning modes of the cleaning robot are different.

In a case that the cleaning robot performs the cleaning operation on the soft ground, the controller controls the cleaning robot to first clean the soft ground in the deep cleaning mode and then perform at least one round of along-the-edge cleaning on the soft ground, and during the first round of along-the-edge cleaning, the cleaning robot is in the common cleaning mode.

The deep cleaning mode and the following high-efficiency cleaning mode are both modes that can improve the cleaning efficiency of the cleaning robot, and are generally referred to as a first cleaning mode in some embodiments. The common cleaning mode and the following ordinary cleaning mode are both modes in which the cleaning robot keeps a relatively average cleaning efficiency, and are generally referred to as a second cleaning mode in some embodiments.

To implement obstacle surmounting assistance of a blocking member, especially the first blocking member located at the front end, in some examples, a guide surface is defined on an outer side wall of the first blocking member, and the guide surface is obliquely disposed facing the first roller brush and is disposed at an acute angle with respect to a horizontal plane; and the first blocking member is in the closed state, and the guide surface is at least partially closer to the environmental surface relative to a roller brush support.

It is to be understood that, when the first blocking member is movably disposed on the first roller brush support portion, to lift the roller brush assembly during the example of obstacle surmounting assistance of the first blocking member, a distance between a position of the free end of the first blocking member in the closed state and a cleaning surface is less than a distance between the lowest position of the first roller brush support portion and the cleaning surface.

Further, in a scenario of intelligent sealing, the cleaning robot includes an environment detection apparatus for detecting an obstacle in an environment; and in a case that the environment detection apparatus recognizes an obstacle with a size meeting a preset condition, the controller controls the first blocking member to be closed.

In some examples, the cleaning robot includes a fan, and a power of the fan is greater than or equal to 60 W.

Because the sealing effect is improved, a good cleaning efficiency can be achieved by using a fan with a power ranging from, for example, 60 W to 80 W in combination, and it is not necessary to use a high-power fan with a fan power at least greater than or equal to 100 W without improving the sealing performance to improve the cleaning effect, so that costs are reduced, a power supply capability requirement of a power supply apparatus is reduced, and machine miniaturization is facilitated.

It is to be noted that, all the foregoing technologies are applied to, for example, a handheld vacuum cleaner, especially a direct current (DC) handheld vacuum cleaner or another cleaning device in some embodiments. This is not described in excessive detail in the present disclosure.

The present disclosure further provides a cleaning system, including the foregoing cleaning robot and a base station for parking by the cleaning robot, where the base station is further configured to maintain the cleaning robot.

To reduce frequent opening and closing of a blocking member in a maintenance process and improve the service life of the blocking member, in some examples, the base station includes an air intake channel, in communication with an outside and at least one clearance at a bottom of the cavity.

In consideration of that a filtering apparatus 114, for example, hepa, is usually disposed in the dust box, to implement the maintenance of the filtering apparatus, in some examples, a filtering apparatus is disposed in the dust collection box, and when the base station performs a dust collection maintenance on the filtering apparatus, the first blocking member and the second blocking member are in a closed state at least part time.

It is found through researches that, an existing structure for cooperating the roller brush assembly and the housing is restrictive, and in a cleaning process of the cleaning robot, the dust suction port cannot adjust, according to conditions of different cleaning surfaces, a suction efficiency of foreign objects by an air flow generated by a negative pressure. Specifically, in the cleaning process of the cleaning robot, a contact state between the dust suction port and the cleaning surface and a contact state between the roller brush and the cleaning surface restrict a flowing path of an air flow and a capability of carrying a foreign object by the air flow during cleaning by the cleaning robot. FIG. 2 is a schematic state diagram of the dust suction port in the housing, the roller brush, and the cleaning surface in processes of respectively cleaning two cleaning surfaces including a carpet and a floor by the cleaning robot, and flowing paths of air flows are labeled. It can be intuitively obtained from FIG. 2 that on a side of the robot in a traveling direction, an interval between the dust suction port and the cleaning surface is large, and the air flow generated by the negative pressure mostly flow into an air duct from a side of the dust suction port facing the traveling direction of the robot and adjacent lateral sides. In the structural arrangement such a dust suction port, because the front side of the robot in the traveling direction has poor sealing performance, a pressure difference of the negative pressure at the dust suction port is reduced, resulting in a poor dust suction capability of the dust suction system; especially, when the cleaning robot performs cleaning on a carpet or another soft ground, the cleaning efficiency is slightly low. As a solution, a suction power of the dust suction port can be improved by increasing a working power of a fan of the cleaning robot. However, an increase in a fan power usually leads to a larger size, louder noise, and higher consumption of electric energy and accordingly leads to an increase in overall costs of an electronic circuit system. When the fan power changes greatly, structural changes are required in combination to meet space, heat dissipation, and other requirements of the electronic circuit system in some embodiments, leading to a significant increase in costs. For this, it is necessary to provide a new solution to improve cleaning performance of the cleaning robot on a carpet.

The inventor of the present disclosure points out through extensive research that a cleaning efficiency (CE) of the cleaning robot on the to-be-cleaned surface is closely related to a dust agitation capability and a dust suction capability of the dust suction system (the dust suction assembly). Specifically, the dust agitation capability is reflected by a quantity of beats of a brush body on a cleaning surface in some embodiments. The dust suction capability is reflected by a gathering capability and a suction capability of garbage on a cleaning surface by a dust suction port in some embodiments. Based on this, embodiments of the present disclosure provide a technical solution of improving the dust agitation capability and the dust suction capability. Details are described as follows:

A feasible example that can increase a quantity of beats on a cleaning surface by a brush body of a roller brush assembly provided in the present disclosure is as follows: Any following manner or any combination of the following manners can improve a dust agitation capability of a dust suction system to some extent. Details are as follows:

1. Increase a quantity of brush bodies of the roller brush assembly, which specifically include, in some embodiments: increasing a quantity of roller brushes, and/or increasing a quantity of brush bodies (for example, strips, or bristles) on a single roller brush.

2. Increase a rotational speed of the roller brush.

3. Increase a beating strength on a ground by the roller brush, which specifically includes, in some embodiments: increasing an interference between the brush body and the cleaning surface.

4. Change a dust agitation angle or direction, which specifically includes, in some embodiments: adjusting an angle or a direction of bristles, adjusting a mounting angle and a rotational direction of a roller brush on a body, and the like. In a configuration with more than one roller brush, a combination manner of the roller brushes is further adjusted to further optimize the dust agitation capability in some embodiments. The adjustment of the combination manner specifically includes, in some embodiments: cooperation of rotational speeds, cooperation of rotational directions, cooperation of mounting angles, cooperation of materials of brush bodies, cooperation of a beating order of the brush bodies, and/or the like.

A feasible example that increases a gathering capability of garbage on a cleaning surface by a dust suction system (also referred to as a dust suction assembly) further provided in the present disclosure is as follows: Any following manner or any combination of the following adjustment manners can improve a dust suction capability of the dust suction system to some extent.

1. Increase a pass rate of garbage during gathering toward a dust suction port.

2. Increase a coverage area of the dust suction port.

A feasible example that increases a suction capability of garbage on a cleaning surface by a dust suction system further provided in the present disclosure is: any following manner or any combination of the following manners can improve a dust suction capability to some extent.

1. Improve a structure of a dust suction port, and guide a flowing path of an air flow formed by a negative pressure at the dust suction port.

2. Improve a negative pressure in a coverage region of the dust suction port, and adjust a capability of carrying a foreign object by an air flow at the dust suction port.

For ease of understanding, a cleaning robot with movable sealing provided in the present disclosure is described below by using an example in which the first blocking member (a blocking member is used for description below) is movably disposed on the first roller brush support portion, to block the first roller brush, the second blocking member is a part of the second roller brush support portion, to block the second roller brush, and the first blocking member, the first roller brush support portion, and the second roller brush support portion surround to form the cavity configured to accommodate the roller brush assembly and with reference to the accompanying drawings. As shown in FIG. 3 and FIG. 9, the dust suction system (corresponding to the dust suction assembly) of the cleaning robot 100 is disposed on the body 10. The dust suction system of the cleaning robot includes a roller brush mechanism, a sealed adjustment mechanism 11 (a movable sealing structure including the first blocking member and the traction unit), a fan (corresponding to the dust suction fan), and an air duct 240. The roller brush mechanism includes a housing 210 and a roller brush assembly 220. The roller brush assembly 220 is disposed in the housing 210. A dust suction port 12 that allows the roller brush assembly 220 to contact a ground is opened in the housing. One end of the air duct 240 is located at an upper portion of the dust suction port, and is connected to the housing 210. The fan is disposed at the other end of the air duct 240. Garbage at the dust suction port is transferred to a dust collection box through the air duct 240 under the action of a suction force generated by the fan.

In the embodiments of the present disclosure, as shown in FIG. 20 and FIG. 21, the dust suction port is configured to expose the roller brush assembly 220, and the roller brush assembly 220 contacts a ground through the dust suction port 12 in some embodiments. The dust suction port 12 in this example is disposed to be rectangular. In an example, the structure of the dust suction port is not limited to a rectangle, and has another shape in some embodiments. In a cleaning process of the cleaning robot, the dust suction port is in contact with a ground. When the roller brush assembly rotates to beat a cleaning surface to make a foreign object separated from the cleaning surface, the fan rotates to generate a negative pressure between an inside and an outside of the dust suction port, and an external air flow flows into the dust suction port through rectangular edges of the dust suction port under the action of the negative pressure to suck the foreign object in some embodiments, to implement cleaning of the ground.

In the embodiments of the present disclosure, the cleaning robot 100 includes at least a dust suction system, configured to clean a to-be-cleaned surface. In addition, an assembly that performs floor mopping, floor washing, or another function is configured on the cleaning robot 100 in some other embodiments.

In some examples, as shown in FIG. 4 and FIG. 5, a dust suction system 1 of the cleaning robot 100 includes a roller brush mechanism and a sealed adjustment mechanism 11. The roller brush mechanism includes a housing 210 and a roller brush assembly 220. The roller brush assembly 220 is disposed in the housing 210. A dust suction port that allows the roller brush assembly 220 to contact a to-be-cleaned surface is opened in the housing 210. When the roller brush assembly rotates to beat the cleaning surface to make a foreign object separated from the cleaning surface, the foreign object is sucked into the dust collection box through the dust suction port under the action of the negative pressure. The sealed adjustment mechanism 11 is disposed on the housing. In a cleaning process of the cleaning robot, the sealed adjustment mechanism 11 adjusts or stabilizes at least part time the negative pressure generated at the dust suction port.

In some examples, that the sealed adjustment mechanism 11 adjusts or stabilizes at least part time the negative pressure generated at the dust suction port includes at least stabilizing and adjusting a flowing path of an air flow formed at the dust suction port, and adjusting and stabilizing a capability of carrying a foreign object by the air flow at the dust suction port.

In some examples, referring to FIG. 5, the sealed adjustment mechanism 11 includes a blocking member 110 (corresponding to the first blocking member, here numbering and description are provided with respect to the first blocking member as an example the first blocking member as an example, and similarly the same logic applies to the second blocking member). Relative positions of the blocking member 110, and the housing are fixed. In a process in which the cleaning robot 100 performs a cleaning task, the sealed adjustment mechanism 11 forms a closed surface of an air flow passage on a front side of the cleaning robot in a traveling direction. The closed surface is located at a front portion of the housing on a side of the cleaning robot 100 in the traveling direction, to adjust the air flow passage at the dust suction port. Specifically, FIG. 6 is a schematic state diagram of the blocking member 110 cooperating with the housing in the traveling direction of the robot or another cleaning device, and is used for assisting in describing a process of adjusting or stabilizing the negative pressure generated at the dust suction port by a sealed blocking mechanism. As shown in FIG. 6, the sealed adjustment mechanism 11 forms the closed surface of the air flow passage on the front side of the cleaning robot in the traveling direction. Specifically, an end of the blocking member facing a ground floats on a carpet or keeps a very small clearance, to block an air flow to some extent, so that more air flows flow between the roller brush and the cleaning surface, thereby enhancing a capability of sucking a foreign object on the carpet. In another aspect, the blocking member forms the closed surface of the air flow passage on the front side of the cleaning robot in the traveling direction, and keeps a small clearance from a surface of a carpet, to increase sealing performance between an inside and an outside of the dust suction port, which helps to increase and maintain a pressure difference between an inside and an outside of the dust suction port, so that the capability of sucking a foreign object of the dust suction system can be further improved.

In some examples, on a side of the robot in the traveling direction, tooth-shaped bosses 2301 are disposed at intervals on the housing 210 in some embodiments, and air flow channels are formed between the tooth-shaped bosses 2301. The blocking member 110 is disposed in front of the tooth-shaped bosses 2301, and can close notches between the tooth-shaped bosses 2301 in a traveling process of the cleaning robot 100, to form the closed surface. When the cleaning robot 100 cleans a carpet or another soft ground, closing of the blocking member 110 obstructs an air flow passage in the dust suction port in a traveling direction of the cleaning robot 100, to enable an air flow to flow through a contact surface between the roller brush and the carpet centrally, so that a capability of sucking garbage on a cleaning surface by the dust suction port can be improved. In some examples, the tooth-shaped bosses 2301 are omitted in some embodiments, and a manner equivalent to the foregoing blocking member 110 is still used in some embodiments to improve the negative pressure in the coverage region of the dust suction port, thereby improving the capability of sucking garbage on a cleaning surface by the dust suction port.

In some examples, the housing 210 is disposed as a detachable part, and the dust suction port is provided at the detachable part. In some embodiments, as shown in FIG. 9, the housing 210 includes a clamped roller brush support 230, and the roller brush support 230 is a detachable part of the housing 210, to facilitate assembly and disassembly of a roller brush by a user.

In an embodiment, tooth-shaped bosses are disposed on the roller brush support 230.

For example, the blocking member 110 is made of plastic, rubber, silicone, or another material in some embodiments. A shape of the blocking member 110 is a plate shape, a strip shape, a belt shape, or the like in some embodiments. Further, the blocking member 110 is disposed on the roller brush support, and is filled on the notches in a tooth-to-tooth form in some embodiments, as shown in FIG. 5. The blocking member 110 and the tooth-shaped boss on the roller brush support jointly form the closed surface in the traveling direction of the cleaning robot 100. Alternatively, the blocking member 110 directly blocks an outer side or an inner side of the roller brush support facing the traveling direction of the cleaning robot 100, and blocks the notches between the tooth-shaped bosses 2301 through a continuous face, thereby implementing closing, as shown in FIG. 7. In this embodiment, the tooth-shaped bosses 2301 are flat teeth shown in FIG. 8 in some embodiments, or are, for example, sharp teeth shown in FIG. 8 in some embodiments. The sharp teeth guide foreign objects that enter the notches in some embodiments, to increase a pass rate of the foreign objects. Further, the roller brush support and the blocking member 110 are combined in a bonding manner, a clamping manner, or another manner in some embodiments. In some embodiments, the blocking member 110 and the roller brush support are integrally formed. A material, a shape, and a mounting manner of the blocking member, positioning and limiting between the blocking member and the roller brush, and the like are not specifically limited in the embodiments of the present disclosure. A person skilled in the art may make adaptive adjustments according to a specific structural form of a product.

The blocking member 110 further forms the closed surface in front of or behind the tooth-shaped bosses in some embodiments. Alternatively, intervals between tooth-shaped bosses are filled through notch matching to form the closed surface.

In some examples, the hardness of the blocking member 110 can be improved, so that the blocking member remains in a more stable form in a dust suction process. For example, a material with a hardness greater than 80 HA is selected to manufacture the blocking member 110 in some embodiments, or hard plastic is used in some embodiments.

It is to be noted that, in the operation of improving the capability of sucking garbage on a cleaning surface through the closing of the blocking member 110, a balance needs to be reached between a hardness parameter of the blocking member 110 and stability of a form of the blocking member. When the hardness is larger, the blocking member 110 can withstand a larger negative pressure, to keep the stability of the form of the blocking member. When the hardness is lower, the self-adjustment capability of the blocking member 110 is enhanced, and in some scenarios the blocking member can deform to allow garbage to gather near the dust suction port through the notches between the tooth-shaped protrusions. This also helps to improve a garbage suction capability.

To improve a cleaning efficiency of a carpet or another soft ground by the cleaning robot 100, the inventor of the present disclosure points out that the blocking member 110 can keep a basic closing effect during cleaning on a carpet. This includes at least that a basically stable form of the closed surface can be kept under the action of the negative pressure at the dust suction port. Accordingly, the present disclosure further provides an example.

In some examples, a guide or support structure is at least disposed between the tooth-shaped bosses 2301 and the blocking member 110. The blocking member 110 keeps the basically stable form of the closed surface through a deformation property of the blocking member under the action of the negative pressure or through limiting of at least one of the guide structure and the support structure.

It should be understood that, to keep the basically stable form of the closed surface, a requirement of the hardness of the blocking member 110 can be lowered by adding a limiting structure, or even flexible plastic is used in some embodiments.

In some examples, the blocking member 110 keeps the basically stable form of the closed surface through a property of a material of the blocking member. In some embodiments, the hardness of the blocking member ranges from 70 HA to 80 HA.

Further, as an example, after the blocking member 110 is assembled, a ground distance of an end of the blocking member facing the cleaning surface is less than or equal to 2 mm. It is found in experiments that during cleaning of a carpet, within the distance range, an edge of the blocking member 110 contacts a surface of the carpet to form a basically stable joining face in some embodiments, so that the closeness between the dust suction port and the carpet can be improved in a cleaning process, and a stable and larger pressure difference is generated between the inside and the outside of the dust suction port, to obtain better carpet dust suction performance. It should also be noted that, the resistance of the ground is increased when the clearance between the dust suction port and the ground is excessively small, affecting the performance of a walking system, which further affects the cleaning performance of the cleaning robot.

The ground distance of the end of the blocking member 110 facing the cleaning surface is affected by different factors, for example, a material of a soft ground, a hardness of the soft ground, a pile length of a carpet, and the like. In some examples, an adjustment is made within a larger range in some embodiments. For example, it is set that the ground distance of the end of the blocking member 110 facing the cleaning surface between ranges from 0 mm to 5 mm.

It is described in the foregoing embodiments that the blocking member 110 of the sealed adjustment mechanism 11 forms the closed surface in a direction of the cleaning robot 100, so that a negative pressure between the inside and the outside during dust suction of the dust suction port can be improved, a flowing path of an air flow generated by the negative pressure at the dust suction port can be adjusted, and a basically stable negative pressure at the dust suction port can be kept, which further helps to improve the garbage suction capability during cleaning of a carpet or another soft ground.

It is to be understood that, in the foregoing embodiments, the sealed adjustment mechanism 11 at least acts on the dust suction port in a process of cleaning a carpet or another soft ground in some embodiments. The solution is used as one of the manners of improving the cleaning efficiency of the cleaning robot 100 in some embodiments, and the solution and other factors related to the dust agitation capability and the dust suction capability described above are combined and optimized and then applied to the cleaning robot 100, to improve the garbage suction capability of the cleaning robot 100 during cleaning of a carpet or another soft ground, so that the cleaning robot 100 can adapt to cleaning requirements of different scenarios.

In an embodiment, the roller brush mechanism is disposed at a front portion of the body 10. As shown in FIG. 20 and FIG. 21, the cleaning robot 100 can conveniently clean a cleaning surface and side and corner positions of the cleaning surface, so that a cleaning effect of the cleaning robot can be improved. Moreover, the roller brush mechanism is disposed at a front end of the body, so that the cleaning robot 100 can first clean a region in front in a walking direction of the cleaning robot, a possibility that a walking system 2 causes secondary pollution to the cleaning surface can be reduced, and a better cleaning effect can be further obtained.

In an embodiment, the roller brush mechanism is disposed at the front portion of the body, and the body is built in a D shape, as shown in FIG. 20 and FIG. 21. It should be understood that, when the roller brush mechanism is located at the front portion of the D-shaped body, it represents that the roller brush mechanism is located at the front portion of the body in the traveling direction of the cleaning robot 100, and the roller brush mechanism can be built to cover a maximum length of the D-shape body in the traveling direction.

In an embodiment, the roller brush mechanism is disposed at the front portion of the body, and the body is built in a D shape. The blocking member 110 of the sealed adjustment mechanism 11 forms the closed surface in the direction of the cleaning robot 100. The sealed adjustment mechanism 11 and the roller brush mechanism at least act on the dust suction port in a process of cleaning a carpet or another soft ground in some embodiments.

In this embodiment, the dust agitation capability of the dust suction system 1 can be further improved by improving a beating capability of the roller brush assembly 220 on the cleaning surface. For example, the roller brush assembly 220 is switched from a single roller brush to double roller brushes (as shown in FIG. 20 and FIG. 21), a material, a beating direction, and a mounting position of the brush body of the roller brush are added, and the like. For a specific arrangement, refer to any feasible example of the foregoing dust agitation capability. Details are not described again in this embodiment.

Based on the foregoing embodiment, in the embodiments of the present disclosure, the sealed adjustment mechanism 11 is configured to switch or move between two preset positions on the housing.

In some examples, the sealed adjustment mechanism 11 includes a blocking member, a traction unit, and a reset unit. The traction unit is disposed on the housing. The traction unit is configured to drive the blocking member to switch or move between a first position and a second position of the housing.

Particularly, in some examples, a size of an opening of the blocking member relative to a ground can be adjusted by adjusting the blocking member to move between the first position and the second position. When the opening of the blocking member relative to the ground in the housing is larger, a pass rate of foreign objects at the dust suction port is higher. When the opening of the blocking member relative to the ground in the housing is smaller, the pass rate of foreign objects at the dust suction port is lower. However, the pressure difference of the negative pressure formed at the dust suction port can be effectively improved, which helps to improve and stabilize the capability of carrying a foreign object by the air flow at the dust suction port. The adjustment of the size of the opening of the blocking member relative to the ground is further specifically controlled according to a garbage type and a garbage amount in some embodiments. For example, according to a ground type, it is set that a corresponding size of the opening during cleaning of a carpet is less than a corresponding size of the opening during cleaning of a hard ground. According to a garbage size, it is set that a size of the opening during suction of large-size or heaped garbage is greater than a corresponding size of the opening during suction of small-size garbage. Further, an adjustment is made according to a person's instruction (for example, remote control with an APP). For fixed-point cleaning or suction of a large amount of garbage, corresponding instruction control is set to adjust the size of the opening in some embodiments.

In some examples, a ground spacing H2 of an end of the blocking member facing a ground when the blocking member is located at the first position of the housing is greater than a ground spacing H1 of the end of the blocking member facing the ground when the blocking member is located at the second position of the housing.

In some examples, as shown in FIG. 12, when the blocking member is located at the second position, a distance L between an end portion of the blocking member and a tangent of the closest roller brush with the cleaning surface is less than or equal to a half of a radius R of an outer contour of the roller brush. Particularly, a value of the distance L affects a bending level of a closed surface formed when the blocking member is located at the second position, and can further affect whether a foreign object agitated by the roller brush can be sucked away through a path as short as possible. When the distance L is smaller, an air flow path is shorter, and an air flow passing through the roller brush and the cleaning surface can suck a foreign object into the air duct sooner, thereby improving the capability of sucking a foreign object. In another aspect, when the distance L is smaller, the bending level of the closed surface is larger, so that hindrance on the air flow can be reduced.

In some examples, the blocking member is made of one of plastic, rubber or non-woven fabric.

In some examples, the reset unit is one of a torsion spring or a compression spring.

In some examples, the traction unit includes a linkage drive structure or a hinge drive structure.

In some examples, the sealed adjustment mechanism 11 of the dust suction system 1 is further configured to can make the blocking member 110 of the sealed adjustment mechanism switch between the first position and the second position. When the blocking member 110 is located at the first position, the blocking member 110 avoids the air flow passage of the dust suction port in the traveling direction of the cleaning robot 100. When the blocking member 110 is located at the second position, the blocking member 110 acts at least part time to adjust a flowing path of an air flow in the traveling direction of the cleaning robot 100 or the pressure difference between the inside and the outside of the dust suction port, thereby improving the capability of sucking a foreign object by the dust suction port.

In some embodiments, the blocking member switches freely in two directions at any position between the first position and the second position in some embodiments.

In some examples, the sealed adjustment mechanism 11 is disposed on the body 10.

In some examples, the roller brush mechanism is configured to be floatable on the body 10, and specifically, can vertically move in a preset space of the body to move away or toward a ground in a cleaning process of the cleaning robot.

Further, the sealed adjustment mechanism 11 is disposed on the housing in some embodiments, or is disposed on the body in some embodiments. When the roller brush mechanism is configured to be floatable on the body 10, in some embodiments, the sealed adjustment mechanism 11 is disposed on the housing 210, to enable the sealed adjustment mechanism to move along with the roller brush mechanism, to keep a relatively stable state between the sealed adjustment mechanism and the roller brush mechanism.

As discussed above, FIG. 6 is a schematic state diagram of the blocking member 110 cooperating with the housing 210 in the traveling direction of the robot, and is used for assisting in describing a process of adjusting or stabilizing the negative pressure generated at the dust suction port by the sealed adjustment mechanism. When the blocking member is located at the second position, the sealed adjustment mechanism 11 forms the closed surface of the air flow passage on the front side of the cleaning robot in the traveling direction. Specifically, an end of the blocking member facing a ground floats on a carpet or keeps a very small clearance, to block an air flow to some extent, so that more air flows flow between the roller brush and the cleaning surface, thereby enhancing a capability of sucking a foreign object on the carpet. In another aspect, the blocking member forms the closed surface of the air flow passage on the front side of the cleaning robot in the traveling direction, and keeps a small clearance from a surface of a carpet, to increase sealing performance between an inside and an outside of the dust suction port, which helps to increase and maintain a pressure difference between an inside and an outside of the dust suction port, so that the capability of sucking a foreign object of the dust suction system can be further improved. When the blocking member is located at the first position, on a side of the robot in a traveling direction, the air flow generated by the negative pressure mostly flow into an air duct from a side of the dust suction port facing the traveling direction of the robot and adjacent lateral sides, and an interval between the dust suction port and the cleaning surface is large, and helps large-particle foreign objects to enter the dust suction port, which is therefore beneficial to a pass rate of large-particle foreign objects on a hard ground.

It is to be noted that, when the cleaning robot 100 cleans a soft ground, it is set in some embodiments that the blocking member 110 of the sealed adjustment mechanism 11 is located at the second position, and the blocking member 110 forms the closed surface in the direction of the cleaning robot 100, to improve the dust suction capability. When the cleaning robot 100 cleans a hard ground, it is in some embodiments set that the blocking member 110 of the sealed adjustment mechanism 11 is located at the first position, and the blocking member 110 avoids the air flow passage to allow gathering of large-particle garbage on the hard ground toward the dust suction port. Accordingly, when the blocking member 110 is located at the first position, a gathering capability of garbage on a hard ground by the cleaning robot 100 can be improved, which is especially suitable for cleaning large-particle garbage on a hard ground.

In a specific embodiment, the working principle of the blocking member 110 is controlling the position of the blocking member 110 and controlling the time at which the blocking member 110 closes the air flow passage in the traveling direction of the cleaning robot 100. It is to be understood that, a control system of the cleaning robot 100 is configured to send a control instruction to the dust suction system 1 in some embodiments, to control how and when the blocking member 110 of the sealed adjustment mechanism 11 switches positions. The example of this process further involves other necessary arrangements that the control system of the cleaning robot 100 can transfer a related control instruction and the sealed adjustment mechanism 11 can execute an instruction. Therefore, details are not described again in the present disclosure. The following further provides an example of a feasible example of the dust suction system 1, for ease of understanding of the main technical content of the present disclosure.

In a specific embodiment, on a side facing the traveling direction of the robot, tooth-shaped bosses 2301 are disposed at intervals, and the air flow passage includes an air flow path formed by a notch between adjacent tooth-shaped bosses 2301.

In a specific embodiment, the sealed adjustment mechanism 11 includes the blocking member 110, and the sealed adjustment mechanism 11 is configured to can make the blocking member 110 switch between the first position and the second position. When the blocking member 110 is located at the first position, the blocking member 110 avoids the air flow passage. When the blocking member 110 is located at the second position, the blocking member 110 at least partially blocks the air flow passage.

In an example application, as shown in FIG. 9, when the blocking member 110 is located at the first position, the ground distance H1 of the end of the blocking member 110 facing the ground is less than 2 mm. When the blocking member 110 is located at the second position, the ground distance H2 of the end of the blocking member 110 facing the ground ranges from 6 mm to 9 mm. It is to be noted that, when the blocking member 110 is located at the second position, the ground distance H2 of the end of the blocking member 110 facing the ground is adjusted based on a height of the housing 210, a size of the tooth-shaped boss, the air flow passage, among other factors in some embodiments. In some examples, it is further set in some embodiments that the ground distance H2 of the end of the blocking member 110 facing the ground ranges from 4 mm to 12 mm.

In the embodiments of the present disclosure, the adjustment of the position of the blocking member corresponds to a change in the area of the opening in the traveling direction of the robot or the ground distance in some embodiments. In any of the foregoing manners, the blocking member is configured to form the closed surface, to adjust the flowing path of the air flow in the dust suction port, a pressure difference in the negative pressure, and the stability of the negative pressure.

In a specific embodiment, referring to FIG. 9, the sealed adjustment mechanism 11 includes a traction unit 120. The traction unit 120 is configured to drive the blocking member 110 to switch between the first position and the second position. The traction unit 120 is used as an execution mechanism of the foregoing control instruction, and drives the blocking member 110 to switch between the first position and the second position and stop at the first position or the second position as required in some embodiments.

In a specific embodiment, the traction unit 120 includes a capstan 121, a rope 122, and a torsion spring. One end of the rope 122 is fixed through the capstan 121, and the other end is connected to the blocking member 110. Referring to FIG. 10, the capstan 121 includes a motor-driven rotating shaft. A first mounting portion 1101 configured to connect to the rope 122 is disposed on the blocking member 110. When the motor-driven rotating shaft rotates, the rope 122 is driven by the motor-driven rotating shaft, so that a pulling force can be transferred to the blocking member 110. Specifically, it is set in some embodiments that the rope is tightened when the motor-driven rotating shaft rotates in the first direction, to pull the blocking member 110 to the first position. In contrast, when the motor-driven rotating shaft rotates in a direction opposite to the first direction, the rope 122 is extended, and the blocking member 110 displaces to the second position. To implement stable state switching of the blocking member 110 between the first position and the second position, a torsion spring is further disposed on the traction unit 120, and a second mounting portion 2102 is further disposed on the housing 210. As shown in FIG. 10 to FIG. 12, the rope 122 passes through the second mounting portion 2102 to be connected to the blocking member 110. The torsion spring is positioned on the housing 210, and the blocking member 110 includes a limiting structure for the torsion spring. Based on the structure shown in the figure, it is to be understood that, in a process in which the rope 122 tightens to pull up the blocking member 110, a second limiting portion can limit and guide the rope 122, and the torsion spring can form a counterforce on the blocking member 110 for limiting and damping. For this, when the blocking member 110 needs to be switched from the second position to the first position, it is set that the pulling force of the rope 122 is greater than a damping force of the torsion spring on the blocking member 110, and the blocking member 110 can move to the first position and can remain at the first position, as shown in FIG. 11. When the blocking member 110 needs to be switched from the first position to the second position, the rope 122 is extended, the counterforce of the torsion spring is transferred to the blocking member 110 through the limiting structure, so that the blocking member 110 can be pushed from the first position to the second position, as shown in FIG. 12. Further, the blocking member 110 can be kept at any position between the first position and the second position by adjusting an extension amount of the rope 122.

In some other examples, the traction unit 120 includes a capstan 121, a rope 122, and a compression spring 123. Different from the foregoing example, the compression spring 123 is used in place of the torsion spring to limit and damp the blocking member 110 in this example. As shown in FIG. 13, one end of the compression spring 123 is fixedly connected to the blocking member 110, and the other end of the compression spring 123 abuts against a first support portion 2101 disposed on the housing 210. When the blocking member 110 needs to be switched from the first position to the second position, the rope 122 is extended, the compression spring 123 is supported by the first support portion 2101 to transfer an elastic force to the blocking member 110, so that the blocking member 110 can be pushed from the first position to the second position. When the blocking member 110 needs to be switched from the second position to the first position, it is set that the pulling force of the rope 122 is greater than a damping force of the compression spring 123 on the blocking member 110, and the blocking member 110 can move to the first position and can remain at the first position. For details of the process, refer to a schematic diagram of a driving principle of the traction unit 120 shown in FIG. 14. As shown in the figure, a second support portion 2103 is further disposed on the housing 210 in some embodiments, and the second support portion 2103 is configured to limit and guide the rope 122.

In still some other examples, the traction unit 120 uses a linkage drive manner to implement position switching of the blocking member 110. Specifically, as shown in FIG. 15, the traction unit 120 includes a motor-driven rotating shaft, a cam 126, and a linkage 125. One end of the linkage 125 is connected to the motor-driven rotating shaft by the cam 126, and the other end of the linkage 125 is fixedly connected to the blocking member 110. When the motor-driven rotating shaft rotates, a driving direction of the linkage 125 is adjusted through the cam 126, to drive the blocking member 110 to displace. When the blocking member 110 needs to be switched from the first position to the second position, the motor-driven rotating shaft rotates to enable the linkage 125 to drive the blocking member 110 to displace from the first position to the second position. When the blocking member 110 needs to be switched from the second position to the first position, the motor-driven rotating shaft rotates in an opposite direction, to drive the blocking member 110 to displace from the second position to the first position. For details of the process, refer to a schematic diagram of a driving principle of the traction unit 120 shown in FIG. 16.

An example of the traction unit 120 provided above focuses on a necessary example structure for a working principle for of implementing position switching of the blocking member 110 of the sealed adjustment mechanism 11. A person skilled in the art should understand that in a specific application process, there are usually restrictions of other factors such as a structure and an appearance of a product of the cleaning robot 100. Accordingly, the technical solution that the present disclosure seeks to protect further includes technical content of adaptive adjustments made in cooperation with a model, limiting or avoidance design based on the foregoing example content to conform to design requirements of a specific product.

Particularly, in this embodiment, when the blocking member 110 is located at the second position, in a process of performing a cleaning task by the cleaning robot 100, the blocking member 110 is used for forming the closed surface of the air flow passage. To keep a relatively stable dust suction effect, it is also set that in a process of performing a cleaning task by the cleaning robot 100, the blocking member 110 can keep the basically stable form of the closed surface through a deformation property of the blocking member under the action of the negative pressure or through limiting of at least one of the guide structure and the support structure. For this, the material and model related to the blocking member 110 and the examples for keeping limiting, guiding, and the like in a stable form specifically recorded in the foregoing embodiments is used in some embodiments. Details are not described again in this embodiment.

Further, in an embodiment of the present disclosure, the roller brush mechanism is disposed at the front end of the body.

In an embodiment, the roller brush mechanism is disposed at the front portion of the body, and the body is built in a D shape.

Further, in this embodiment, the dust agitation capability of the dust suction system 1 can be further improved by improving a beating capability of the roller brush assembly 220 on the cleaning surface. For example, a single roller brush is changed to double roller brushes, a material, a direction, and a position of the brush body of the roller brush are added, and the like. For a specific arrangement, refer to any feasible example of the foregoing dust agitation capability. Details are not described again in this embodiment.

Based on the foregoing cleaning robot 100, the present disclosure further provides a cleaning robot 100. In this embodiment, a control system, a dust suction system 1, a sensing system, and a power supply system of the cleaning robot 100 are disposed in combination, to further improve a cleaning efficiency of the cleaning robot 100. Particularly, in this embodiment, it is set that the position of the blocking member 110 is switchable, to ensure cleaning performance on both a hard ground and a soft ground. Details are described as follows:

In some examples, refer to FIG. 1 and FIG. 2. In the figures, the cleaning robot 100 includes a control system (also referred to as a controller, or a control apparatus), a dust suction system (also referred to as a dust suction assembly) 1, a power supply system (also referred to as a power supply apparatus, or a power supply assembly), a sensing system (also referred to as a sensing assembly), and a walking system (also referred to as a movement assembly) 2. The sensing system of the cleaning robot 100 includes at least one of a first sensor 101 configured to recognize a garbage size and a second sensor 102 configured to recognize a ground material. The dust suction system 1 of the cleaning robot 100 includes a sealed adjustment mechanism 11. The sealed adjustment mechanism 11 is configured to receive a control instruction of the control system, and switch the position of the blocking member 110 of the sealed adjustment mechanism according to the control instruction. For an example structure of implementing position switching of the blocking member 110 by the sealed adjustment mechanism 11, refer to the content recorded in the foregoing embodiments. Details are not described again in this embodiment. The control system is configured to control the dust suction system 1 based on garbage size information and type information of a to-be-cleaned surface that are obtained by the sensing system, to further improve the cleaning efficiency.

In some examples, the sensing system of the cleaning robot includes one or more of an AI object recognition sensor, a structural light module, or a TOF module, configured to detect or recognize a foreign object type, for example, hair clumps of a pet, heaped fragmentary garbage, large-size particle garbage, or the like.

In some examples, the control apparatus is configured to obtain a type of a to-be-cleaned surface based on information acquired by the sensing system in a normal cleaning mode, and automatically control the blocking member 110 to switch between the first position and the second position based on the type of a to-be-cleaned surface. In some embodiments, during cleaning on a soft ground, the control apparatus is configured to control the sealed adjustment mechanism 11 to switch the blocking member 110 to the second position through a control instruction. During cleaning on a hard ground, the control apparatus is configured to control the sealed adjustment mechanism 11 to switch the blocking member 110 to the first position through the control instruction.

The cleaning robot 100 in this embodiment includes technical effects in at least two aspects: In one aspect, when the control apparatus places the blocking member 110 at the second position through the control instruction, a problem of a low cleaning efficiency when the cleaning robot 100 cleans a soft ground can be resolved. In another aspect, when the control apparatus places the blocking member 110 at the first position through the control instruction, a problem that it is difficult for large-size garbage 01 to pass through an air flow passage when the cleaning robot 100 performs a cleaning task on a hard ground can be further resolved, thereby improving garbage gathering capability of the dust suction system 1. Related necessary technical information can be obtained through the foregoing embodiments. Details are not described again in this embodiment.

In some examples, the control apparatus is configured to obtain current position information of the cleaning robot 100 in a fixed-point region cleaning mode, determine a position relationship of the cleaning robot 100 relative to a fixed-point cleaning region based on the position information, and automatically control the blocking member 110 to switch between the first position and the second position based on the relative positions relationship. In an example, a carpet region as a fixed-point region, when the cleaning robot 100 performs cleaning inside the fixed-point cleaning region, the control apparatus is configured to control the sealed adjustment mechanism 11 to switch the blocking member 110 to the second position through a control instruction. When the cleaning robot 100 performs cleaning outside the fixed-point cleaning region, the control apparatus is configured to control the sealed adjustment mechanism 11 to switch the blocking member 110 to the first position through the control instruction.

In some examples, the control apparatus is configured to receive a control instruction sent by a mobile client, and automatically controls the blocking member 110 to switch between the first position and the second position based on the instruction. Specifically, when receiving a first control instruction indicating the blocking member 110 to switch to the second position, the control instruction is executed to switch the blocking member 110 to the second position. When receiving a second control instruction indicating to switch the blocking member 110 to the first position, the control instruction is executed to switch the blocking member 110 to the first position.

In some examples, the control apparatus is further configured to determine a size of an opening of the blocking member 110 relative to a ground based on one of a ground material, a garbage size, or a user control instruction. In this embodiment, the size of the opening is represented by a distance between an end of the blocking member 110 close to the ground and the ground. The traction unit 120 in the foregoing embodiment is used as an example. The control system is configured to control a rotation amount of the motor-driven rotating shaft through a control instruction to adjust the size of the opening of the blocking member 110 relative to the ground.

In a specific embodiment, the opening of the blocking member 110 relative to the ground when the cleaning robot 100 cleans a hard ground is larger than the opening when the cleaning robot 100 cleans a soft ground.

In a specific embodiment, the opening of the blocking member 110 relative to the ground when the cleaning robot 100 recognizes large-size garbage 01 is larger than the opening when the cleaning robot 100 does not recognize large-size garbage 01.

In a specific embodiment, user instruction information received by the cleaning robot 100 includes control information of the size of the opening, and correspondingly adjust the size of the opening of the blocking member 110 relative to the ground based on the control information.

In this embodiment, the user control instruction is sent through the mobile client in some embodiments, or the control instruction is sent through a set webpage or by directly operating a main unit in some embodiments, or another remote interaction manner is used in some embodiments.

Further, the control system of the cleaning robot 100 is further configured to control an input power of a fan of the dust suction system 1. In a specific embodiment, the control system is configured to keep a same input power throughout a process of performing a cleaning task. In an example application, when the control system recognizes, based on information obtained by the sensing system, that the cleaning robot 100 performs cleaning on a soft ground, the input power of the fan is configured ranging from 60 W to 80 W.

In another specific embodiment, the control system is configured to determine the input power of the fan according to obtained type information of a to-be-cleaned surface. For example, a first power range is kept during cleaning of a soft ground, and a second power range is kept during cleaning of a hard ground. The first power range is greater than the second power range. In an example application, when the control system recognizes, based on the information obtained by the sensing system, that the cleaning robot 100 performs cleaning on a soft ground, the input power is configured ranging from 60 W to 150 W. When the control system recognizes, based on the information obtained by the sensing system, that the cleaning robot 100 performs cleaning on a hard ground, the input power is configured ranging from 15 W to 35 W.

In this embodiment, the dust agitation capability of the dust suction system 1 can be further improved by improving a beating capability of the roller brush assembly 220 on the cleaning surface. For example, a single roller brush is changed to double roller brushes, a material, a direction, and a position of the brush body of the roller brush are added, and the like. For a specific arrangement, refer to any feasible example of the foregoing dust agitation capability. Details are not described again in this embodiment.

This embodiment further provides a schematic diagram of control based on an example of the foregoing cleaning robot 100. As shown in FIG. 17, when the cleaning robot 100 starts a cleaning task, the control system is configured to: obtain, through the sensing system, first information that represents a to-be-cleaned surface and is acquired by the sensing system; determine type information of the to-be-cleaned surface in the current cleaning task based on the first information; when it is detected that a current to-be-cleaned surface is a soft ground, control the sealed adjustment mechanism 11 to place the blocking member 110 at the second position; control the input power of the fan to be a second power; when detecting that a current to-be-cleaned surface is a hard ground, control the sealed adjustment mechanism 11 to place the blocking member 110 at the first position; and control the input power of the fan to be a first power. Referring to FIG. 18, in a process of performing a cleaning task, the control system is further configured to: obtain, based on the sensing system, second information representing a garbage size; determine a control instruction of the sealed adjustment mechanism 11 based on the second information; when large-particle garbage is detected, generate a first instruction, where the first instruction indicates the sealed adjustment mechanism 11 to place the blocking member 110 at the second position; and when a large-particle condition is not met, generate a second instruction, where the second instruction indicates the sealed adjustment mechanism 11 to place the blocking member 110 at the first position.

In an embodiment, as shown in FIG. 19, when it is detected that the cleaning robot 100 cleans a soft ground, the control system is configured to: obtain a current rotational speed of the roller brush; determine whether the current rotational speed meets a preset rotational speed range; and when the rotational speed exceeds the preset rotational speed range, control an input power of the roller brush motor to adjust the rotational speed into the preset rotational speed range. It is to be noted that, when the roller brush assembly 220 includes at least two roller brushes, rotational speed adjustments of different roller brushes by the control apparatus are the same in some embodiments or are different in some embodiments. In some examples, the control of the roller brush assembly further includes control of a rotational direction of the roller brush in some embodiments.

In an example application, two roller brushes are disposed in the roller brush assembly 220 of the cleaning robot 100, and the two roller brushes rotate relatively in a process of a cleaning task.

In an example application, when it is detected that the cleaning robot 100 cleans a soft ground, the rotational speed of the roller brush is kept within a range of 1500 r/min to 1900 r/min range. The cleaning efficiency of the cleaning robot 100 on a soft ground can be kept greater than 35%.

In an example application, when it is detected that the cleaning robot 100 cleans a soft ground, the rotational speed of the roller brush is kept greater than 1200 r/min.

It is to be understood that, in this embodiment, the input power of the fan of the cleaning robot 100 and the rotational speed of the roller brush are both controlled within a preset value range in experiments. During actual application, these ranges of values are affected by structural differences of the dust suction system 1 of the cleaning robot 100, differences in to-be-cleaned surfaces, and different environments in some embodiments. To achieve the same cleaning effect, in this embodiment, the input power of the fan and the rotational speed of the roller brush are within wider ranges in some embodiments. For example, the input power of the fan ranges from 40 W to 100 W, and the rotational speed of the roller brush ranges from 500 r/min and 1600 r/min.

Further, in an embodiment of the present disclosure, the roller brush mechanism is disposed at the front end of the body.

In an embodiment, the roller brush mechanism is disposed at the front portion of the body, and the body is built in a D shape.

Based on the foregoing embodiment, the embodiments of the present disclosure further provide a cleaning robot. A difference lies in that the roller brush mechanism of the cleaning robot in this embodiment is floatable relative to the body.

The hard ground in the embodiments of the present disclosure is a floor or tiles in some embodiments, and the soft ground is a ground with a carpet or another soft material in some embodiments.

The present disclosure provides another traction unit 120. The traction unit 120 uses gear drive to implement position switching of the blocking member 110. Specifically, as shown in FIG. 25 to FIG. 34, the traction unit 120 includes a drive mechanism 129, a first gear 127, and a second gear 128 that are sequentially connected. The second gear 128 is connected to the blocking member or the second gear 128 forms a part of the blocking member. When the drive mechanism 129 rotates along a drive shaft, the blocking member 110 is driven to move by adjusting driving directions of the first gear 127 and the second gear 128.

When the drive mechanism 129 rotates around the drive shaft in a first direction. The first gear 127 and the second gear 128 drive the blocking member 110 to switch from a first position to a second position. When the drive mechanism 129 rotates around the drive shaft in the second direction, the first gear 127 and the second gear 128 drive the blocking member 110 to switch from the second position to the first position. The second direction and the first direction are opposite.

In some examples, the first gear 127 is a drive gear, and the second gear 128 is a partial gear (for example, a sector-shaped gear) disposed on the blocking member. A radius of the drive gear is less than a radius of a sector-shaped gear.

In some examples, the drive mechanism 129 includes a drive motor and a reducer gearbox. The drive motor is connected to the first gear by the reducer gearbox. The first gear 127 and the second gear 128 form a part of a transmission system. In some examples, the blocking member 110 is built as a partial cylindrical structure that can rotate around a rotating axis and has the second gear 128. The blocking member 110 is driven by the drive motor of the drive mechanism 129 through the first gear 127 driven by the reducer gearbox.

Rotational centers of the blocking member and the roller brush are schematically shown. The rotational center of the blocking member of the partial cylindrical structure is A1. The rotational center of the roller brush is A2.

Because the blocking member has a large axial size, to ensure the smoothness of transmission, in some examples, referring to FIG. 33 and FIG. 34, in a length direction of the roller brush, the second gear 128 and the first gear 127 are disposed at each of two ends of the blocking member 110. A synchronous shaft 1271 is disposed between the first gears 127 at the two ends, to ensure the synchronous rotation of the first gears and drive the overall smooth movement of the blocking member.

To recognize opening and closing of the blocking member, further, the dust suction system further includes a detection assembly, disposed on a sealed adjustment mechanism, and configured to detect a state of the blocking member.

In some examples, the detection assembly includes an in-position detection sensor 130, disposed on the blocking member 110, and configured to perform in-position detection on the opening and closing of the blocking member.

In some examples, the in-position detection sensor 130 includes an open state in-position detection sensor 1301 and a closed state in-position detection sensor 1302, which are respectively configured to perform in-position detection on an open state and a closed state of the blocking member 110.

Further, when the in-position detection sensor 130 detects an in-position signal (including an open in-position signal and a closed in-position signal) of the blocking member 110 and sends the in-position signal to a control module, especially sends the in-position signal to the control module through an instant messaging technology, the control module cuts off power of the drive mechanism 129 configured to drive the blocking member 110 to move, to prevent the drive motor or the transmission system of the drive mechanism from overload damage.

In some examples, the in-position detection sensor 130 uses a microswitch.

It is to be noted that, one in-position detection sensor is configured to perform in-position detection on both the opening and closing of the blocking member in some embodiments. In addition, the in-position detection sensor uses a transmitting-receiving light detector in some embodiments, or includes a light transmitter and a light receiver that are correspondingly disposed in pair in some embodiments, and perform in-position detection according to a principle that opening and closing affect a light ray. For this, this is not limited in this embodiment.

To improve the reliability of switching the blocking member, further, the dust suction system further includes a mechanical limiting portion 131, configured to perform mechanical limiting on the opening and closing of the blocking member 110.

For example, when the detection assembly, especially the in-position detection sensor 130, fails or is faulty, the mechanical limiting portion is configured to limit the movement of the blocking member.

The mechanical limiting portion 131 is disposed to forcefully limit the opening and closing of the blocking member 110, to prevent the drive motor of the drive mechanism 139 configured to drive the blocking member 110 to move and the transmission system from overload damage, thereby improving reliability.

In some examples, the mechanical limiting portion includes an open limiting portion 1311 and a closed limiting portion 1312, which are respectively configured to limit the opening and closing of the blocking member.

In some examples, the control module further has a motor overload protection procedure for the blocking member. The motor overload protection procedure can handle some emergencies, for example, in a case that the in-position detection sensor 130 fails or is faulty, protect the drive motor of the drive mechanism configured to drive the blocking member 110 to move and the transmission system.

Specifically, the control module monitors an electrical signal (for example, a current or a voltage) of the drive motor of the blocking member through an electrical signal sensor (for example, a current sensor or a voltage sensor). When the electrical signal of the drive motor exceeds a signal threshold, the motor overload protection procedure is triggered, and the control module controls the drive motor driving the blocking member to move to be turned off (that is, cuts off the power of the motor), to stop the blocking member from continuing to move, thereby performing overload protection on the drive motor and the transmission system.

Further, referring to FIG. 25 to FIG. 28, the roller brush mechanism, especially the roller brush support 230, of the cleaning robot in this embodiment is configured to be floatable relative to the body 10.

For example, during cleaning of a carpet or another soft ground, because carpet pile or carpet fiber are soft, to adapt to the cleaning of the soft ground, the roller brush mechanism is configured to float relative to the body.

The foregoing floating is floating under non-active adjustment or non-active control, that is, passive floating.

To ensure sealing performance and improve a cleaning effect of a complex cleaning ground, especially a carpet or another soft ground, in some examples, the sealed adjustment mechanism 11, especially on the blocking member 110, is configured to float relative to the body.

The blocking member 110 is disposed to be floatable relative to the body 10, to adapt to different to-be-cleaned surfaces. This avoids changes in a height of the blocking member from a ground due to an uneven to-be-cleaned surface, and keeps the sealing performance from being affected, which helps to improve the adaptability of the cleaning robot to a complex ground. Moreover, during cleaning on a complex ground, a good cleaning effect can be obtained.

Further, the sealed adjustment mechanism and the roller brush mechanism are configured to float together or float simultaneously.

In an example, the sealed adjustment mechanism is disposed on the roller brush mechanism, to enable the sealed adjustment mechanism to float together as the roller brush mechanism floats, or the roller brush mechanism to float as the sealed adjustment mechanism floats.

Specifically, the blocking member 110 of the sealed adjustment mechanism is disposed on the roller brush support 230 of the roller brush mechanism, so that while the sealing effect is ensured, the structure is simple, and costs are low.

Further, the blocking member 110 and the transmission system (including the first gear 127 and the second gear 128) of the blocking member are both disposed on the roller brush support 230. The purpose of such an arrangement lies in that the blocking member 110 and the roller brush support 230 can float synchronously along with height changes in a to-be-cleaned surface through a simplest structure, to implement a better and real-time sealing effect.

Certainly, in some examples, the floating of the sealed adjustment mechanism is independent of the floating of the roller brush mechanism. For example, instead of being disposed on the roller brush mechanism, the sealed adjustment mechanism is disposed at another preset position of the cleaning robot. The preset position is a position that can meet a sealing performance requirement of the blocking member for the roller brush mechanism, for example, a position that produces a sealing effect equivalent to that when the blocking member is disposed on the roller brush support. The meaning of the foregoing “equivalent” is being the same as the sealing effect or reaching a preset percentage of the sealing effect. For example, a value of the preset percentage ranges from 70% to 90%. In an example, the blocking member and the transmission system of the blocking member are independently and floatably disposed on a chassis of the cleaning robot in some embodiments, so that a particular mechanism space needs to be occupied in some embodiments.

In consideration of that when the floating of the sealed adjustment mechanism is independent of the floating of the roller brush mechanism, floating amounts of the sealed adjustment structure and the roller brush mechanism are different in some embodiments, to ensure a sealing effect, a difference value between the floating amounts of the sealed adjustment structure and the roller brush mechanism is controlled within a particular range or a difference value between floating amounts of the blocking member and the roller brush support is controlled within a particular range. In an example, at least one of the sealed adjustment mechanism and the roller brush mechanism is made floatable relative to the body in some embodiments, to enable the difference value between the floating amounts of the sealed adjustment mechanism and the roller brush mechanism to be within a particular range or the difference value between the floating amounts of the blocking member and the roller brush support to be controlled within a particular range. The foregoing particular ranges are, for example, ranges of being less than or equal to 2 mm.

The difference between the floating amounts of the blocking member and the roller brush support is kept within a particular range, that is, the blocking member and the roller brush support can move relatively within the particular range, to ensure the sealing effect, which helps to improve the cleaning effect.

To keep floating from affecting other mechanisms or assemblies of the cleaning robot, in some examples of the present disclosure, referring to FIG. 35, the cleaning robot has a floating space 133.

Through a layout inside the cleaning robot, the floating space 133 is reserved, so that while the cleaning robot adapts to a complex to-be-cleaned surface, normal running of other mechanisms or assemblies is also not affected.

In consideration of that when the cleaning robot moves on the to-be-cleaned surface, there are uneven positions on the to-be-cleaned surface, for example, there are low obstacles, protrusions, or the like on the to-be-cleaned surface. The low obstacles are obstacles that have sizes or heights less than a preset value and can be surmounted by the cleaning robot, for example, a carpet edge, a cable, a step, and the like that are encountered.

To enable the cleaning robot to handle the foregoing case during cleaning work on the to-be-cleaned surface and improve obstacle surmounting performance of the cleaning robot, in some examples, when the cleaning robot encounters an obstacle that needs to be surmounted or when the cleaning robot is in an obstacle surmounting state, the sealed adjustment mechanism 11 forms the closed surface of the air flow passage on the front side of the cleaning robot in the traveling direction; or, the blocking member is in a closed state, and forms the closed surface of the air flow passage. The blocking member or the closed surface has a guiding effect, to assist in lifting the roller brush mechanism of the cleaning robot, to perform obstacle surmounting.

Further, referring to FIG. 36 and FIG. 37, a guide portion 111 is provided at an end of the blocking member 110 close to a to-be-cleaned ground. When the blocking member 110 is in a closed state, the guide portion 111 forms the closed surface. The guide portion 111 has an arc shape, or the closed surface is an arc-shaped face, and the arc shape or arc-shaped face has an outer arc surface facing the front end of the body of the cleaning robot.

In some examples, the sealed adjustment mechanism includes a traction unit 120 configured to adjust open and closed states of the blocking member. Further, the traction unit 120 includes a drive mechanism, driving the blocking member to move under a traction action, to perform a state adjustment on the blocking member, so that the blocking member can switch between the open state and the closed state.

Specifically, when it is recognized that the cleaning robot is in an obstacle surmounting state, the traction unit 120 of the sealed adjustment mechanism is controlled to close the blocking member, to assist in lifting the roller brush assembly.

During obstacle surmounting, the blocking member 110 is closed, to guide the roller brush mechanism, and assist in lifting the roller brush assembly 220, which facilitates smooth obstacle surmounting of the cleaning robot.

For ease of understanding, referring to FIG. 38, an obstacle surmounting process in which the cleaning robot encounters a step when cleaning a hard ground (for example, a floor, a tile, a cement ground, or the like) is briefly described below.

When the cleaning robot cleans a hard ground, the sealed adjustment mechanism, especially the blocking member 110, is in the open state. In this case, the cleaning robot can clean up garbage, especially large-size garbage (for example, large particles), on the hard ground. When a main unit with the blocking member in the open state crosses a step or another obstacle that has a particular height but can be surmounted, because a guide portion assisting in climbing is not disposed on the cleaning robot, the roller brush assembly collides with the step in some embodiments, causing damage to the roller brush assembly. Therefore, if the cleaning robot has an obstacle surmounting procedure when cleaning a to-be-cleaned surface (especially a hard ground), the cleaning robot can surmount step or another obstacle with a height less than the preset value.

Specifically, the cleaning robot determines a current state of the blocking member, and determines whether the blocking member is normally open or determines whether the blocking member is in an open state. If yes, a step is detected through a first sensor 101 (for example, a depth camera) that is disposed on the cleaning robot and is configured to detect a height of an obstacle (a step). The control module of the cleaning robot compares a height of an obstacle detected by the first sensor 101 with the preset value. When it is determined that the obstacle is a surmountable step, the obstacle surmounting procedure is started, the blocking member is closed or the sealed adjustment mechanism is controlled to switch the blocking member from the open state to the closed state, and the closed surface formed by the guide portion of the blocking member lifts the roller brush assembly, to assist the cleaning robot in crossing the step or ascending the step.

Further, it is determined whether the cleaning robot has crossed the step or ascended the step. If yes, the blocking member is opened, or, the sealed adjustment mechanism is controlled to switch the blocking member from the closed state to the open state.

Further, the in-position detection sensor detects whether the blocking member is open, and if yes, returns to the foregoing step of determining the state of the blocking member.

To improve the reliability of guiding, in some examples, the blocking member 110 is an integral structure.

In consideration of a problem that the roller brush assembly 220 cannot clean a side and as a result local regions such as edges, corners, and the like of a wall surface or a carpet cannot be cleaned, to implement cleaning of edges and corners and reduce missed spots, further, referring to FIG. 39 to FIG. 41, the cleaning robot further includes a side brush assembly 250, configured to perform cleaning work when the cleaning robot is in an along-the-edge mode or performs along-the-edge cleaning, to clean regions such as edge, corners, and the like. The side brush assembly is turned on especially when the cleaning robot performs along-the-edge cleaning on a soft ground or a wall surface, and performs along-the-edge cleaning work, to clean garbage at sides and corners of the soft ground or the wall surface.

To ensure that garbage cleaned off by the side brush assembly 250 can be swept into the dust collection box by the roller brush mechanism, further, a cleaning range of the side brush assembly and a projection region of the roller brush mechanism onto the to-be-cleaned surface at least partially overlap. The figure schematically shows that the cleaning range of the side brush assembly is circular, and a cleaning radius of the side brush assembly is R.

In some examples, a cleaning range of the side brush assembly 250 and a projection region of the roller brush assembly 220 onto the to-be-cleaned surface have an overlap cleaning region W; or a cleaning range of the side brush assembly 250 and a projection region of the blocking member 110 onto the to-be-cleaned surface have an overlap cleaning region W.

For example, in a traveling direction of the cleaning robot, the side brush assembly and the roller brush mechanism are sequentially longitudinally disposed. In other words, the side brush assembly is disposed in front of the roller brush mechanism. When the side brush assembly of the cleaning robot is opened, garbage that is cleaned off is swept into the front portion of the roller brush mechanism, to make it convenient for the dust suction port to suck garbage that is cleaned off by the side brush assembly.

For example, the body 10 has a front end 10A and a chassis 10B. The side brush assembly 250 is disposed at a position of the chassis 10B of the body 10 close to the front end 10A, and the roller brush assembly 220 is disposed at a position of the chassis 10B of the body 10 away from the front end 10A.

To prevent the sealed adjustment mechanism from adversely affecting the cleaning of the side brush assembly, in some examples, when the side brush assembly of the cleaning robot is turned on to perform cleaning work, the air flow passage of the sealed adjustment mechanism 11 on the front side of the cleaning robot in the traveling direction is opened; or, the blocking member is in the open state, to enable the air flow passage of the sealed adjustment mechanism 11 on the front side of the cleaning robot in the traveling direction to be opened, which is helpful for the dust suction port to suck garbage cleaned off by the side brush assembly 250.

In some examples, in the traveling direction of the cleaning robot, the side brush assembly 250 is disposed in the lateral front of the body 10A of the cleaning robot, is at least partially exposed from the body of the cleaning robot 10, and is turned on when the cleaning robot performs along-the-edge cleaning or is in an along-the-edge state, so that positions such as edges, corners, and the like of the to-be-cleaned surface can be cleaned. When the side brush assembly 250 is turned on, the blocking member 110 is opened, and the side brush assembly 250 works in cooperation, to enable garbage cleaned off by the side brush assembly to enter the dust collection box through the dust suction port. The side brush assembly 250 includes at least one side brush 2501.

For ease of understanding, referring to FIG. 42, a case that the cleaning robot encounters a scenario that requires along-the-edge cleaning when cleaning a soft ground (for example, a carpet, a mat, or the like) is briefly described below.

When the cleaning robot (referred to as the main unit for short) cleans a soft ground, the sealed adjustment mechanism, especially the blocking member 110, is in the closed state. In this case, the cleaning robot can clean up garbage in pile or fiber of the soft ground. When the cleaning robot with the blocking member in the closed state encounters a scenario of along-the-edge cleaning, because the roller brush assembly cannot clean sides, a current mode is switched to the along-the-edge mode. For the along-the-edge mode, the cleaning robot has the along-the-edge mode when cleaning a soft ground, and can clean garbage at sides and corners.

Specifically, the cleaning robot determines the current state of the blocking member, determines whether the blocking member is normally closed or determines whether the blocking member is in the closed state, if yes, detects whether the cleaning robot is in the along-the-edge mode, and if yes, opens a side brush, and opens the blocking member (or controls the sealed adjustment mechanism to switch the blocking member from the closed state to the open state).

Further, when the along-the-edge mode ends, the side brush is closed, and the blocking member is closed (or, the sealed adjustment mechanism is controlled to switch the blocking member from the open state to the closed state).

Further, the in-position detection unit detects whether the blocking member is closed, and if yes, returns to the foregoing step of determining the state of the blocking member.

It is to be noted that, there is also an along-the-edge mode for a hard ground. However, during movement along an edge, the blocking member remains open. Therefore, during cleaning on a hard ground, it is not necessary to determine the state of the blocking member, and therefore no details need to be described.

In summary, when the cleaning robot is in the along-the-edge mode or performs an along-the-edge cleaning task on a to-be-cleaned surface (especially on a soft ground), the side brush works, the blocking member is in the open state, and the blocking member cooperates with the side brush to suck garbage cleaned off by the side brush.

It should be pointed out that, when the cleaning robot is in a non-along-the-edge mode or performs a non-along-the-edge cleaning task on a soft ground (for example, performs a cleaning task on a surface of the soft ground), the side brush does not work, and the blocking member is in the closed state, to enable a suction air flow of the fan to flow inside pile or fiber of the soft ground to carry away garbage present in the pile or fiber, thereby improving the cleaning effect of the soft ground.

In some examples, when the cleaning robot performs along-the-edge cleaning or is in the along-the-edge state and recognizes large-size garbage, the cleaning robot controls the side brush assembly to be opened in some embodiments, to clean up large-size garbage.

Further, when the cleaning robot recognizes large-size garbage, the blocking member is configured to be in the open state, and the large-size garbage cleaned off by the side brush assembly sequentially passes through the blocking member and the dust suction port to be sucked into the dust collection box. The large-size garbage is, for example, particle-shaped objects with a height less than a set threshold height. The threshold height is defined according to common particle-shaped objects in some embodiments. The foregoing common particle-shaped objects include, but are not limited to, cat food, dog food, and various beams (for example, red beans, soybeans, mung beans, chocolate beans, and the like).

In consideration of that when the cleaning robot performs normal cleaning work on a to-be-cleaned surface, especially on a carpet or another soft ground, a movement speed suddenly decreases clean large or the cleaning robot skids or fails to move clean large,

for example, when the cleaning robot travels on a carpet, a walking system 2 (also referred to as a movement assembly), a dust suction system 1 (especially on a roller brush assembly), and the like of the cleaning robot sink in the carpet in some embodiments. Carpets have different parameters, and the parameters include a length and a density of carpet fiber (or carpet pile). Therefore, the carpets with different parameters also have different capabilities of supporting the cleaning robot. In other words, when traveling on the carpets with different parameters, the cleaning robot also sinks into the carpets by different depths. FIG. 43 and FIG. 44 respectively schematically show depths H3 and H4 by which the cleaning robot sinks into two carpets with carpet fiber of different lengths. H3 and H4 are not equal.

To improve a cleaning effect of a carpet, when the cleaning robot performs cleaning work on a surface of a carpet or another soft ground, the blocking member is configured to be in the closed state, to form a sealed region below the roller brush mechanism. In this case, an air flow flows around the blocking member from below a lower portion of the blocking member and passes through carpet fiber, the dust suction port, and the air duct to be sucked into the dust collection box. Therefore, when the carpet fiber is longer and the density is higher, it is more difficult for the air flow to pass through the carpet fiber, the sealed region formed below the roller brush mechanism has a better sealing effect, a negative pressure is higher, and a traveling resistance of the main unit (that is, the cleaning robot) is larger. When the resistance has increased to a particular level and exceeds a driving force of a walking mechanism configured to drive the cleaning robot to walk, the movement speed of the cleaning robot suddenly decreases, skids, and fails to move in some embodiments.

In consideration of that the foregoing case succor because a negative pressure at the dust suction port is large and a frictional force between the roller brush assembly and a ground is large in some embodiments, therefore, to avoid the foregoing case from the perspective of reducing a negative pressure,

in some examples, the control module of the cleaning robot detects working parameters of the walking system, for example, a working current of a drive motor configured to drive a walking wheel to move, a rotational speed of the walking wheel, a displacement of the cleaning robot, and the like. The walking system includes the walking wheel.

In some examples, the walking wheel includes a drive wheel 21. Further, two drive wheels are provided, and are respectively a left drive wheel 211 and a right drive wheel 212. Certainly, the walking wheel further includes a universal wheel 22 in some embodiments.

The detected working parameters are compared with corresponding set values to determine whether the cleaning robot is obstructed. For example, the working current is compared with a current threshold, or, a current rotational speed (an actual rotational speed) of the walking wheel is compared with a theoretical rotational speed at a theoretical traveling speed on a carpet, or, a current displacement (an actual displacement) of the cleaning robot within a unit time is compared with a theoretical displacement within the unit time. When the working current is greater than the current threshold, or, the current rotational speed (the actual rotational speed) of the walking wheel is less than the theoretical rotational speed at the theoretical traveling speed on a carpet, or, when the current displacement (the actual displacement) of the cleaning robot within the unit time is less than the theoretical displacement within the unit time, it is determined that the traveling of the cleaning robot is obstructed.

When the traveling of the cleaning robot is obstructed, the control module controls the blocking member to be opened, for example, opened step by step according to a step height of opening or according to shift positions, until the working parameters of the walking mechanism are restored. When the working current is consistent with the current threshold, or, when the current rotational speed (the actual rotational speed) of the walking wheel is consistent with the theoretical rotational speed at the theoretical traveling speed on a carpet, or, when the current displacement (the actual displacement) of the cleaning robot within the unit time is consistent with the theoretical displacement of the cleaning robot within the unit time, it is determined that the working parameters of the walking mechanism are restored.

In some examples, the step height for opening the blocking member each time is 0.2 mm.

In some examples, a maximum value of the opening height of the blocking member is not greater than 15 mm.

Further, when the opening height of the blocking member reaches the maximum value or can no longer increase, if the working parameters of the walking mechanism are still not restored, the control module controls a dust suction fan to be turned off.

Certainly, in some examples, when the traveling of the cleaning robot is obstructed, the control module controls the dust suction fan to be turned off in some embodiments, to enable the working parameters of the walking mechanism to be restored.

The negative pressure at the dust suction port is related to the sealed adjustment mechanism (especially on the blocking member) and a suction force of a dust suction apparatus (for example, the fan).

Therefore, the negative pressure at the dust suction port is reduced from the perspective of at least one of the following two aspects in some embodiments:

In a first aspect, the perspective of the sealed adjustment mechanism is considered.

For example, the negative pressure is reduced by controlling the closed state of the blocking member or controlling the size of the closed surface formed by the blocking member in some embodiments. The size of the closed surface is represented by a distance (a ground distance, also referred to as an opening height) between the end of the blocking member close to the to-be-cleaned surface and the to-be-cleaned surface in some embodiments.

In some examples, when the blocking member only has an open state and a closed state, in this case, the negative pressure is adjusted by controlling the closed state of the blocking member in some embodiments. Specifically, when it is detected that the movement speed of the cleaning robot changes suddenly, the sealed adjustment mechanism is controlled to make the blocking member in the open state, to enable the air flow passage of the sealed adjustment mechanism 11 on the front side of the cleaning robot in the traveling direction to be opened, thereby reducing a pressure difference of the negative pressure at the dust suction port, and reducing a frictional force between the roller brush assembly and the to-be-cleaned surface, so that the cleaning robot can move normally. The foregoing sudden change in the movement speed is, for example, that the cleaning robot decreases from a normal traveling speed v1 to 0 or decreases from v1 to a preset percentage of v. The preset percentage is set according to an actual requirement in some embodiments. A value of the preset percentage is at least greater than or equal to 50%.

In an embodiment, when the size of the closed surface formed by the blocking member is adjustable, for example, when the blocking member has a plurality of shift positions, in this case, the negative pressure is adjusted by controlling the opening height of the blocking member in some embodiments.

It is to be understood that, in different shift positions, the size of the closed surface formed by the blocking member varies; or, in different shift positions, the opening height of the blocking member varies.

In an example, different shift positions correspond to different sudden movement speed change amounts. When the sudden movement speed change amount is larger, the shift position of the blocking member is higher, and the opening height of the blocking member is larger.

For ease of understanding, an example in which the blocking member has a first shift position and a second shift position is used for description.

The first shift position corresponds to a partially open state of the blocking member. In this case, the opening height of the blocking member is h1; and a sudden movement speed change amount corresponding to the first shift position is k1.

The second shift position corresponds to a completely open state of the blocking member. In this case, the opening height of the blocking member is h2; and a sudden movement speed change amount corresponding to the second shift position is k2.

h1 is less than h2, and k1 is less than k2.

It is to be noted that, the foregoing sudden movement speed change amount k is used for representing a change amount in a movement speed. A movement speed before a change is V1, and a movement speed after the change is V2. The sudden movement speed change amount k=(V1˜V2)*100%/V1. It is assumed that the cleaning robot travels at a normal movement speed V1 before the change, and suddenly the cleaning robot fails to move, that is, a movement speed V2 is 0. It is obtained according to the foregoing formula in some embodiments that in this case, the sudden movement speed change amount k is 100%.

The blocking member is disposed having different shift positions, so that the cleaning robot can handle different movement speed changes during movement on the to-be-cleaned surface, to assist the cleaning robot in extrication.

Because the movement speed of the walking wheel is related to the parameters such as the current of the drive motor, the rotational speed of the walking wheel, the displacement of the cleaning robot, and the like, the movement speed is obtained by detecting the working current of the drive motor, the rotational speed of the walking wheel, and the displacement of the cleaning robot within the unit time in some embodiments. Therefore, a change in the movement speed is obtained by detecting a change in the working current of the drive motor, a difference value between the theoretical rotational speed of the walking wheel and the actual rotational speed, and a difference value between the theoretical displacement of the cleaning robot within the unit time and the actual displacement in some embodiments. The working current is detected by a current sensor in some embodiments, the rotational speed of the walking wheel is detected by a Hall sensor in some embodiments, and the displacement is detected by a speed sensor in some embodiments.

In addition, in consideration of that carpets usually have different thicknesses (the thickness is represented by a length of carpet fiber in some embodiments), to adapt to sudden movement speed changes in cleaning of carpets with different thicknesses, in some examples, the blocking member has different shift positions. When the shift positions are different, the opening heights of the blocking member are different.

Different shift positions correspond to carpets with different thicknesses, or, for carpets with different thicknesses, the opening heights of the blocking member are different.

The foregoing thickness of a carpet is inversely proportional to an opening height of the blocking member. That is, when a thickness of a carpet is smaller, the opening height of the blocking member is larger.

In a second aspect, the perspective of the dust suction apparatus is considered.

For example, the negative pressure is reduced by adjusting the suction force of the fan in some embodiments.

The suction force of the fan is related to a power of the fan. Therefore, the suction force of the fan is adjusted by adjusting the power of the fan or turning off the fan in some embodiments.

When the cleaning robot fails to move or encounters a sudden movement speed change during normal cleaning of a cleaning ground, the negative pressure at the dust suction port is reduced by opening the blocking member, turning down the power of the fan, turning off the fan, or in another manner in some embodiments, to reduce a frictional force between the roller brush assembly and the ground, so that the cleaning robot can perform cleaning work normally.

Referring to FIG. 46, when the cleaning robot cleans a soft ground, in consideration of that large-size garbage 01 (for example, large particles) is present on a carpet or another soft ground and the large-size garbage is usually trapped inside carpet fiber or pile, when the cleaning robot performs cleaning work on a carpet or another soft ground, the blocking member is in the closed state, and affects a cleaning effect of large-size garbage in some embodiments.

Therefore, to clean up the large-size garbage 01 on the carpet to further improve the cleaning effect of the carpet, in some examples, when the cleaning robot is in a carpet working mode or performs cleaning work on the surface of the carpet, if the cleaning robot recognizes the large-size garbage 01, the blocking member 110 is configured to be in the open state, or, the control module is configured to control the blocking member to switch from the closed state to the open state. The foregoing “recognizes” is to be understood as that garbage is detected or recognized.

When the cleaning robot cleans a carpet, after large-size garbage is recognized, the blocking member is opened, to enable the cleaning robot to clean up the large-size garbage on the carpet, thereby improving the cleaning effect of the carpet.

It should be pointed out that, to clean up large-size garbage on a carpet, it needs to be met that the blocking member is in the open state before large particles reach the blocking member.

For example, a time t1 of running a distance S by the cleaning robot is greater than or equal to a time t2 for which the blocking member is open.

The foregoing objective is achieved in at least one of the following manners in some embodiments.

Manner 1: The objective is achieved by controlling an opening rate or an opening time of the blocking member in some embodiments. The opening time is a time taken to switch the blocking member from the closed state to the open state.

Manner 2: The objective is achieved by controlling the movement speed of the cleaning robot in some embodiments.

Therefore, in some examples, in a case that the speed of the cleaning robot does not decrease, the objective is achieved by controlling the open rate or the opening time of the blocking member. In some examples, the opening time of the blocking member is approximately 0.5 s.

In some examples, the cleaning robot is controlled to reduce the speed from a normal cleaning speed and then increase the speed in some embodiments, provided that the blocking member is in the open state before the cleaning robot reaches the normal cleaning speed.

After large particles are recognized, for the problem of opening timing of the blocking member, in some examples, the control module controls the blocking member to be opened after the cleaning robot recognizes large particles.

In consideration of that there is a distance between recognition of large particles and cleaning of the large particles, to prevent the distance from degrading the cleaning effect of the carpet, in some examples, after recognizing large particles, the cleaning robot detects a distance between the large particles and the front end of the main unit (for example, performs visual detection through the first sensor 101 of the depth camera in some embodiments) or detects a distance S between the large particles and the sealed adjustment mechanism (that is, a sum of a distance between the blocking member and the front end of the body and a distance between the large particles and the front end of the body). The distance between the blocking member and the front end of the body is a known distance after mounting. Therefore, the distance S between the large particles and the sealed adjustment mechanism is obtained according to the distance between the large particles and the front end of the body obtained through visual detection by the first sensor 101 of the depth camera plus the known distance in some embodiments. When the distance reaches a threshold distance, the control module controls the blocking member to be opened. A value of the threshold distance ranges from 60 mm to 300 mm.

In some examples, when the cleaning robot recognizes large particles, a distance between the large particles and the body ranges from 15 mm to 25 mm.

For a manner of detecting large-size garbage, in some examples of the present disclosure, a size (for example, a height) of an obstacle is detected by the first sensor 101, the size of the obstacle is compared with a preset size, and if a preset size requirement of large-size garbage is met, it is determined that the obstacle is large-size garbage.

After large particles are recognized and before the large particles are cleaned up, the blocking member 110 is still in the closed state, to continue to clean off stain stuck in carpet fiber, thereby improving a cleaning effect of the carpet in the distance between recognition of large particles and cleaning of the large particles.

Further, to improve the cleaning effect of the carpet between the recognition of the large particles and the cleaning of the large particles, in some examples, referring to FIG. 47, after recognizing the large particles on the carpet, the cleaning robot detects the distance between the large particles and the front end of the body. When the distance is at a particular threshold, the control module controls the cleaning robot to reduce the speed, and a speed reduction rate is P1. When the cleaning robot completes the speed reduction, for example, an initial movement speed of the cleaning robot on the carpet is reduced to a preset speed, after the cleaning robot continues to run at the preset speed by a preset distance or for a preset time, the control module controls the blocking member to be opened. The preset distance or the preset time is determined according to the preset speed and the distance between the roller brush assembly and the front end of the body in some embodiments.

Because the cleaning robot reduces the speed after recognizing large particles and travels at a low speed for a period of time or by a distance, a quantity of beats on carpet fiber by the roller brush mechanism within a unit time is increased, so that a dust agitation effect is better, and large particles are better gathered in front of the roller brush mechanism, thereby further improving the cleaning effect of the carpet in the distance between the recognition and the cleaning of large particles.

In addition, in consideration of that it also takes time to switch the blocking member, after the cleaning robot recognizes large particles, the cleaning robot is controlled to reduce the speed, so that a distance/an area by which the cleaning robot travels within a time of a switching process of the blocking member (for example, from the closed state to the open state) can be further reduced, thereby maximizing the overall cleaning effect of the carpet.

Certainly, the distance/area by which the cleaning robot travels within the time of the switching process of the blocking member (for example, from the closed state to the open state) can be reduced, in one aspect, in the foregoing manner of reducing the movement speed of the cleaning robot, and in another aspect, by further improving an opening speed of the blocking member, that is, by quickly opening the blocking member.

In some examples, the control module controls the sealed adjustment mechanism to open the blocking member at a first rate.

According to different types of the sealed adjustment mechanism, examples of the first rate are also different. For example, the sealed adjustment mechanism is a gear structure, and an example of the first rate is controlling a rotational angular speed of a gear.

To avoid affecting the cleaning effect of the carpet after large particles are cleaned up, further, after the cleaning robot finishes cleaning up large-size garbage on the carpet, the blocking member is in the closed state, or, the control module controls the blocking member to switch from the open state back to the closed state, to continue to clean off garbage in the carpet pile.

It is to be noted that, in a process of switching the blocking member from the open state to the closed state, the blocking member is closed at a second rate, and the second rate is greater than or equal to the first rate, to reduce a time of opening the blocking member. In some embodiments, the second rate is equal to the first rate, so that the service life of the sealed adjustment mechanism is improve, and a control procedure is simple.

In consideration of that large particles are usually gathered or do not cover a very large area, to reduce an impact on the cleaning effect of the carpet within the time of opening the blocking member, in some examples, after the blocking member of the cleaning robot is opened, the blocking member remains in the open state for a set time, and the control module controls the sealed adjustment mechanism to close the blocking member.

The opening time of the blocking member is controlled, to minimize a distance or an area by which the cleaning robot walks when the blocking member is open, to keep the overall cleaning effect of the carpet in an optimal state.

Further, after large particles are cleaned up, the control module controls the blocking member to be closed. When the cleaning robot detects that the blocking member is in the closed state, the control module controls the cleaning robot to restore a normal traveling speed, for example, the initial movement speed of the cleaning robot on the carpet at a restoration rate is P2, where the restoration rate P2 is greater than or equal to a speed reduction rate P1, to make the cleaning robot quickly restore a carpet processing state before processing of large particles, thereby ensuring uniformity and consistency of the cleaning effect of the carpet.

It should be pointed out that, in some examples, after large particles are cleaned up, the control module controls the blocking member to be closed. When the cleaning robot detects that the blocking member starts to be closed, the control module controls the cleaning robot restores a normal cleaning speed, for example, an initial movement speed V of the cleaning robot on the carpet at a restoration rate is P2, where the restoration rate P2 is greater than or equal to a speed reduction rate P1, to reduce the distance or area by which the cleaning robot travels on the carpet when the blocking member is open, thereby reducing an impact on the cleaning effect of the carpet.

In consideration of increasing the beauty of a carpet, the carpet usually has carpet tassels. To prevent the cleaning robot from damaging the tassels,

in some examples, referring to FIG. 48, before the cleaning robot moves onto the carpet, for example, when there is a preset distance between the front end of the body of the cleaning robot and the carpet, the blocking member is configured to be in the closed state, or, the control module controls the blocking member to be closed.

Before the cleaning robot moves onto the carpet, for example, before the cleaning robot climbs from the floor onto the carpet, the blocking member is closed, which helps to prevent the dust suction port of the cleaning robot from sucking the carpet tassels.

The first sensor 101 includes a carpet border sensor. The cleaning robot turns on the carpet border sensor, which is configured to recognize a carpet border in some embodiments, to close the blocking member before the cleaning robot moves onto the carpet.

To ensure that tassels are not sucked, in some examples, the dust suction fan is turned off at the same time when or before and after the blocking member is closed in some embodiments. Certainly, in some examples, tassels can be kept from being sucked by turning off the fan and not controlling the blocking member to be closed. This is not limited in the present disclosure.

It is to be noted that, the first sensor 101 further includes a large-size garbage recognition sensor, configured to recognize large-size garbage in some embodiments.

For ease of understanding, a running process in a scenario in which the cleaning robot climbs from a floor or another hard ground onto a carpet or another soft ground to clean the carpet is described below with reference to FIG. 49.

When the cleaning robot is in a floor cleaning mode or cleans a hard ground, the cleaning robot travels at a first movement speed and runs at a first power, the first power includes at least a power of the dust suction fan and a power of the roller brush, and the blocking member is in the open state.

When the cleaning robot recognizes that there is a carpet in front or recognizes a carpet border, the cleaning robot detects a first distance between the front end of the body and the carpet. When the first distance is less than a preset value, the control module controls the blocking member to be closed, to enable the blocking member to be switched from the open state to the closed state. In one aspect, this assists in lifting the roller brush mechanism in some embodiments, to enable the cleaning robot to ascend from the floor to the carpet. In another aspect, a tassel suction problem of a carpet with tassels can be prevented.

After climbing onto the carpet, the cleaning robot is switched from the floor cleaning mode to a carpet cleaning mode.

When the cleaning robot is in the carpet cleaning mode, the cleaning robot travels at a second movement speed and runs at a second power. The second power includes at least the power of the dust suction fan and the power of the roller brush, and the blocking member is in the closed state. The second movement speed is less than the first movement speed, and the second power is greater than the first power, to improve a quantity of beats on a carpet by the roller brush assembly within the unit time and/or a dust suction effect, which helps to improve the cleaning effect of the carpet.

Further, in a process in which the cleaning robot cleans a carpet, when the large-size garbage recognition sensor is turned on to recognize large-size garbage (for example, large particles), a distance between large particles and the front end of the body is detected. When the distance is at a particular threshold, the control module controls the cleaning robot to reduce the speed, and a speed reduction rate is P1. When the cleaning robot completes the speed reduction, for example, an initial movement speed of the cleaning robot on the carpet is reduced to a preset speed, after the cleaning robot continues to run at the preset speed by a preset distance or for a preset time, the control module controls the blocking member to be opened, to clean up the large particles.

It is to be noted that, the large-size garbage recognition sensor is turned on before the cleaning robot is switched to the carpet cleaning mode (as shown in FIG. 49) in some embodiments, or is turned on after the cleaning robot is switched to the carpet cleaning mode in some embodiments, or is turned on at the same time when the cleaning robot is switched to the carpet cleaning mode in some embodiments. This is not limited in the present disclosure.

Related detection logic related to the present disclosure is briefly described below.

A. Detection of a carpet region (far-distance detection): The cleaning robot, the handheld vacuum cleaner, or another cleaning device recognizes, through the arranged first sensor 101, whether a front region is a carpet region. The first sensor 101 is, for example, disposed at an upper position of a front portion of a body of the cleaning robot, the handheld vacuum cleaner, or another cleaning device. A detection direction of the first sensor 101 is obliquely downward.

Refer to the figure.

B. Detection of large-size garbage (for example, large particles) Regardless of whether the cleaning robot, the handheld vacuum cleaner, or another cleaning device is in an along-the-edge mode or another mode, the cleaning robot, the handheld vacuum cleaner, or another cleaning device recognizes large particles on a carpet through the first sensor 101.

Specifically, a height of an object is detected, and an object with a height less than an empirical threshold is recognized as a large particle. The empirical threshold is obtained from chocolate beans, dog food, and the like. The empirical threshold is usually several millimeters.

C. Recognition of an obstacle surmounting scenario. The cleaning robot, the handheld vacuum cleaner, or another cleaning device recognizes an obstacle surmounting scenario through the first sensor 101 disposed near an upper position of the front portion.

Specifically, a height of an object in front is detected to recognize whether the object is an obstacle that needs to be avoided (for example, an object with a height greater than 2 cm) or a low surmountable obstacle (an obstacle with a height less than or equal to 2 cm).

In some examples, to distinguish whether the object in front is a surmountable obstacle or large-size garbage, width information of the object is combined for confirmation in some embodiments.

D. Detection logic (near-distance detection) of a floor and a carpet: The cleaning robot, the handheld vacuum cleaner, or another cleaning device detects, through the second sensor 102, whether a ground is a hard ground or a soft ground, and a detection direction is downward. One or more second sensors 102 is provided in some embodiments. The second sensor 102 is disposed below the front portion of the body in some embodiments; or is disposed at another position in some embodiments, for example, is disposed at a position close to the roller brush assembly. Further, in an advancing direction of the cleaning robot, the handheld vacuum cleaner, or another cleaning device, the second sensor 102 is disposed in the front of the roller brush assembly.

It is to be noted that, the first sensor 101 is, for example, a three-dimensional (3D) time of light (TOF) camera or a 3D depth camera in some embodiments.

The second sensor 102 is, for example, a ground material sensor in some embodiments. The ground material sensor is an ultrasonic sensor in some embodiments.

E. General logic of opening and closing the blocking member. When the cleaning robot, the handheld vacuum cleaner, or another cleaning device is located on a hard ground (for example, a floor), the blocking member is in the open state. Further, the opening height of the blocking member is maximum.

When the cleaning robot, the handheld vacuum cleaner, or another cleaning device is located on a soft ground (for example, a carpet), the blocking member is in the closed state or the opening height of the blocking member decreases. Further, the blocking member is in a completely closed state, and the opening height of the blocking member is minimum.

F. Logic of a thickness of a carpet (a length of carpet fiber) and the opening height of the blocking member. For a carpet with a length of carpet fiber greater than or equal to a length threshold, the cleaning robot, the handheld vacuum cleaner, or another cleaning device does not move onto the carpet, and, for example, moves around the carpet in some embodiments.

For a carpet with a length of carpet fiber less than a length threshold, the cleaning robot, the handheld vacuum cleaner, or another cleaning device moves onto the carpet in some embodiments. Further, when the thickness of the carpet (that is, the length of the carpet fiber) is larger, the opening height of the blocking member is smaller.

G. Timing control logic of opening and closing of the blocking member. When detecting large particles, the cleaning robot, the handheld vacuum cleaner, or another cleaning device instantly controls the door (an example of blocking member) to be opened. The blocking member remains open on a floor, and therefore when large particles are detected on the floor, there is no switching action.

For a carpet, because the blocking member is closed on the carpet, when large particles are detected, the blocking member is switched from the closed state to the open state.

Certainly, due to impacts of factors such as a recognition time, there is usually a particular delay. In addition, delayed triggering and opening is actively set in some embodiments.

It at least needs to be met that the blocking member is in the open state before large particles reach the blocking member.

H. Opening state of the blocking member before the cleaning robot climbs onto a carpet. Before the cleaning robot, the handheld vacuum cleaner, or another cleaning device climbs onto the carpet, to prevent suction of carpet tassels, the blocking member is closed or the dust suction fan (a dust suction motor) is turned off.

It is to be noted that, because the roller brush is disposed in the rear, in consideration of that the dust suction fan is turned off or the blocking member is closed instantly when an edge of a carpet is recognized, and a ground between the front end of the body of the cleaning robot, the handheld vacuum cleaner, or another cleaning device and the roller brush is not cleaned, delayed closing is set in some embodiments. Certainly, a closing rate of the blocking member is controlled in some embodiments to prevent suction of carpet tassels and clean a floor as much as possible.

Change logic of a walking speed when large particles are recognized. When the cleaning robot, the handheld vacuum cleaner, or another cleaning device recognizes large particles on a floor, a traveling speed of the cleaning robot, the handheld vacuum cleaner, or another cleaning device remains unchanged.

When the cleaning robot, the handheld vacuum cleaner, or another cleaning device recognizes large particles on a carpet, a traveling speed of the cleaning robot, the handheld vacuum cleaner, or another cleaning device is reduced in some embodiments.

It is to be noted that, when a traveling speed of the cleaning robot, the handheld vacuum cleaner, or another cleaning device on a floor is greater than a traveling speed on a carpet. For example, the traveling speed of the cleaning robot, the handheld vacuum cleaner, or another cleaning device on the floor is 0.3 m/s. To improve the cleaning effect of the carpet, the traveling speed on the carpet is reduced to 0.2 m/s.

Based on the foregoing embodiments, embodiments of the present disclosure further provide a cleaning system, including, referring to FIG. 50, a base station 200 and the foregoing cleaning robot 100. The base station 200 is configured to be parked by the cleaning robot 100.

It is to be noted that, to make it convenient for the cleaning robot to park at the base station, before the cleaning robot enters a base station platform, especially before the cleaning robot enters a guide surface (for example, a slope) disposed at a front portion of the base station platform, the blocking member is in an open state.

Further, the base station 200 is further configured to provide a maintenance operation for the cleaning robot 100. The maintenance operation includes a dust collection maintenance. That is, the base station 200 collects garbage in a dust collection box 103 of the cleaning robot 100 in some embodiments.

To implement the dust collection maintenance of the cleaning robot, the base station includes a seat 201 configured for parking of the cleaning robot and a functional body configured to perform dust collection. The functional body is connected to the seat 201.

The seat 201 includes a base station dust collection port 2011, which is at least in communication with a dust box dust exit port 1031 of the dust collection box 103 when the cleaning robot performs a dust collection operation, to collect garbage in the dust collection box of the cleaning robot.

For a problem of how to ensure the communication between the base station dust collection port 2011 and the dust box dust exit port 1031, in some examples, the seat 201 has a parking space. When the cleaning robot is located in the parking space, the base station dust collection port is in communication with the dust box dust exit port.

To ensure that the cleaning robot is located in the parking space and avoid a problem that the base station dust collection port 2011 is not aligned with the dust box dust exit port 1031, which affects a dust collection efficiency, in some examples, a limiting assembly is disposed on the seat 201. The limiting assembly is, for example, a groove configured to limit the walking wheel (for example, a drive wheel) of the cleaning robot or a charging pole piece configured to be joined to the charging electrode of the cleaning robot to perform charging. When the charging electrode of the cleaning robot is joined to the charging pole piece, it is determined that the cleaning robot is located in the parking space. To ensure that the charging electrode is accurately joined to the charging pole piece, further, when the charging electrode is in contact with the charging pole piece, an electrical signal is detected through a sensor in some embodiments, to determine that the charging electrode is successfully joined to the charging pole piece. The sensor configured to detect the electrical signal is disposed on at least one of the base station and the cleaning robot.

The foregoing functional body includes a dust box maintenance apparatus. The dust box maintenance apparatus includes at least a dust bag 202 and a suction air duct 203. One end of the suction air duct 203 is connected to the base station dust collection port 2011, and the other end is connected to the dust bag 202. A volume of the dust bag 202 of the base station is far greater than a volume of the dust collection box 103 of the main unit, so that the dust collection maintenance can be performed on a dust box a plurality of times, and a total maintenance time of the dust box can be extended. Moreover, when the volume of the dust bag is large, a maintenance time of the dust bag by the user can be extended.

The dust box maintenance apparatus includes a suction assembly (blocked, and not labeled in the figure), and the suction assembly is configured to provide a suction force, to suck garbage in the dust box of the cleaning robot into the dust bag. In an example, the suction assembly includes a base station fan (also referred to as a dust collection fan 25), disposed at a distal end of the air flow path 205.

According to a suction principle, the air flow path 205 that implements dust collection should be kept smooth. Therefore, if the blocking member 110 is in a closed state, the air flow path 205 is obstructed in some embodiments, affecting the dust collection efficiency. The air flow path 205 starts from an outside of the cleaning robot 100, sequentially passes through the dust suction port 12 of the cleaning robot 100, the air duct 240, the dust box dust exit port 1031, the base station dust collection port 2011, and the suction air duct 203 of the base station 200, and reaches the dust bag 202.

Therefore, to ensure the dust collection efficiency, in some examples, the blocking member 110 is configured to be in the open state at least in a case that the base station 200 performs the dust collection maintenance on the cleaning robot 100.

For example, when the cleaning robot 100 requires the dust collection maintenance, the cleaning robot is parked in the parking space of the seat 201 of the base station, and the cleaning robot controls the blocking member 110 to be opened.

Further, to ensure that the blocking member is opened, the system further includes a detection assembly, disposed on at least one of the cleaning robot or the base station, and configured to at least detect a state of the blocking member when the base station performs the dust collection maintenance on the cleaning robot.

In some examples, the detection assembly includes an in-position detection sensor, disposed on the cleaning robot, especially disposed on the sealed adjustment mechanism, and configured to perform in-position detection on the opening and closing of the blocking member.

It is to be noted that, for specific content of the detection assembly, refer to the foregoing description. Details are not excessively described herein.

In consideration of that complexity of the dust collection operation is increased due to control of the blocking member to be opened each time, and moreover, because the sealed adjustment mechanism is faulty or fail to be reset in some embodiments, the blocking member is not open, which further affects dust collection, in addition, to ensure reliable running of a dust collection function, a detection element configured to detect the closed state of the blocking member further needs to be disposed in some embodiments, causing an increase in costs.

To avoid at least one of the foregoing problems, in some examples, referring to FIG. 51, the seat 201 of the base station 200 includes an air intake channel 2012, configured to communicate an external space of the cleaning robot and the dust suction port 12 of the roller brush mechanism.

The air intake channel is provided. In this case, the blocking member is in the open state in some embodiments or is in the closed state in some embodiments. Therefore, dust collection can be implemented without detecting the closed state of the blocking member, thereby ensuring the dust collection efficiency. Moreover, because it is not necessary to detect the closed state of the blocking member, it is not necessary to additionally arrange a sensor for detection, so that the complexity of the dust collection operation is reduced, and costs are reduced.

In some examples, at least a part of the air intake channel 2012 is located in a projection range of the roller brush mechanism.

For example, when the cleaning robot is located on the seat (specifically, the parking space of the seat), at least a part of the air intake channel 2012 is located in a projection region of the roller brush mechanism projected onto the seat.

Further, at least one clearance 206 exists between the roller brush assembly 220 and the roller brush support 230, and the clearance 206 allows an external air flow to flow into the air duct in some embodiments. Therefore, a part of the air intake channel 2012 is provided below a position of any clearance in some embodiments.

It is to be noted that, when the roller brush assembly includes at least two roller brushes, the clearance 206 also exists between two adjacent roller brushes. In this case, a part of the air intake channel is provided below a position corresponding to the clearance between the adjacent roller brushes in some embodiments.

In some examples, one side of the air intake channel 2012 is in communication with an outside, and the other side is in communication with the clearance 206, so that the other side of the air intake channel 2012 is disposed below a position of any clearance 6 in some embodiments, or, the other side of the air intake channel 2012 is connected to at least one clearance 6, to enable the air intake channel to communicate the outside and the clearance for an air flow to flow, thereby ensuring the dust collection efficiency.

In consideration of implementing purification of an air flow and preventing an air flow from carrying a foreign object to cause pollution or damage to a fan (a main unit fan or a negative pressure fan) providing a negative pressure on a cleaning robot, a vacuum cleaner, or another cleaning device, for this, in some examples, a high-efficiency particulate air filter (hepa) is disposed at an exit (an end of a connection channel between the dust collection box and the fan) of a dust suction system (especially a dust collection box) of the cleaning robot, the vacuum cleaner, or another cleaning device.

Further, after the hepa is used, with cleaning of the cleaning device, lint, hair, dust, and other foreign objects gradually accumulate on the hepa and gradually clog the hepa, leading to a great decrease in an air intake amount of the fan, which further greatly reduce a suction power of the fan, and results in a great decrease in a cleaning capability of the cleaning device.

In consideration of this, to avoid such a problem, currently, in most products, the hepa is usually replaced with a washable material (with a surface coating), allowing a manual cleaning manner of manual rinsing by a user. However, such a manual cleaning manner requires disassembly and rinsing of the hepa by the user, which greatly reduces user experience.

To mitigate such a problem, in some existing products, a pre-filtering apparatus is added in front of the hepa. For example, in Dyson, Samsung, and other robotic vacuum cleaners, a cyclone apparatus is disposed in front of the hepa to perform pre-filtering, to reduce the entry of dust, lint, hair, and the like into the hepa, thereby reducing the frequency of manually cleaning the hepa. In an example, in Ecovacs, Media, and the like, a fixed is disposed in front of the hepa to reduce entry of lint, hair, and other large garbage into the hepa.

However, in the foregoing solution of pre-filtering through the cyclone apparatus, the frequency of maintaining the hepa is reduced. However, the following problems exist: 1. The cyclone apparatus also requires a maintenance, especially when a ground is severely dirty, there are a lot of particles, there is a lot of pet hair, or in a carpet scenario, the cyclone apparatus is very easily stuck by particles, hair, lint, and the like. 2. The cyclone apparatus occupies a large space, and the volume of the dust collection box is reduced. As a result, garbage gets stuck more easily, the machine fails to work normally, and a manual maintenance of the user is required, which affects user experience. Moreover, the cyclone apparatus occupies a large space, and a machine using the cyclone is usually tall, which is not conducive to cleaning of a low space.

The manner of arranging a fixed filter in front of the hepa filter has the following problems: During a dust collection maintenance, dust on the hepa filter falls between to the hepa and the filter, and manual cleaning by the user is also required.

In summary, a cleaning device using the hepa has at least the following problems: 1. With the use of the hepa, the hepa is gradually clogged by deposits, leading to a rapid decrease in a cleaning effect of a ground, which affects user experience. 2. Frequent assembly and disassembly of the hepa and manual cleaning of the hepa affect user experience. When a pre-filtering apparatus is added to a cleaning device to reduce the frequency of cleaning the hepa, costs of the device are increased, and moreover, the device still requires manual cleaning (for example, cleaning of the cyclone apparatus or cleaning up of dust between the fixed filter and the hepa). The frequent assembly and disassembly of the device for manual cleaning affect user experience.

In view of this, the present disclosure provides a solution free of a manual maintenance of the hepa. The base station performs an automatic hepa maintenance operation (for example, each time the cleaning device completes cleaning, the cleaning device reaches the base station configured to maintain the cleaning device, especially when a maintenance is required, the base station performs a hepa maintenance operation on the hepa), to avoid a problem of clogging of the hepa, so that the cleaning capability of the cleaning device is not affected. Moreover, this helps to implement that in the life cycle (for example, 6 months) of the hepa, the user does not need to manually clean the hepa, so that user experience is improved, and maintenance costs are low.

In some examples, in a case that the base station performs the hepa maintenance operation, the blocking member is in the closed state, as shown in FIG. 77.

It is to be noted that, in a case that the maintenance operation is performed on the filtering apparatus (for example, the hepa), the blocking member is in the closed state at least part time.

For example, the blocking member remains in the closed state in an entire process of performing the maintenance operation on the filtering apparatus (for example, the hepa) in some embodiments.

In an example, in the entire process of performing the maintenance operation on the filtering apparatus (for example, the hepa), the blocking member is in the closed state in a plurality of different periods of time in some embodiments. For example, in a pulse control manner, the blocking member is enabled to switch repeatedly between the open state and the closed state, to implement the self-cleaning of the hepa. Certainly, the blocking member is in the closed state within a specific period of time in some embodiments. For example, when the blocking member is in the open state (for example, performs the maintenance operation on the dust box) and has remained in the open state for a preset time (for example, remains in the open state for a period of time after the maintenance operation of the dust box is completed), the blocking member is closed, to enable the blocking member to be in the closed state and remain in the closed state for a specific period of time, to implement the self-cleaning of the hepa.

When the base station performs the automatic maintenance operation on the hepa, to clean up garbage on the hepa, the blocking member is closed in some embodiments. Under the action of the blocking member or the blocking member and a rear side wall of the dust suction system, an air flow can only be blown into the dust collection box through a channel 2, that is, blown through a surface (rear surface) of the hepa close to the negative pressure fan of the cleaning device, to enable the air flow generated by the base station fan (the suction assembly) to be blown through the hepa, thereby cleaning the hepa well.

It is to be noted that, in some examples, an end portion of the rear side wall of the dust suction system extends to a position close to a ground in some embodiments, or a scraper 116 is disposed on the rear side wall of the dust suction system in some embodiments, to prevent dust from escaping through the opening portion at the rear side wall, thereby improving the cleaning effect. In addition, the scraper is disposed, so that a wear problem caused by contact and friction between the rear side wall and a ground can be further avoided, to avoid affecting the service life of the robot. In some examples, the scraper is detachably disposed at an end portion of the dust suction system, to facilitate replacement.

In some examples, in a case that the base station performs a dust collection maintenance operation on the dust collection box of the cleaning device, the blocking member is in the open state, as shown in FIG. 78. Further, the maintenance operation on the hepa by the cleaning device is performed after the dust collection maintenance operation of the dust collection box.

For ease of understanding, for example, the cleaning device is a cleaning robot, and a central dust collection process of the cleaning robot is briefly described below in combination with the accompanying drawings.

Referring to FIG. 77 to FIG. 81, the cleaning robot includes a roller brush assembly, a dust collection box, a fan providing a negative pressure (also referred to as a negative pressure fan), a channel 1, a channel 2, a channel 3, and a blocking member. A hepa is disposed in the dust collection box.

In some examples, the roller brush assembly includes a first roller brush and a second roller brush, that is, the cleaning robot uses a double-roller brush structure.

The central dust collection process (a dust collection fan of a base station starts to work) of the base station mainly includes the following 2 phases:

A central dust collection phase 1 is also referred to as a dust collection box maintenance phase. The blocking member is in an open state. A suction assembly of the base station, especially a base station fan (also referred to as the dust collection fan), sucks garbage in a dust collection box of the cleaning robot, to suck the garbage in the dust collection box into a dust bag of the base station, thereby emptying the garbage in the dust collection box.

In the foregoing phase 1, the blocking member is opened, to enable an air flow to enter the dust collection box through the channel 1 and also flow from the channel 3, through the fan, and through the channel 2 to enter the dust collection box. A total amount of air flow flowing through the dust collection box is large, which helps to improve an emptying rate (for example, an emptying efficiency and an emptying level) of the dust collection box.

A central dust collection phase 2 is also referred to as a hepa maintenance phase. The blocking member is in a closed state. The suction assembly of the base station, especially the base station fan (also referred to as the dust collection fan), sucks garbage on the hepa, to blow off the garbage on the hepa and suck the garbage into the dust bag of the base station, thereby cleaning the hepa.

In the foregoing phase 2, the blocking member is closed, and the central dust collection process continues (the base station fan starts to work). In this case, because the blocking member is closed, an air flow can only flow from the channel 3, through the negative pressure fan and the cleaning robot, and through the channel 2 to enter the dust collection box. Garbage on the hepa is blown off by the air flow flowing through the hepa. For example, the garbage falls in the dust collection box, is carried away (separated from the dust collection box) by an air flow generated by the base station fan that performs the central dust collection process, and is sucked into the dust bag of the base station, thereby implementing the cleaning of the hepa.

To improve a cleaning effect of the hepa, in some examples, in a case that the dust collection box maintenance phase ends or the emptying of the dust collection box is completed, the dust collection fan pauses in some embodiments. For example, a controller of the base station controls the dust collection fan to be turned off to make the dust collection fan pause (the central dust collection process pause). That the dust collection box maintenance phase ends or the emptying of the dust collection box is completed is represented in one of the following manners in some embodiments: a cleaning time of the dust collection box reaches a preset time, a garbage amount in the dust collection box is less than a threshold, and the like. The cleaning time of the dust collection box is represented by an open time of the dust collection fan or an open time of the blocking member in some embodiments. The garbage amount in the dust collection box is implemented through position detection by an infrared sensor or another position detection apparatus in some embodiments.

The blocking member is closed at the same time when the dust collection fan is turned off or a period of time after the dust collection fan is turned off, to perform the phase 2. The dust collection fan is turned on at the same time when the blocking member is closed or the preset time after the blocking member is closed, to enable the dust collection fan to continue to work, and the central dust collection process continues. The opening or closing of the blocking member is, for example, detected by an in-position detection apparatus in some embodiments. For this, details are not described again herein. The foregoing period of time or the preset time is set as required in some embodiments, for example, set to be less than or equal to a threshold time. The threshold time is, for example, determined according to a time taken to open or close the fan or the blocking member in some embodiments. This is not limited herein.

The dust collection fan is controlled to temporarily pause. That is, the dust collection fan is turned off and then turned on, to generate an instantaneous air flow to impact the hepa, thereby improving the cleaning effect of the hepa.

Further, in an automatic maintenance process (the phase 2) of the hepa, instantaneous air flows are further generated repeatedly by repeatedly turning on and off the dust collection fan in some embodiments, to better clean the hepa. Time intervals of turning on and off the fan are set as required in some embodiments, and are set to be the same in some embodiments or are set to be different in some embodiments. For example, for the time intervals, pulse signals are used to implement the control of on or off of the dust collection fan in some embodiments.

It is to be noted that, in some examples, after one instantaneous air flow is generated, continuous normal working of the dust collection fan can be kept without repeatedly turning on and off the dust collection fan.

Certainly, in some examples, the dust collection fan does not pause between the phase 1 and the phase 2. Only in the phase 2 (the automatic maintenance process of the hepa), the dust collection fan is turned off at the same time when or a period of time after the blocking member is closed, then time intervals are set to turn on the dust collection fan to generate instantaneous air flows, and the generated instantaneous air flows impact the hepa, thereby improving the cleaning effect.

Further, the foregoing actions of turning on and off the dust collection fan are repeatedly to generate instantaneous air flows, to better clean the hepa. For example, pulse signals are used to control the dust collection fan to implement the stable generation of repeated instantaneous air flows. Similarly, time intervals of turning on (or off) the dust collection fan are set as required in some embodiments, and are set to be the same in some embodiments or are set to be different in some embodiments. For example, for the time intervals, pulse signals are used to implement the control of on or off of the dust collection fan in some embodiments.

To improve the cleaning effect of the hepa, in some other examples, in a case that the dust collection box maintenance phase ends or the emptying of the dust collection box is completed, the blocking member is still in the open state and remains open for a preset time in some embodiments. For example, within an initial time of the maintenance phase of the hepa, the blocking member is controlled to remain in the open state for the preset time, and then a controller of the cleaning robot controls the blocking member to be closed or the controller of the base station interacts with a controller of the cleaning robot to control the blocking member to be closed, to enable the blocking member to be in the closed state, so that while the cleaning effect of the hepa is improved, control of turning off of the dust collection fan can be prevented, thereby simplifying control logic, reducing frequently turning on and off of the dust collection fan, and improving the service life of the fan. That the dust collection box maintenance phase ends or the emptying of the dust collection box is completed is represented by one of the following manners in some embodiments: the cleaning time of the dust collection box reaches the preset time, the garbage amount in the dust collection box is less than the threshold, and the like.

In the maintenance phase of the hepa, the blocking member is controlled to still temporarily open, and is then closed, that is, the blocking member is opened first and then closed, so that dust and the like that fall into a dust box from the hepa can still be sucked away, thereby improving the cleaning effect of the hepa.

FIG. 82 is a schematic diagram of the central dust collection process.

As shown in FIG. 82, a process of the entire central dust collection mainly includes:

The cleaning robot returns to the base station. When the cleaning robot needs to return to the base station for a maintenance, for example, when the cleaning robot requires a dust collection maintenance (the central dust collection process) or receives a maintenance instruction, the cleaning robot automatically returns to the base station, and is joined to the base station. When the two are joined, a channel 4 (that is, a suction air duct) configured for the dust collection maintenance is in the open state.

The blocking member is opened.

The blocking member is opened, to enable the blocking member to be in the open state, getting ready to empty the dust collection box.

The dust collection fan is opened, and the central dust collection phase 1 is started.

The dust collection fan is opened, to enable the dust collection fan to be in a working state. The central dust collection phase 1 is started, to empty the dust collection box of the cleaning robot, where for representation of the emptying of the dust collection box, refer to the foregoing, and details are not described herein again.

The blocking member is closed.

In a case that the dust collection box is emptied, the blocking member is closed, to enable the blocking member to be in the closed state.

The central dust collection phase 2 continues.

The dust collection fan continues to work, to clean up the garbage on the hepa.

The central dust collection process ends.

When the cleaning effect of the hepa meets a preset condition, for example, when a cleaning time (which is represented by a closed time of the blocking member or represented by a working time of the dust collection fan in the phase 2 in some embodiments) of the hepa meets a cleaning threshold or when a dirty level of the hepa is less than a threshold, the central dust collection process ends.

Certainly, in some examples, in addition to arranging the blocking member, a closeable sealing door is further additionally disposed in some embodiments, to implement the self-maintenance of the hepa. An arrangement position of the sealing door is disposed at a preset position of the channel 1 in some embodiments, or is disposed at an inlet of the dust collection box in some embodiments, provided that an air flow flowing from the channel 1 into the dust collection box can be reduced or even avoided or an air flow can flow through the hepa more effectively during central dust collection, thereby implementing effective cleaning of the hepa.

The present disclosure further provides another self-maintenance solution of a hepa of a cleaning robot.

Referring to FIG. 83 to FIG. 86, the cleaning robot includes a roller brush mechanism, a dust collection box, and a fan providing a negative pressure. The roller brush mechanism includes a housing and a roller brush assembly. The roller brush assembly is disposed in the housing. The housing has a connecting portion, to connect a channel 1 and (an entrance) of the dust collection box. When rotating, the roller brush assembly beats a cleaning surface to separate a foreign object from the cleaning surface. The foreign object is sucked into the dust collection box through the channel 1 under the action of a negative pressure fan.

In some examples, the roller brush assembly includes one roller brush, that is, the cleaning robot uses a single-roller brush structure.

To prevent a foreign object from escaping from a rear end of a roller brush, in some examples, a scraper is disposed at a position of the housing close to the rear end of the roller brush.

In some examples, a channel 2 is provided between the dust collection box and the negative pressure fan. To prevent a foreign object from entering the negative pressure fan through the channel 2 and affecting the fan, in some examples, a hepa is disposed on a side of the dust collection box close to the negative pressure fan or at an exit of the dust collection box or in the channel 2.

To implement the self-maintenance of the hepa, in some examples, the cleaning robot further includes an openable maintenance switch 115. The maintenance switch is, for example, a valve in some embodiments.

In some examples, in a case that a base station performs a hepa maintenance operation on the cleaning robot, the maintenance switch is in a closed state.

In some examples, in a case that the base station performs a dust collection box maintenance operation on the cleaning robot, the maintenance switch is in an open state.

Further, the maintenance operation on the hepa by the cleaning device is performed after the dust collection maintenance operation of the dust collection box.

In some examples, the maintenance switch is disposed at a preset position of the channel 1, and the cleaning and maintenance of the hepa are implemented through switching between the open state and the closed state.

Further, the maintenance switch is disposed on a side of the channel 1 close to the dust collection box in some embodiments. Furthermore, the maintenance switch is disposed at a connection between the channel 1 and the dust collection box.

In some examples, the channel 1 is made of a flexible material.

The flexible material is usually easily deformable and cannot ensure sealing performance of the channel 1, easily causing clogging of the channel 1.

In an embodiment, the maintenance switch is disposed at the entrance of the dust collection box, to prevent clogging of the channel 1. Moreover, the dust collection box is not easily deformable, and therefore it is easy to arrange the maintenance switch. Compared with a flexible material, the sealing performance is improved.

Certainly, in some examples, the maintenance switch is further disposed at another positioning some embodiments, provided that the sealing of the channel 1 can be implemented. For example, the maintenance switch is disposed at a position of the housing away from the channel 1. As shown in FIG. 87 and FIG. 88, the maintenance switch is disposed at a position of the housing close to a front end of the roller brush.

It is to be noted that, the foregoing self-maintenance solution of a hepa is applicable to any device or part that requires filtering, for example, is used in a cleaning robot in some embodiments, and is used in a vacuum cleaner in some other embodiments. The solution is applicable to a cleaning device with double roller brushes, and is also applicable a cleaning device with only a single roller brush. Certainly, the foregoing solution is applicable to a cleaning device to which a pre-filtering apparatus is added in some other embodiments, so that the maintenance of the pre-filtering apparatus can be implemented.

In a process in which the cleaning robot cleans a to-be-cleaned surface, the cleaning robot inevitably encounters hair that falls from a person or an animal. To avoid a problem caused by hair entanglement, for example, a problem that hair is entangled on the roller brush assembly of the cleaning robot to affect a cleaning effect, or a problem that hair is entangled on a walking mechanism of the cleaning robot to affect movement, further, referring to FIG. 50, the base station 200 further has a hair cutting apparatus 207, configured to perform a hair cutting operation on the cleaning robot, to maintain the roller brush assembly or the walking mechanism.

In consideration of the problem of how to process hair after the hair cutting apparatus 207 performs the cutting operation on hair, further, the cleaning robot collects cut hair in some embodiments. Specifically, after the hair cutting apparatus 207 completes the cutting operation on hair, the cleaning robot turns on the roller brush assembly 220 in some embodiments, for example, turns on a dust suction fan and/or a roller brush, to suck cut hair into a dust collection box 103. Then, a functional body configured for dust collection of the base station 200 collects the hair in a dust bag 202.

In consideration of improving the passability of hair in a process of sucking hair into the dust collection box by the cleaning robot to improve a collection effect of hair, in some examples, a blocking member 110 is configured to be in an open state after hair cutting is completed.

During a hair cutting maintenance for the roller brush assembly or the walking mechanism of the cleaning robot, after the hair cutting operation is completed, the blocking member is opened, to enable an air flow to flow smoothly, which helps to suck cut hair into the dust collection box, thereby improving the collection effect of hair.

Further, after hair cutting is completed, during suction of hair into the dust collection box 103, the blocking member 110 is configured to be in the open state.

Certainly, in some examples, the blocking member is in the open state before the roller brush assembly is turned on, especially before the dust suction fan is turned on in some embodiments.

In some examples, in consideration of a large adhesive force of hair, after hair cutting is completed, the blocking member 110 is configured to be in the closed state, to improve a suction force for sucking hair, so that hair is sucked up more easily, which facilitate collection of hair.

It is to be noted that, in an embodiment, the hair cutting apparatus is disposed on the cleaning robot in some embodiments. For this, this is not limited in this embodiment.

Certainly, in an embodiment, in addition to the foregoing dust collection operation and hair cutting operation, the maintenance operation further includes charging, water supplement, replacement of a wiping member (for example, a mop), washing of the wiping member, and the like in some embodiments. Correspondingly, the base station includes corresponding functional bodies for performing the foregoing maintenance operations. This is not limited in the present disclosure.

As shown in FIG. 52, in a case of a single roller brush, because there is only one stroke of beating, a dust agitation effect is poor. In addition, at a rear side wall 2310, a rotational direction of the roller brush is the same as a flowing direction of an air flow (a backward air flow). A flow path of the air flow (the backward air flow) along the rear side wall 2310 is short, and flowing of the air flow is also smooth. As a result, the air flow (the backward air flow) cannot effectively perform deep cleaning inside a carpet, and therefore there is a large loss in energy that can perform effective cleaning. Therefore, a dust suction effect fails to be improved greatly. In addition, it is to be noted that, because a clearance exists between the rear side wall and the cleaning surface, a forward air flow (that is, a front air flow) has a part that escapes from the clearance between the rear side wall and the cleaning surface, which also causes a loss in energy that can perform effective cleaning. As shown in FIG. 54, in a case of double roller brushes, because there are two strokes of beating, a quantity of beats is increased compared with a single roller brush, thereby improving the dust agitation effect. In addition, at the rear side wall 2310, a rotational direction of a rear roller brush 2202 is opposite to the flowing direction of the air flow, so that the flowing of the backward air flow along the rear side wall 2310 is blocked, to force the backward air flow to pass through pile inside a carpet and enters a dust box through a channel between the two roller brushes. In this way, the forward air flow and the backward air flow both flow inside the carpet to perform deep cleaning, so that energy utilization is high, a loss in energy that performs effective cleaning is small, and the dust suction effect is improved significantly. A flow rate C of an air flow is approximately equal to a sum of a flow rate of a forward air flow C1 and a flow rate of a backward air flow C2. Further, the blocking member 110 is arranged, especially a farthest end of the blocking member 110 extends to a position close to contact between the roller brush and a ground, so that C1 is basically equal to C2.

It is to be noted that, as shown in FIG. 54, in a case of double roller brushes, in an advancing direction of the cleaning robot, the double roller brushes include a first roller brush and a second roller brush that are sequentially disposed. The first roller brush and the second roller brush rotate in opposite directions.

Further, the first roller brush is a pure-rubber brush (that is, only including rubber strips), and the second roller brush is a hair-containing roller brush (for example, a brush with mixed rubber strips and bristles, a hair brush with mixed soft hair and hard hair, or a pure hair brush). The rubber strips have a good beating effect on a carpet, but generate noise due to friction. Therefore, in a double-roller brush structure, during cleaning of a carpet, a degree of interference of the first roller brush is less than a degree of interference of the second roller brush. The degree of interference is used for representing a degree to which the roller brush sinks in the carpet and is away from a surface of the carpet. For example, during the cleaning of the carpet, a degree L3 of interference of the first roller brush is less than a degree L4 of interference of the second roller brush, as shown in FIG. 54. In the double-roller brush structure, during the cleaning of a floor, a spacing between the first roller brush and the floor is greater than a spacing between the second roller brush and the floor. If the second roller brush contains rubber strip and bristles, the bristles in the second roller brush touches the floor, and the rubber strips in the second roller brush do not touch the floor. For example, the first roller brush is not in contact with the floor. The bristles in the second roller brush are in contact with the floor, and the rubber strips in the second roller brush do not touch the floor. For example, a length of the bristles in the second roller brush in a direction perpendicular to a ground direction is greater than a length of the rubber strips in the direction perpendicular to the ground direction. In this way, the bristles can implement the cleaning effect on the floor, and the rubber strips can improve a beating capability on a carpet, which helps to improve a cleaning effect of the carpet. Moreover, because the rubber strips do not touch the floor during cleaning of the floor, noise generated from friction between the rubber strips and a ground is favorably reduced, thereby improving user experience.

As shown in FIG. 53, the flow rate C of the air flow is approximately equal to a sum of a flow rate of a front air flow C1′ and a flow rate of a backward air flow C2′. A flow path of the forward air flow is short, and flowing is smooth. Therefore, the flow rate of the front air flow C1′ is greater than the flow rate of the backward air flow C2′. That is, energy of C2′ is small. However, the structure of the rear roller brush remains unchanged. Therefore, energy utilization remains unchanged. Therefore, effective dust suction energy D2′ corresponding to C2′ decreases. In addition, in a case that a suction force is the same, the flow rate of the front air flow C1′ in FIG. 53 is greater than the flow rate of the front air flow C1 in FIG. 54. Although energy of C1′ is large, compared with FIG. 54, a forward structure in FIG. 53 has changed (without blocking), energy utilization of an air flow decreases. A path along which the forward air flow flows inside a carpet becomes shorter. That is, the flow rate of the front air flow C1′ is near the surface of the carpet, but fails to enter the carpet. Therefore, effective dust suction energy D1′ corresponding to C1′ decreases. The effective dust suction energy is configured to represent energy that is configured for deep cleaning, and is related to energy and energy utilization. For example, in some examples, the effective dust suction energy is approximately equal to a product of multiplying energy of an air flow and energy utilization. In summary, compared with FIG. 54, in FIG. 53, total dust suction energy D=D1′+D2′ decreases, and the cleaning effect is poor.

In addition, in FIG. 53, because a front opening is large and has a small resistance and a degree of interference of a front roller brush is less than that of a rear roller brush, a rear air flow escapes from the front opening in some embodiments, thereby reducing effective cleaning energy; especially during cleaning of a floor, because a ground clearance of the front roller brush is greater than a ground clearance of the rear roller brush, and more of the rear air flow leaves from the clearance between the front roller brush and the floor through the opening, and more energy of the air flow is lost.

In some examples, referring to FIG. 54, during cleaning of a carpet, an amount L3 of interference of the front roller brush 2201 (close to the blocking member 110) is less than an amount L4 of interference of the rear roller brush (away from the blocking member). The front roller brush is a roller brush close to the blocking member, and the rear roller brush is a roller brush away from the blocking member.

Referring to FIG. 55 to FIG. 58, in consideration of a problem of an uneven ground or a problem of a poor joint between a roller brush and a ground, real-time sealing is implemented through at least one of the following manners in some embodiments:

The roller brush assembly is floatable. To improve adaptability to an uneven ground, in some examples, a roller brush support or the roller brush assembly is floatable. Further, the blocking member is also floatable. To implement floatable real-time following, the blocking member 110 should be mounted on a roller brush support 230.

In a length direction of the roller brush, a space is reserved between at least one side of the blocking member and a corresponding side of the roller brush support 230. The space is configured to arrange a connecting portion of the roller brush cover 260 and the roller brush support 230 in some embodiments.

In some examples, one space is respectively reserved between each of two sides of the blocking member and each of two sides of the roller brush support 230. The two spaces are respectively configured to arrange the connecting portion of the roller brush cover 260 and the roller brush support 230 in some embodiments. For example, the blocking member is disposed in the middle of the roller brush mechanism, and the connecting portion of the roller brush cover 260 and the roller brush support 230 is located on the two sides of the blocking member.

The entire roller brush mechanism is floatable. The roller brush mechanism includes at least the roller brush support 230 and the blocking member and the roller brush assembly that are disposed on the roller brush support 230. In addition, the roller brush mechanism further includes a roller brush motor configured to drive the roller brush assembly to move, a blocking member drive motor configured to drive the blocking member to move, a transmission system connected to the blocking member and the blocking member drive motor, an in-position detection sensor detecting whether the blocking member moves in position, and the like in some embodiments. The transmission system is, for example, a gear rack structure in some embodiments. The in-position detection sensor includes, for example, a blocking member opening in-position detection sensor and a blocking member closing in-position detection sensor.

A cleaning effect of a carpet or another soft ground is improved by improving a sealing effect of the roller brush assembly in some embodiments. In one aspect, the sealing effect of the roller brush assembly is improved in the following manner in some embodiments:

A: A closing degree of a sealed adjustment mechanism (especially the blocking member) is adjusted to improve the sealing effect of the roller brush assembly. A sealing degree of the roller brush assembly and a flow rate of an air flow flowing inside a carpet is adjusted by adjusting the closing degree, for example, by controlling a free end of the blocking member to extend to a position close to contact between the roller brush and a ground in some embodiments. In some examples, referring to FIG. 55, a value range of a distance between the free end (an end portion close to a cleaning ground in a vertical direction) of the blocking member and the hard ground is M. The value range M is less than or equal to 3 mm, so that when the cleaning robot cleans a carpet or another soft ground, because the carpet is soft, the roller brush sinks in the carpet by a particular height in some embodiments. In this case, a distance from the free end of the blocking member to the carpet is smaller than that to a hard ground, thereby reducing a flow rate of an air flow flowing through an outside (for example, a clearance between the free end of the blocking member and the carpet) of the carpet, to ensure that more air flows can flow inside the carpet to clean off garbage in pile of the soft ground or fiber of the soft ground, thereby improving the cleaning effect of the carpet.

In another aspect, the sealing effect is improved in the following manner in some embodiments:

B: At least one of a position, a thickness, or a shape of the blocking member is designed, so that when the blocking member is closed, an inner side edge 1100 of the blocking member is as close to the roller brush as possible, to improve the sealing effect, thereby reducing a flow rate of an air flow in a path from a non-dust suction port side (a side of the roller brush away from a dust suction port, for example, two ends of the roller brush support 230) through the outside of the carpet. For example, when the blocking member is closed, the inner side edge of the blocking member extends to a position close to a side of the roller brush away from the dust suction port. In some examples, referring to FIG. 55 and FIG. 60, a distance between a farthest end T (in other words, the closest end of the inner side edge 1100 close to a ground) of the inner side edge (in a horizontal direction, a surface facing the roller brush) of the blocking member 1100 away from a body and a projection point TO projected to a side of the roller brush away from the dust suction port is N. A value of N is within a range less than or equal to 5 mm. Further, in some other examples, a projection Ay of the farthest end of the blocking member in the vertical direction is located between a projection Ry of an outer contour of the roller brush in the same direction and a projection Yo of a roller brush center A2 in the same direction. A projection Ax of the farthest end of the blocking member in the horizontal direction is located between a projection Rx of the outer contour of the roller brush in the same direction and a projection Xo of the roller brush center A2 in the same direction. That is, a distance between the farthest end of the blocking member and a roller brush axis (passing through the roller brush center A2) in the vertical direction and a distance between the farthest end of the blocking member and the roller brush axis (passing through the roller brush center) in the horizontal direction are both less than a radius R of the roller brush.

Ax is related to the radius R of the roller brush. Therefore, Ax is obtained according to a radius R of the roller brush in some embodiments. In some examples, when the radius of the roller brush increases, Ax also correspondingly increases. A relationship between the two is, for example: when the blocking member is closed, a value of Ax/R ranges from 0.5 to 1 (including endpoint values). Similarly, a value of Ay/R ranges from 0.5 to 1 (including endpoint values).

In some examples, R²is less than or equal to Ax²+Ay²and is less than or equal to 1.1R².

To enable the free end (or the farthest end of the inner side edge) of the blocking member in the closed state to be as close as possible to a position of contact between the roller brush and a ground, or to enable the free end (or the farthest end of the inner side edge) of the blocking member in the closed state to be as close as possible to the roller brush, in some examples, referring to FIG. 60, a rotational axis (passing through a rotational center A1, and perpendicular to a paper surface direction) of the blocking member 110 and a rotational axis f (passing through a rotational center A2, and perpendicular to the paper surface direction) of the roller brush are offset, so that the space is more compact. The “offset” is to be understood as that the rotational axis of the blocking member and the rotational axis of the roller brush do not overlap or are non-colinear.

In some examples, the blocking member has a rotational radius RA. The rotational radius RA of the blocking member is greater than a rotational radius R of the roller brush. In other words, a height of the rotational center A1 of the blocking member is greater than a height of the rotational center A2 of the roller brush. In this way, when the blocking member is closed, the blocking member can be as close as possible to a position of contact between the roller brush and a ground, and in addition, a spatial structure of the roller brush assembly is more compact.

In some examples, a value of RA/R ranges from 1.1 to 1.3.

In consideration of how to keep the balance of the roller brush mechanism, in some examples, referring to FIG. 61, a roller brush drive assembly (for example, including a roller brush motor 1401 and a roller brush reducer gearbox 1402) and a drive mechanism 129 (for example, including a drive motor 1291 and a reducer gearbox 1292) of the blocking member 110 are respectively arranged on two sides of the roller brush (in the length direction). In other words, the roller brush drive assembly and the blocking member drive mechanism are respectively arranged on two sides of a center plane P of the roller brush mechanism.

In some examples, projections of the roller brush motor and the drive motor in an axial direction do not overlap in some embodiments. For example, projections of the roller brush motor and the drive motor on a center plane do not overlap.

In consideration of that a driving force required for the roller brush is usually greater than a driving force for the blocking member, therefore, a weight (or size) of the roller brush drive assembly usually needs to be greater than a weight (or size) of the blocking member drive mechanism. For this, to ensure the smoothness of the roller brush mechanism, in some examples, the roller brush mechanism further includes a balance block 1403. The balance block 1403 is disposed on a side of the center plane P close to the blocking member drive mechanism.

In some examples, to keep the roller brush support 230 from moving outside a floating space, in some examples, the roller brush mechanism further includes a float limiting portion 231 disposed on the roller brush support 230, to limit floating of the roller brush support 230.

In some examples, the float limiting portion 231 of the roller brush support 230, the blocking member drive mechanism (for example, the drive motor 1291 and the reducer gearbox 1292), the balance block 1403, the roller brush motor 1401, and the roller brush reducer gearbox 1402 are all disposed on the roller brush support 230. The roller brush support 230 has the center plane P. The roller brush motor 1401 and the roller brush reducer gearbox 1402 are disposed on one side of the center plane. The blocking member drive mechanism (for example, the drive motor 1291 and the reducer gearbox 1292) and the balance block 1403 are disposed on the other side of the center plane, to keep the roller brush support 230 smooth.

In some examples, an air intake end of the (for example, L-shaped) air duct 240 is fixedly connected to the roller brush support 230, and follows the roller brush support to float up and down. An air outlet end of the air duct 240 is fixedly connected to a chassis. Therefore, when the roller brush support 230 floats up and down, the air intake end and the air outlet end of the air duct 240 move relatively. For this, in some examples, the air duct 240 should be made of a flexible material, and the flexible material is rubber.

In consideration of that the cleaning robot usually encounters collisions during running, for example, collides with an encountered obstacle (a table, a chair, or the like), a force of the collision is affected by the blocking member in some embodiments. For example, the force of the collision causes the blocking member to displace (regardless of whether the blocking member is in the open state or the closed state), or even makes the status of the blocking member non-switchable, affecting the cleaning effect.

Referring to FIG. 62 to FIG. 64, to avoid an impact of a force of a collision on the transmission system, during design by the applicant, at least one of the following anti-collision measures is set:

Measure 1: A fit between an output shaft of a reducer gearbox of the drive motor configured to drive the blocking member to move and a gear set of the transmission system is a loose fit. The loose fit is to be understood as that a clearance or a tolerance space exists between the two, so that the two generate a relative movement in some embodiments, for example, generate a cushioning angle a, and the cushioning angle a implements cushioning in some embodiments.

Because a clearance exists between the drive motor or the output shaft of the reducer gearbox and the gear set, when the cleaning robot or the blocking member is hit, the blocking member slightly rotates (for example, by the cushioning angle a) around an output shaft 1241 through the gear set in some embodiments, to cushion a force of the hit.

That is, when the output shaft 1241 of the reducer gearbox drives a gear 1240, the gear 1240 is driven to first rotate by a small cushioning angle, to eliminate a clearance between the gear and the output shaft, to cushion a force of a hit.

Measure 2: The roller brush support 230 has an anti-collision portion 2302. The anti-collision portion 2302 protrudes from the blocking member 110. That is, the anti-collision portion 2302 has a protrusion 2303 protruding from the blocking member 110 in some embodiments, so that when a hit is encountered, the anti-collision portion 2302 bears a force, and the blocking member bears a smaller force or bears no force.

In some examples, the anti-collision portion 2302 protruding from an outer surface of the blocking member 110 is provided on each of two lateral sides of the roller brush support 230 along the roller brush axis. When a collision plate of the cleaning robot is collided and moves backward, the anti-collision portion 2302 bears a force of the hit, thereby keeping the blocking member from directly bearing a force.

In view of that the blocking member is relatively long, to improve the smoothness of transmission, in some examples, the transmission system uses a gear-rack synchronous transmission system. Further, the transmission system uses double gear-rack synchronous transmission systems. A rack 124 is integrally formed with the blocking member 110 in some embodiments or is disposed on the blocking member in some embodiments. In some examples, referring to 63 and FIG. 64, the transmission system includes a gear shaft 1203, a first gear set 1201, and a second gear set 1202. Two gear sets are synchronously driven by the gear shaft, and then the gear sets drive the rack on the blocking member to synchronously move, to implement the opening and closing of the blocking member.

Further, to reduce a space occupied by the transmission system, in some examples, the two gear sets are asymmetrically disposed. For example, the first gear set 1201 and the second gear set 1202 are asymmetrical about a center plane of the roller brush support.

It is to be noted that, each gear set includes a gear 1240 and a rack 124 in some embodiments. The gear 1240 is transmission-connected to the rack 124.

Certainly, in some examples, each gear set includes two gears (for example, a first gear and a second gear) in some embodiments. This is not limited in this embodiment.

To avoid locking when the blocking member is opened and closed in position, stalling of a motor of the blocking member or premature shutdown in a process of opening and closing the motor of the blocking member, in some examples, referring to 63 and FIG. 65, the cleaning robot includes a detection assembly. The detection assembly includes an in-position detection sensor, configured to perform in-position detection on the opening and closing of the blocking member. The in-position detection sensor 130 includes an open state in-position detection sensor 1301 and a closed state in-position detection sensor 1302, which are respectively configured to perform in-position detection on an open state and a closed state of the blocking member 110.

In some examples, microswitches are used for the in-position detection sensor 130 (including the open state in-position detection sensor 1301 and the closed state in-position detection sensor 1302). A door opening in-position contact 1303 and a door closing in-position contact 1304 are disposed on the blocking member. When these in-position contacts (including the door opening in-position contact and the door closing in-position contact) trigger the corresponding in-position detection sensors (including the open state in-position detection sensor 1301 and the closed state in-position detection sensor 1302) to act to generate corresponding in-position signals, to enable a controller to control the blocking member drive motor to instantly stop according to the in-position signals.

For example, when the blocking member is opened (or closed) in position, the door opening in-position contact 1303 (or the door closing in-position contact 1304) triggers a microswitch configured for open state in-position detection (or a microswitch configured for closed state in-position detection) to act to generate an open in-position signal (or a closed in-position signal), and the controller controls the blocking member drive motor to instantly stop.

After being used, the roller brush assembly requires cleaning, replacement, and other maintenance work. Therefore, in some examples, referring to FIG. 66 and FIG. 67, the roller brush mechanism further includes a roller brush cover 260, disposed on the roller brush support 230. The roller brush cover 260 is opened in some embodiments, making it convenient for a user to clean and replace a roller brush.

In some examples, the roller brush assembly 220 includes at least two roller brushes, for example, in an advancing direction of a body, the roller brush assembly 220 includes a front roller brush 2201 and a rear roller brush 2202 that are sequentially disposed. The front roller brush 2201 is close to a front end of the body, and the rear roller brush 2202 is far away from the front end of the body.

To adapt to a shape of a mounting portion (for example, a roller brush bearing) of a roller brush, in some examples, a half-bearing socket 2601 is disposed on the roller brush cover 260.

The openable roller brush cover 260 is disposed, so that after the roller brush cover is opened, a roller brush can be easily removed for a maintenance.

In consideration of that the blocking member is disposed in front (a side of the roller brush away from the air duct 240 in a radial direction) of the roller brush support 230, to prevent the mounting of the roller brush cover 260 from affecting the blocking member, in some examples, the connecting portion of the roller brush cover 260 and the roller brush support 230 is located on two sides of the blocking member (in a direction parallel to the roller brush axis).

To reserve a space for the blocking member, in some examples, the roller brush cover 260 is hinged to the roller brush support 230. For example, a hinge is used as the connecting portion, to facilitate rotation of the roller brush cover 260 around the roller brush support 230 for opening and closing.

To improve opening and closing reliability of the roller brush cover 260 and keep the roller brush cover 260 from being triggered by mistake and opened in a case that the roller brush cover does not need to be opened, in some examples, the roller brush mechanism further includes a fastener 2603, configured to lock the roller brush cover 260. The fastener is disposed on the roller brush cover 260 in some embodiments, or is disposed on the roller brush support 230 in some embodiments. The roller brush cover 260 can be opened only in a case that the user opens the fastener 2603, thereby prevent the roller brush cover 260 from being triggered by mistake. In some examples, two fasteners 2603 are provided.

Further, the roller brush cover 260 is disposed as an inverted U-shaped structure. A hinge 2602 connected to the roller brush support is disposed at each of two end portions of the roller brush cover 260. An unlockable fastener 2603 is disposed on a bottom side (a side opposite to the hinge) of the roller brush cover 260. For security, two fasteners 2603 are disposed, and the user needs to unlock both fasteners before the roller brush cover 260 can be opened.

To reduce a shake amount during movement of the blocking member and ensure the sealing performance, a clearance between the blocking member and the roller brush support 230 should not be excessively large.

In consideration of that the blocking member has a large length, if same clearances are provided in a full length range, floating dust and other garbage flying during cleaning enter the clearances, making the blocking member stuck.

To avoid a possible impact of dust and other garbage carried during cleaning by the roller brush on the blocking member, for example, a problem that the movement of the blocking member is affected, the blocking member is stuck by dust, and the sealing performance is affected, at least one of the following manners is used for example in some embodiments:

Manner 1: A clearance exists between the blocking member 110 and the roller brush support 230. A dust accommodating space 232 is disposed in the clearance. The dust accommodating space 232 is, for example, implemented through a rib 233 in some embodiments. It is to be noted that, the rib further implements sealing for the clearance in the axial direction of the roller brush in some embodiments.

In addition, in consideration of minimizing entry of dust into the dust accommodating space through the clearance, in some examples, a sealing strip 236 is disposed between the blocking member and the roller brush support. The sealing strip 236 is disposed in a length direction of the blocking member or the roller brush, so that the clearance can be sealed in the length direction of the roller brush, thereby improving the sealing performance. In one aspect, dust is kept from entering the dust accommodating space. In another aspect, an air flow is kept from overflowing through the clearance, which helps to improve the cleaning effect.

Therefore, in some examples, referring to FIG. 68 and FIG. 69, the dust accommodating space 232 is disposed on a fitting surface 234 between the blocking member 110 and the roller brush support 230.

Manner 2: A part of contact between the blocking member and the roller brush support 230 has a sealing structure, to avoid entry of dust.

Therefore, in some examples, referring to FIG. 70, to improve a sealing effect of the blocking member, the sealing structure is disposed at each of two ends of the blocking member in contact with the roller brush support 230. The sealing structure includes a roller brush guide support portion 235 and/or the dust accommodating space 232.

To improve the cleaning effect, avoid air leakage, and improve the sealing effect, in some examples, referring to FIG. 68, a sealing member exists between the blocking member and the roller brush support 230. The sealing member is, for example, the sealing strip 236 in some embodiments. In the length direction of the roller brush or the blocking member, the sealing strip is disposed at a bottom end of the roller brush support, and is perpendicular to the rib 233 or the dust accommodating space 232. In some embodiments, the sealing strip is in contact with an end of the rib, to improve the sealing effect, and reduce flowing of an air flow through the clearance between the blocking member and the roller brush support, thereby improving the cleaning effect, and especially a cleaning effect (for example, which is represented by a cleaning efficiency CE value in some embodiments) of a carpet or another soft ground.

In a cleaning scenario, there are often hair clumps of pets or large-size solid garbage, for example, popcorn, peanuts and other large-size food. An outer surface of a chassis of a conventional cleaning robot has a small ground distance, which is, for example, 10 mm, and a bottom surface of the chassis is usually an overall plane. In one aspect, this is not conducive to cleaning of the large-size garbage by the cleaning robot. In another aspect, the chassis with an excessively small ground distance is also not conducive to passing of the cleaning robot through an obstacle.

In consideration of resolving the foregoing problem, the ground clearance of the outer surface of the chassis is simply increased in some embodiments. However, deficiencies of the solution lie in that: If the ground clearance of the outer surface of the chassis is simply increased, although the foregoing problem can be resolved, due to a height restriction of the cleaning robot, when a height of the chassis is increased and the height of the body of the cleaning robot remains unchanged, the overall height of the cleaning robot is still increased. Because a bottom height of furniture is usually fixed, an excessively tall cleaning robot affects a capability of reaching a bottom of the furniture by the cleaning robot, or even the cleaning robot fails to reach the bottom of the furniture to perform cleaning. If the overall height of the cleaning robot is kept unchanged, because the height of the chassis is increased, an internal space of the cleaning robot is inevitably compressed. Functional parts placed in the internal space are certainly affected, and as a result the performance of the cleaning robot is affected.

During the design of the chassis by the applicant, in consideration of that large-particle garbage runs to the roller brush, is swept by the roller brush into the air duct 240 of the cleaning robot, and is sucked into the dust box by a negative pressure, the chassis behind the drive wheel moves up and down along a ground following the drive wheel when the cleaning robot surmounts an obstacle.

Referring to FIG. 55 to FIG. 57 and FIG. 71 to FIG. 73, in some examples of the present disclosure, the ground clearance of the outer surface of the chassis is disposed to be in a multi-section form or a step form (the chassis has at least two heights), and in the advancing direction of the body, the chassis has different heights longitudinally. The roller brush assembly is disposed at a front portion of the chassis. For example, a ground clearance of the front portion of the chassis is greater than a ground clearance of a rear portion of the chassis. In this way, cleaning of large particle is not affected, and obstacle surmounting can be effectively implemented.

For example, in some examples, the chassis has three heights, that is, a first bottom surface 301 (a ground clearance H11), a second bottom surface 302 (a ground clearance H22), and a third bottom surface 303 (a ground clearance H33) in some embodiments. H11 is greater than H22, and H22 is greater than H33.

The first bottom surface 301 with the ground clearance H11 is disposed in front of the roller brush on the chassis, to facilitate entry of large particles, hair, and the like into the roller brush. A length of the first bottom surface 301 in a width direction of the cleaning robot is approximately equal to a length of the roller brush, but is less than a width of the cleaning robot.

In some examples, a value of H11 ranges from 18 mm to 22 mm.

In the width direction of the cleaning robot, the first bottom surface 301 is connected to the second bottom surface 302 by a slope, and the second bottom surface 302 is connected to the third bottom surface 303 by a slope. As seen toward the rear from the front of the cleaning robot (a front view), the first bottom surface 301 forms an inverted U-shaped opening, which facilitates collection of large-particle garbage.

In some examples, the second bottom surface 302 extends to near a drive wheel shaft 2111, and is in communication with a garbage sealing door 304 below the dust box. The drive wheel shaft 2111 represents a rotational axis of the drive wheel. In the figure, the drive wheel shaft 2111 is perpendicular to the paper surface direction.

In some examples, a ground clearance of the second bottom surface 302 is H22. A value of H22 ranges from 13 mm to 17 mm. Such an arrangement facilitates obstacle avoidance of the cleaning robot.

In some examples, a part of the chassis of the cleaning robot located behind the drive wheel shaft 2111 has the third bottom surface 303 with the ground clearance H33, so that the internal space of the cleaning robot can be maximized. A battery pack 31 and a fan 24 are both placed in this space in some embodiments.

In some examples, a value of H33 ranges from 8 mm to 12 mm.

When the cleaning robot is parked at the base station and the base station performs a dust collection maintenance operation on the dust box of the cleaning robot, in consideration of that a height difference exists between a surface (for example, a seat plane of the base station) of the base station and the chassis of the cleaning robot, to implement a dust collection maintenance, in some examples, referring to FIG. 73 and FIG. 74, a dust collection port 2011 of the base station has a step portion 20111 protruding from the surface of the base station.

To avoid a problem of air leakage in a process of the dust collection maintenance and ensure sealing performance during the dust collection maintenance, in some examples, the step portion 20111 at the dust collection port of the base station has a sealing member. The sealing member is made of an elastic material. In some examples, the sealing member uses rubber in some embodiments.

The second bottom surface 302 of the chassis of the cleaning robot and a top surface of the step portion 20111 (especially the sealing member) of the dust collection port 2011 of the base station are approximately in a joined state, to facilitate a dust collection maintenance.

In consideration of that relative movement occurs between the cleaning robot and the base station when the cleaning robot enters and exits the base station, causing friction and wear of the top surface of the step portion 20111 (especially the sealing member) and a part of the chassis of the cleaning robot in contact with the step portion 20111, therefore, to reduce the friction and wear caused by the relative movement between the cleaning robot and the base station when the cleaning robot enters and exits the base station and therefore avoid reducing the service life of the step portion 20111 (especially the sealing member) and affecting the sealing effect, a protection clearance exists between the second bottom surface 302 of the chassis of the cleaning robot and the top surface of the step portion 20111 (or the sealing member) of the dust collection port of the base station. A value of a height of the protection clearance ranges from 0.1 mm to 0.2 mm.

In view of that a wheel surface of a drive wheel 21 is a rubber member, wear occurs after a long time of work. As a result, the ground distance of the bottom surface of the cleaning robot has a slight change, and a change amount of the ground distance exceeds the foregoing protection clearance in some embodiments. Although the height of the protection clearance can be increased, in this case, the sealing performance is affected. Therefore, to avoid affecting the sealing performance of dust collection, it is considered herein that after the cleaning robot enters the base station, the drive wheel cannot be used as a supporting face of the cleaning robot. Therefore, to ensure the sealing performance of dust collection and at the same time keep the change amount from the wear of the wheel surface exceeds a clearance, in some examples, the base station includes a wheel slot 2013, disposed on a seat 201 of the base station. For example, when the cleaning robot is located in a parking space of the seat of the base station, the wheel slot 2013 is disposed below the drive wheel of the cleaning robot. A distance between a bottom of the wheel slot 2013 and the third bottom surface 303 of the chassis of the cleaning robot is H44. H44=H33+L11. H33 is used for representing a distance between the third bottom surface 303 and a plane of the base station when the cleaning robot is parked at the seat of the base station. L11 is used for representing a distance between the bottom of the wheel slot 2013 and the surface of the base station when the cleaning robot is parked at the seat of the base station. In some examples, a value of L11 ranges from 1 mm to 3 mm. It is to be noted that, the wheel slot 2013 further implements coarse positioning of the drive wheel in some embodiments.

Moreover, the base station includes a base station support platform 2014, disposed on the seat 201 of the base station, and configured to support the first bottom surface 301 of the chassis of the cleaning robot.

For example, when the cleaning robot enters the base station and is parked in the parking space of the seat of the base station, the base station support platform 2014 supports the first bottom surface 301 of the chassis of the cleaning robot. The support platform fits the first bottom surface 301. For example, a shape of the support platform 2014 adapts to a shape of the first bottom surface 301, to enable an upper surface of the support platform 2014 to be joined to the first bottom surface 301 of the chassis without a clearance, thereby implementing stable support.

In some examples, a universal wheel 22 is disposed on the cleaning robot, and is located at the rear portion of the chassis, to enable the cleaning robot to be supported on the surface of the base station through the universal wheel 22 at the rear portion of the chassis. In this way, it can be ensured that the cleaning robot is stably supported and ensured that the foregoing clearance exists.

To limit the universal wheel 22, in some examples, the base station further includes a universal wheel parking portion 2015. In one aspect, the universal wheel parking portion 2015 can support the universal wheel 22, and in another aspect, a parking position of the universal wheel 22 can be further fixed to implement limiting.

To improve the cleaning efficiency, in some examples, the fan 24 is a high-power fan. For example, a power of the fan 24 is greater than or equal to 65 W.

In consideration of that the high-power fan 24 also generates large noise, to reduce or eliminate noise of the fan 24, a series of noise reduction measures are adopted in the design. One of the measures is increasing a length of a discharge air duct 2401 in the design, that is, a long-distance channel is used. The long-distance channel reduces movement energy of a discharge air flow of the fan 24 in the discharge air duct 2401 in some embodiments, thereby reducing noise of air discharge.

In some examples, referring to FIG. 75, the discharge air duct 2401 is transversely disposed along a tail portion of the cleaning robot. The cleaning robot has a center plane parallel to the advancing direction. The discharge air duct 2401 extends from a side (for example, a right side) of the center plane of the cleaning robot to a side (for example, a left side) of the center plane of the cleaning robot through the center plane of the cleaning robot. Further, a diameter ratio of an air opening distance to a blade of the fan 24 ranges from 1 to 2. In some examples, the diameter ratio of the air opening distance to the blade of the fan 24 ranges from 1.3 to 1.7. For example, the diameter ratio of the air opening distance to the blade of the fan 24 is equal to 1.5. The air opening distance is a length of a path from a center plane Q of the blade of the fan 24 to an air outlet 2402 of the discharge air duct 2401.

In some examples, referring to FIG. 75, a power supply system includes a battery pack 31. The battery pack 31 is detachable.

In a common layout of the cleaning robot, the battery pack 31 is arranged on a front side (or a rear side) of the drive wheel of the chassis. Such a layout has a benefit that the dust box has a large volume, but has a disadvantage that the center of gravity of the overall machine is close to the front (or close to the rear). As a result, a pressure of the drive wheel on a ground decreases, a driving force is insufficient, and the cleaning robot skids easily. To avoid such a problem, in some examples, a counterweight block is symmetrically arranged at a position of the drive wheel shaft 2111 in some embodiments, to enable the center of gravity to be as close as possible to the center of the overall machine or make the center of gravity and the center of the overall machine overlap.

In consideration of that this cleaning robot system is equipped with a dust collection base station, the dust collection box 103 of the cleaning robot can be emptied in time. Therefore, in some examples, referring to FIG. 55 to FIG. 58, the battery pack 31 is formed with a contour of a rectangle. A length side of the rectangle is perpendicular to the drive wheel shaft 2111, and at least partially overlaps the drive wheel shaft 2111 in a space. That is, an outer contour of the drive wheel and a side surface of the battery pack 31 at least partially overlap in a projection direction perpendicular to the center plane of the cleaning robot.

To improve space utilization, in some examples, the battery pack 31 and the dust collection box 103 of the cleaning robot are disposed side by side between two drive wheels. The advancing direction of the cleaning robot is taken as the front. As seen from the front to the rear (referring to a cross-sectional view along B-B), a left drive wheel 211 is located on the left side of the battery pack 31, the dust collection box 103 is located on the right side of the battery pack 31, and a right drive wheel 212 is located on the right side of the dust collection box 103.

To minimize the use of the size of the dust collection box 103 (also referred to as the dust box), in some examples, it is designed that a battery is arranged in a rectangle. A length side of the rectangle is parallel to the center plane of the cleaning robot, and a short side of the dust collection box 103 is perpendicular to the center plane of the cleaning robot. Further, the power supply system further includes a battery protection board 32 configured to protect the battery pack 31. The battery protection board 32 is disposed on a front surface of the battery pack 31. A size of the battery protection board 32 is equal to that of a short side of the battery pack 31.

In some examples, the length of the roller brush of the cleaning robot is 0.19 meters, a traveling speed V is 0.15 m/s, and an overall power P of the cleaning robot is 150 W. Through survey, an average cleaning area of a user is 75 m², and a cleaning time T of the cleaning robot after one time of charging is completed is 0.75 hours. A requirement of a capacity M of the battery pack 31 by the robot is P*T/0.9=125 WH. Therefore, in some examples, the battery pack 31 uses 15 cells 311. A single cell 311 is a 18650 lithium battery cell 311 with a capacity greater than or equal to 2 AH.

To reduce an area occupied by the battery in the chassis, in some examples, referring to FIG. 55 to FIG. 58, the cells 311 of battery are vertically placed. A cell axis is 3111.

The battery pack 31 is formed by the cells 311. The cells 311 of the battery pack 31 are arranged in a staggered manner in 3 columns. Each column includes 5 cells 311 that are arranged at equal spacings. In addition, to compress the size of the short side of the battery pack 31. A center distance between the cells 311 in each column is not equal to an inter-column center distance. The inter-column center distance L2 is less than an intra-column center distance L1.

In consideration of that the cleaning robot cleans a working region according to a preset cleaning path, the cleaning path usually has direction changes. To adapt to cleaning requirements of the cleaning robot in a direction change scenario, for example, to prevent the cleaning robot from scattering unremoved large particles, hair clumps, and the like during a direction change, in some examples, before changing a direction (referred to as a direction change for short), the cleaning robot increases a suction force. The direction change includes steering, turning around, and the like.

When the cleaning robot cleans a hard ground (for example, a floor), the blocking member is in the open state, to facilitate cleaning up of large particles, hair clumps, and the like. There are large particles or hair clumps that fail to be sucked into the dust box in time in some embodiments, or some large particles or hair clumps move along with the cleaning robot. In direction change scenarios such as steering or turning around, the cleaning robot pushes away or scatters large particles, hair clumps, and the like that fail to be removed in time in some embodiments. In consideration of avoiding such a problem, therefore, in some examples, in a case that the cleaning robot cleans a hard ground (for example, a floor) with the blocking member open, the suction force should be increased before steering or turning around, to suck large particle, hair clumps, and the like.

The suction force is increased by increasing the power of the fan 24 in some embodiments. Therefore, in some examples, in direction change scenarios such as steering, turning around, and the like of the cleaning robot, the controller is configured to control the power of the fan 24 to be increased, to enable the cleaning robot to suck large particles, hair clumps, and the like into the dust box.

When the cleaning robot cleans a soft ground (for example, a carpet), the blocking member is in the closed state, to facilitate deep cleaning of the carpet. The deep cleaning is to be understood as cleaning an inside of the carpet (for example, garbage in pile, and the like). When the blocking member is in the closed state, large particles, hair clumps, and the like are blocked outside by the blocking member, and the large particles, hair clumps, and the like are pushed away. That is, large particles, hair clumps, and the like move together with the cleaning robot. In direction change scenarios such as steering, turning around, and the like of the cleaning robot, these large particles, hair clumps, and the like are pushed away or even scattered in some embodiments. In some examples, in consideration of avoiding such a problem, in a case that the cleaning robot cleans a soft ground (for example, a carpet) with the blocking member closed, before steering or turning around, the blocking member should be switched from the closed state to the open state, to facilitate suction of large particles, hair clumps, and the like. It should be understood that, after a direction change of the cleaning robot is completed, the blocking member is then switched from the open state to the closed state, to facilitate deep cleaning of the carpet. An open time (for example, a time of the blocking member being in the open state until the blocking member is switched to the closed state again) of the blocking member is preset as required or according to experimental data in some embodiments. This is not limited in this embodiment.

It is to be noted that, in a case that the cleaning robot cleans a soft ground (for example, a carpet) with the blocking member closed, before steering or turning around, the blocking member is switched from the closed state to the open state, to prevent the cleaning robot from pushing away or scattering large particles, hair clumps, and the like during steering or turning around. In consideration of that some large particles and hair clumps fail to be removed in time in some embodiments, to avoid the problem that some large particles and hair clumps fail to be removed in time, further, in a case that the cleaning robot cleans a soft ground (for example, a carpet), before steering or turning around, the suction force is increased, to suck in large particles, hair clumps, and the like.

Therefore, in an example, when the cleaning robot cleans a soft ground or is in a soft ground cleaning mode, the controller is configured to: in a case that the cleaning robot steers or turns around, switch the blocking member from the closed state to the open state. Certainly, in an example, when the cleaning robot cleans a soft ground or is in a soft ground cleaning mode, the controller is configured to: in a case that the cleaning robot steers or turns around, switch the blocking member from the closed state to the open state and increase the suction force, to better remove large particles, hair clumps, and the like, thereby improving the cleaning effect. The suction force is, for example, increased by increasing the power of the fan 24 in some embodiments.

It is to be noted that, the state switching and the changing of the suction force (for example, the power of the fan 24) of the blocking member are performed simultaneously in some embodiments, or are performed sequentially in some embodiments. For example, in some examples, the state of the blocking member is switched first, and then the power of the fan 24 is increased. Certainly, in some examples, the power of the fan 24 is increased first, and then the state of the blocking member is switched. This is not limited in this embodiment.

A case that the cleaning robot steers or turns around should be understood as a condition. In a case that a direction change condition is met, the controller makes a response, for example, controls the power of the fan 24 to be increased or controls the blocking member to switch from the closed state to the open state. Therefore, the case that the cleaning robot steers or turns around is to be understood as a moment before the cleaning robot steers or turns around, or is to be understood as a moment at which a state of the cleaning robot changes, for example, a moment at which the cleaning robot is switched from a state before steering or turning around (for example, straight-line running) to a state of steering or turning around (non-straight line running). For this, this is not limited in this embodiment.

To prevent the cleaning robot changing a direction (for example, steering, turning around, and the like) from pushing away or scattering again large particles, hair clumps, and the like that are pushed to a wall side or wall corner during cleaning (for example, square zigzag cleaning), in some examples, in a case that the cleaning robot requires a direction change such as steering, turning around, or the like, the controller is configured to control the cleaning robot to reverse a preset distance and then perform steering, turning around, or the like.

In some examples, when cleaning a soft ground (for example, a carpet), the cleaning robot recognizes large particles (for example, implemented through AI) in some embodiments, and in a case that large particles are recognized, control the blocking member to be opened, that is, switched from the closed state to the open state, to suck in the large particles, and then the blocking member is closed after the blocking member remains open for a period of time or large particles are no longer detected, to facilitate cleaning of the inside of the carpet.

When cleaning a soft ground, a manner in which the cleaning robot detects large particles in real time and controls the state of the blocking member, software and hardware requirements of the controller are high (for example, sensitivity requirements of AI are high).

In consideration of this, to reduce the software and hardware requirements of the controller, especially to reduce the sensitivity requirements of AI, in some examples, the cleaning robot has an ordinary cleaning mode and a deep cleaning mode. The ordinary cleaning mode and the deep cleaning mode are alternately performed. The ordinary cleaning mode and the deep cleaning mode are distinguished through the state of the blocking member. For example, the ordinary cleaning mode is a cleaning mode in which the blocking member is in the open state in some embodiments. The deep cleaning mode is, for example, a cleaning mode in which the blocking member is in the closed state in some embodiments.

It is to be noted that, in addition to that the ordinary cleaning mode and the deep cleaning mode are distinguished through the foregoing state of the blocking member, the ordinary cleaning mode and the deep cleaning mode are further distinguished through at least one of a movement speed of the cleaning robot, or the suction force (for example, the power of the fan 24) of the cleaning robot in some embodiments.

Therefore, in some examples, the ordinary cleaning mode includes a cleaning mode in which the blocking member is in the open state and the movement speed is a high speed (for example, a first speed). The deep cleaning mode includes a cleaning mode in which the blocking member is in the closed state and the movement speed is a low speed (for example, a second speed). The first speed is greater than the second speed.

In an embodiment, the ordinary cleaning mode includes a cleaning mode in which the blocking member is in the open state and the suction force is a small suction force (for example, a first power of the fan 24). The deep cleaning mode includes a cleaning mode in which the blocking member is in a closed state and the suction force is a large suction force (for example, a second power of the fan 24). The first power of the fan 24 is less than the second power of the fan 24.

In an embodiment, the ordinary cleaning mode includes a cleaning mode in which the blocking member is in the open state, the movement speed is a high speed (for example, a first speed), and the suction force is a small suction force (for example, a first power of the fan 24). The deep cleaning mode includes a cleaning mode in which the blocking member is in the closed state, the movement speed is a low speed (for example, a second speed), and the suction force is a large suction force (for example, a second power of the fan 24). The first speed is greater than the second speed, and the first power of the fan 24 is less than the second power of the fan 24.

For a carpet or another soft ground, the cleaning robot performs cleaning alternately between two cleaning modes, for example, performs cleaning alternately between the ordinary cleaning mode with the blocking member open, a high walking speed, and a small suction force (to clean up large particles) and the deep cleaning mode with the blocking member closed, a low walking speed, and a large suction force (to perform deep cleaning on the carpet), so that while sensitivity requirements of AI are reduced, requirements of cleaning garbage such as large particles, hair clumps, and the like on a carpet are met, and deep cleaning of the carpet can be implemented.

Certainly, in some examples, the ordinary cleaning mode and the deep cleaning mode are further distinguished through only at least one of the movement speed of the cleaning robot or the suction force (for example, the power of the fan 24) of the cleaning robot in some embodiments. For example, the ordinary cleaning mode and the deep cleaning mode are distinguished through the movement speed of the cleaning robot, and the movement speed of the ordinary cleaning mode is greater than the movement speed of the deep cleaning mode. In an example, the ordinary cleaning mode and the deep cleaning mode are distinguished through the power of the fan 24 of the cleaning robot. The power of the fan 24 of the ordinary cleaning mode is less than the power of the fan 24 of the deep cleaning mode. For this, details are not described in this embodiment.

For a manner of alternating deep cleaning and ordinary cleaning, in some examples, ordinary cleaning and deep cleaning are mainly alternated in the following manners:

Manner 1: Alternation by day. The ordinary cleaning mode (for example, the blocking member is opened) and the deep cleaning mode (for example, the blocking member is closed) is automatically selected (or set by a user) by day in some embodiments. For example, cleaning is performed once a day: On the first day, the cleaning robot is in the deep cleaning mode, and the blocking member is closed, to perform deep cleaning on a carpet; on the second day, the cleaning robot is in the ordinary cleaning mode, and the blocking member is opened, to clean up large particles, hair clumps, and the like; on the third day, the cleaning robot is in the deep cleaning mode, and the blocking member is closed, to perform deep cleaning on a carpet; on the fourth day, the cleaning robot is in the ordinary cleaning mode, and the blocking member is opened, to clean up large particles, hair clumps, and the like; on the fifth day, deep cleaning is performed; on the sixth day, ordinary cleaning is performed; and . . . . The deep cleaning mode and the ordinary cleaning mode are alternately performed, so that large particles can be cleaned up, and deep cleaning of a carpet can be performed.

In consideration of user requirements, for example, a user does not require cleaning of the cleaning robot every day, therefore, the foregoing ordinary cleaning mode and deep cleaning mode are not alternately performed at intervals, and an adaptive adjustment is required. Therefore, in some examples, the cleaning robot performs cleaning alternately between the ordinary cleaning mode and the deep cleaning mode at intervals of a preset quantity of days in some embodiments. The intervals of the preset quantity of days are set according to an actual requirement in some embodiments.

In some examples, the intervals of the preset quantity of days are equal intervals in some embodiments. Alternation at equal intervals of 1 day is used as an example. On the first day, the cleaning robot is in the deep cleaning mode, and the blocking member is closed, to perform deep cleaning on a carpet. On the third day, the cleaning robot is in the ordinary cleaning mode, and the blocking member is opened, to clean up large particles, hair clumps, and the like. On the fifth day, the cleaning robot is in the deep cleaning mode, and the blocking member is closed, to perform deep cleaning on a carpet. The sequential alternation is used.

In some other examples, the intervals of the quantity of days are not equal intervals in some embodiments. For example, the intervals of the preset quantity of days are an arithmetic progression. An interval between the first time of cleaning and the second time of cleaning is one day, an interval between the second time of cleaning and the third time of cleaning is two days, and an interval between the third time of cleaning and the fourth time of cleaning is three days. Subsequently, again, an interval between the fourth time of cleaning and the fifth time of cleaning is one day, an interval between the fifth time of cleaning and the sixth time of cleaning is two days, and an interval between the sixth time of cleaning and the seventh time of cleaning is three days. This cycle is sequentially repeated. Cleaning modes of two adjacent times are different.

Certainly, in addition to the intervals of the preset quantity of days customized on the cleaning robot, the intervals of the preset quantity of days are set according to cleaning requirements of a user in some other embodiments. For example, the user sets a first-day (this only means selecting the first day of cleaning rather than Monday specifically) cleaning mode and a requirement of an interval of a quantity of day in some embodiments. In this case, the cleaning robot performs autonomous cleaning according to the setting of the user and a cleaning alternation rule of cleaning modes of two adjacent times being different in some embodiments.

The foregoing is only an example for description, but should be understood as a limitation to the present disclosure, provided that cleaning modes of two adjacent times are different and alternate cleaning can be implemented.

In some examples, the cleaning robot has a cleaning period. A quantity of times of cleaning in each period is odd-numbered (cleaning once a day). For example, the period is set to seven days. The quantity of times of cleaning is three times. At the first time (for example, on Monday), the cleaning robot is in the deep cleaning mode and performs deep cleaning. At the second time (for example, on Wednesday), the cleaning robot is in the ordinary cleaning mode and performs ordinary cleaning. At the third time (for example, on Friday), the cleaning robot is in the deep cleaning mode and performs deep cleaning. In a next week, the cycle is repeated. In this case, the cleaning mode in the last time of a previous period is the same as the cleaning mode in the first time of a current period. That is, a problem that the same cleaning mode is repeated occurs.

To avoid the foregoing case, in some other examples, a quantity of times of cleaning in each period is even-numbered. For example, the period is set to seven days. A quantity of times of cleaning in one week is 4. At the first time (for example, on Monday), the cleaning robot performs cleaning in the deep cleaning mode. At the second time (for example, on Wednesday), the cleaning robot performs cleaning in the ordinary cleaning mode. At the third time (for example, on Friday), the cleaning robot performs cleaning in the deep cleaning mode. At the fourth time (for example, on Sunday), the cleaning robot performs cleaning in the ordinary cleaning mode. Then, in a next week, the cycle is repeated. In this case, the cleaning mode of the last time in a previous period is different from the first time in a current period, to implement accurate alternation of deep cleaning and ordinary cleaning, so that the cleaning effect of the carpet can be ensured. It is to be noted that, the cleaning period of the cleaning robot is set by the user in some embodiments, or is set when the cleaning robot is delivered from a factory in some embodiments. This is not limited in the present disclosure. Therefore, in some examples, in addition to the foregoing input of the first-time cleaning mode, the intervals of the quantity of days, and the like by the user, the cleaning robot further supports setting of a period by the user, or even the cleaning robot further supports setting of a day to perform cleaning or a day not to perform cleaning by the user. For example, the user sets the first-day (this only means selecting the first day of cleaning rather than Monday specifically) cleaning mode and the quantity of times of cleaning in 1 week (7 days) in some embodiments, or evens set a day to perform cleaning or a day not to perform cleaning, and the like in some embodiments.

It is to be noted that, the foregoing performing the deep cleaning mode first and performing the ordinary cleaning mode next is only for ease of description, and should not be understood as a limitation to the present disclosure. In fact, a sequential order of the deep cleaning mode and the ordinary cleaning mode is adjusted as required in some embodiments. For example, the ordinary cleaning mode is performed first to clean up large particles and other garbage in some embodiments, and then the deep cleaning mode is performed to perform deep cleaning on the carpet.

Manner 2: Alternation by times. For example, during cleaning of a carpet, the carpet is cleaned a plurality of times every day in some embodiments. In this case, cleaning modes of two adjacent times on this day are different, and the deep cleaning mode and the ordinary cleaning mode are alternated to perform cleaning.

In some examples, a quantity of times of cleaning every day is odd-numbered, and cleaning modes of two adjacent times are different. For example, cleaning is performed three times every day. For example, during cleaning on the first day, at the first time (an initial time), the cleaning robot performs cleaning in the deep cleaning mode; at the second time, the cleaning robot performs cleaning in the ordinary cleaning mode; and at third time (the last time), the cleaning robot performs cleaning in the deep cleaning mode. On the second day, cleaning is performed in the same manner as that on the first day. That is, during cleaning on the second day, still: at the first time (an initial time), the cleaning robot performs cleaning in the deep cleaning mode; at the second time, the cleaning robot performs cleaning in the ordinary cleaning mode; and at the third time (the last time), the cleaning robot performs cleaning in the deep cleaning mode.

When a quantity of times of cleaning every day is odd-numbered, cleaning modes on two adjacent days are completely consistent, and as a result real alternate cleaning cannot be implemented. For example, the cleaning mode at the last time on the first day is the same as the cleaning mode at the initial time on the second day.

In consideration of resolving such a problem, the following two measures are adopted for improvements in some embodiments.

Measure 1: The quantity of times of cleaning every day is odd-numbered, and orders of cleaning modes on two adjacent days are set to be different. For example, cleaning modes at the initial time on two adjacent days are set to be different. For example, if the cleaning mode at the initial time on the first day is the deep cleaning mode, the cleaning mode at the initial time on the second day is the ordinary cleaning mode. If the cleaning mode at the initial time on the first day is the ordinary cleaning mode, the cleaning mode at the initial time on the second day is the deep cleaning mode.

Alternatively, in cleaning modes on two adjacent days (for example, the first day and the second day), the cleaning mode at the initial time on the second day and the cleaning mode at the last time on the first day are set to be different. That is, if the cleaning mode at the last time on the first day is the deep cleaning mode, the cleaning mode at the initial time on the second day is the ordinary cleaning mode. If the cleaning mode at the last time on the first day is the ordinary cleaning mode, the cleaning mode at the initial time on the second day is the deep cleaning mode.

It is to be noted that, the foregoing two adjacent days should be understood broadly, that is, understood as two adjacent days on which cleaning is required. If it is assumed that cleaning is performed at intervals of 1 day, two adjacent days on which cleaning is required are the first day and the third day. For this, details are not described in this embodiment.

Measure 2: A quantity of times of cleaning every day is set to be even-numbered. Orders of cleaning modes on two adjacent days are the same. For example, cleaning is performed twice a day. For example, during cleaning on the first day, at the first time (an initial time), the cleaning robot performs cleaning in the deep cleaning mode; and at the second time, the cleaning robot performs cleaning in the ordinary cleaning mode. On the second day, cleaning is performed according to the same cleaning mode and order as that on the first day. That is, during cleaning on the second day, at the first time (an initial time), the cleaning robot still performs cleaning in the deep cleaning mode; and at the second time, the cleaning robot still performs cleaning in the ordinary cleaning mode. In this way, the deep cleaning mode and the ordinary cleaning mode are alternated seamlessly.

Through the foregoing Measure 1 or Measure 2, the deep cleaning mode and the ordinary cleaning mode can be alternated in an accurate and orderly manner.

Manner 3: During cleaning of a carpet, the cleaning robot first performs deep cleaning on the carpet in the deep cleaning mode, and then performs at least one round of along-the-edge cleaning. Modes of adjacent rounds of along-the-edge cleaning are different, and during the first round of along-the-edge cleaning, the cleaning robot cleans up large particles and the like in the ordinary cleaning mode.

For example, when the cleaning robot performs cleaning in a cleaning region of a carpet, the cleaning robot is in the deep cleaning mode, and performs deep cleaning on the carpet first. In this way, large particles and the like are pushed to a wall side and a wall corner.

Then, to clean up large particles pushed to a wall side or a wall corner and at the same time improve a cleaning effect of the wall side or the wall corner, the following measure is used in some embodiments. For example, the cleaning robot performs at least two rounds of along-the-edge cleaning on a cleaning region (for example, a full house). During the first round of cleaning, the cleaning robot performs along-the-edge cleaning in the ordinary cleaning mode, for example, cleans the large particles on the wall side or at the wall corner in a mode in which the blocking member is open, a walking speed is high, and a suction force is small. During the second round of cleaning, the cleaning robot then performs along-the-edge cleaning in the deep cleaning mode, for example, performs deep cleaning in a mode in which the blocking member is closed, a walking speed is low, and a suction force is large, thereby improving a cleaning effect of wall sides or wall corners. The foregoing method is especially applicable to cleaning of a full house with a cleaning region of a carpet.

In a scenario in which the cleaning robot cleans a soft ground, through the alternation of the ordinary cleaning mode and the deep cleaning mode, large particles can be cleaned up, and deep cleaning of a carpet can be implemented. Moreover, sensitivity requirements of AI are reduced.

It is to be noted that, unless otherwise described, features in the foregoing embodiments are combined with each other in some embodiments or alternation manners are used in combination in some embodiments, provided that the combined features do not conflict with each other.

It is to be noted that, all the foregoing technologies are applied to a direct current (DC) handheld vacuum cleaner or another cleaning device in some embodiments. This is not described in excessive detail in the present disclosure.

The cleaning efficiency CE is related to test conditions such as a carpet type and a dust distribution. The test conditions of the cleaning efficiency CE are described below:

1.1. Carpet Type

The following two carpet types are separately selected fd test in the present disclosure:

(1) Standard Test Carpet:

A Wilton carpet is used as an experimental carpet and is used for internal comparison experiments.

In this test, a pile length of the Wilton carpet is approximately 8 mm.

(2) Nonstandard Test Carpet:

A full-piece carpet is a shag carpet with medium-length tufts, and is usually not easy to clean compared with a Wilton carpet, an indoor laboratory experiment and a consumer experiment is selected in some embodiments.

In this test, a pile length of the full-piece carpet is approximately 12 mm.

1.2. Weighing Device

A weighing device is used to associate a dust removal capability with a pre-cleaning degree of an experimental carpet. A precision of the weighing device should be 0.01 g.

1.3. Dust Embedding Roller

The dust embedding roller has a diameter of 50 mm and a length of 380 mm, which is at least 20 mm greater than a dust distribution width. The dust embedding roller is made of a steel material and polished. The dust embedding roller should be provided with a handle or a motor to drive the roller to move. The dust embedding roller has a mass of 10 kg/m. The dust embedding roller is mounted in a dust dispenser in some embodiments.

1.4. Experimental Region and Running Length

A running direction in an experimental region is kept consistent with a carpet pile direction, and the experimental region has a length of (700±5) mm.

To improve a test precision, in this test, a cleaning region has a width of B-20 mm, where B denotes a width of a cleaning head (for example, a length of the roller brush in an axial direction). It needs to be noted that a width of the experimental region is set to the width of B mm of the cleaning head according to the National Standard GB/T20291.1-2014/IEC60312-1:2010, IDT in some embodiments.

At least running lengths of 200 mm and 300 mm are respectively added in front and rear of the experimental region for acceleration and deceleration of the cleaning head.

In this way, the length of the experimental region is 700 mm, and a length of a running region is at least 1200 mm. The first 200 mm of the running region is used for acceleration, and a central point of a front edge of the cleaning head should be at one line with a central line of a starting edge of an acceleration region. The cleaning head should run to a final end of the running region. A rear edge of the effective depth of the cleaning head at least exceeds a rear edge of the experimental region 200 mm, so that an appropriate distance is kept for deceleration. The same method is still used during return and running until the front edge of the cleaning head and the starting edge of the acceleration region in front of a test region are in one same line.

The effective depth of the cleaning head should pass through the entire test region at a stable running speed of 0.50±0.02 m/s.

This test is performed according to a running speed of 0.15 m/s of a vacuum cleaner.

It needs to be noted that, the vacuum cleaner is provided with a driving apparatus, and also operates at a specified running speed of 0.50±0.02 (a running speed of a handheld cleaner) m/s in some embodiments.

1.5. Removal of Residual Dust:

If a carpet beater is not used, a carpet should be placed on a hard gauze support, and is cleaned through manual beating or with a power cleaning head. After cleaning, a vacuum cleaner with a good dust cleaning capability is used to perform one cycle of residual dust cleaning. A surface of a carpet used for an experiment of a passive cleaning head can only be cleaned by using the passive cleaning head (the power cleaning head is used to clean an opposite surface in some embodiments).

In this test, manual beating is used.

1.6. Distribution of Experimental Dust:

Experimental dust is uniformly distributed according to 125±0.1 g/m², and covers the entire experimental region as uniformly as possible.

In this test, a dust amount is calculated according to a formula (B−20)/100×0.7 m×125 g/m2. B in the formula is the width of the cleaning head, and the length of the experimental region is 0.7 m.

It needs to be noted that if the width of the experimental region is set to the width of B mm of the cleaning head according to the National Standard GB/T20291.1-2014/IEC60312-1:2010, IDT, a dust amount is calculated according to the formula B/100×0.7 m×125 g/m².

In this test, a dust sieve is used to manually scatter dust.

Certainly, to ensure that dust is uniformly distributed in the experimental region, it is recommended to use a dust dispenser. The dust dispenser is adjusted by observing a dust distribution status on a carpet.

1.7. Embedding of a Dust on a Carpet:

The foregoing dust embedding roller is used to press dust into a carpet through 10 times of reciprocal running in the carpet pile direction. The dust embedding roller runs forward in the carpet pile direction and press the entire experimental region at a uniform speed of 0.50±0.02 m/s. It is ensured that the entire region is completely and evenly pressed, and then the carpet is placed for 10 min.

1.8 Determination of a Dust Removal Capability:

Before testing, a weight m of scattered dust and a weight M1 of a dust box (a dust collection mechanism) are weighed and recorded.

In a test process, before the vacuum cleaner is turned off, the cleaning head should be lifted from a test surface by at least 50 mm. The dust box should not be removed before the motor completely stops.

Once the cleaner completely stops, the dust box is carefully removed and weighed again to obtain M2. In a dust removal process of the vacuum cleaner, due to the generation of static electricity, it should be ensured that the dust box is already completely stable and has no static electricity before weighing.

A dust removal capability K is denoted by a percentage of a mass change in the dust box after running in the test region with dust distributed.

In this test, repeated measurements are performed, and K is calculated according to the following Formulas (1) and (2). At least two measurements are performed.

$K_{i} = \frac{M 2_{i} - M 1_{i}}{m_{i}} (1), and K = K = \frac{\sum_{1}^{i} K_{i}}{i} (2),$

where the cleaning efficiency CE is represented by the foregoing dust removal capability K in some embodiments. A relationship between the two is, for example, CE=K×100%.

Currently, a commercially available cleaning robot usually includes a dust suction assembly (also referred to as a dust suction system), a movement assembly (also referred to as a walking system), a power supply assembly (also referred to as a power supply system), a sensing assembly (also referred to as a sensing system), and a controller (also referred to as a control system), as shown in FIG. 1. The controller of the cleaning robot is usually configured to formulate a cleaning strategy based on environmental information acquired by the sensing assembly, to improve an intelligentization level of the cleaning robot.

When autonomously moving indoors, the cleaning robot uses a vacuum dust suction principle to clean a to-be-cleaned surface (also referred to as an environmental surface) through which the cleaning robot has moved. Currently, a commercially available cleaning robot has an ordinary cleaning effect on a ground, and especially has a poor cleaning effect on a carpet or another flexible ground of a flexible material, and a user still needs to perform deep cleaning once a while on a carpet or the like by using a handheld vacuum cleaner (upright). It can be seen that the existing cleaning robot cannot meet cleaning requirements of a carpet of a user.

In view of this, the applicant intends to design a cleaning robot that can replace a handheld vacuum cleaner (upright). For this, the cleaning robot at least needs to meet the following conditions: The cleaning robot has a good cleaning effect on a to-be-cleaned surface, especially a carpet region with high cleaning difficulty, and the cleaning robot can achieve or basically achieve a cleaning effect of a handheld vacuum cleaner. The “basically reaches” is understood as that the cleaning effect of the cleaning robot is equal to a preset percentage of the cleaning effect of the handheld cleaner in some embodiments. For example, the cleaning effect of the cleaning robot is greater than 60% of the cleaning effect of the handheld cleaner, and it is considered in some embodiments that the cleaning robot basically reaches the cleaning effect of the handheld cleaner. Certainly, the preset percentage is chosen or determined according to design requirements, carpet types, and target handheld cleaners in some embodiments. For this, this is not specifically limited in this embodiment.

In some examples, the cleaning effect is represented by a cleaning efficiency CE in some embodiments. That is, the CE of the cleaning robot, especially on a CE on a carpet, becomes equivalent to a CE of a handheld vacuum cleaner. For example, the CE of the cleaning robot on a carpet reaches a preset percentage of the CE of the handheld vacuum cleaner.

Because a hard ground (also referred to as a rigid ground, for example, a floor) and a soft ground (also referred to as a flexible ground, for example, a carpet) have different cleaning difficulty, for example, for a same cleaning robot, a cleaning efficiency of a soft ground such as a carpet is higher than a cleaning efficiency of a hard ground such as a floor board. To better reflect an improvement in a cleaning effect, in some examples, a cleaning efficiency CE of a cleaning robot on a soft ground (for example, a carpet) that is difficult to clean is used for description.

To facilitate intuitive understanding of a cleaning effect of a handheld cleaner, a CE value of one round of cleaning of a nonstandard test carpet (for example, a full-piece carpet) by a handheld cleaner is 45%, and a CE value of one round of cleaning a standard test carpet (for example, a Wilton carpet) by the handheld cleaner is 90%.

Therefore, if the cleaning effect of the cleaning robot of the present disclosure is to be equivalent to the one-round cleaning effect of the handheld cleaner, it indicates that a CE value of cleaning a nonstandard test carpet (for example, a full-piece carpet) in a same working cycle by the cleaning robot needs to reach 45% or above, or basically reaches 45% (for example, 25%); or a CE value of cleaning a standard test carpet reaches 90% or more, or basically reaches 90% (for example, 80%).

In consideration of a manner of improving the cleaning efficiency CE of the cleaning robot to make the cleaning efficiency CE of the cleaning robot equivalent to a CE of a handheld vacuum cleaner, in one aspect, a single-round cleaning efficiency is increased in some embodiments. For example, a single-round CE reaches a value equivalent to that of an upright. In another aspect, a comprehensive efficiency is increased through a plurality of rounds of cleaning in some embodiments. For example, through a CE of each round*a quantity of rounds, the comprehensive efficiency reaches a value equivalent to that of an upright.

For the First Aspect:

In some examples, single-time cleaning efficiency of the cleaning robot is equivalent to single-time cleaning efficiency of the handheld cleaner.

In other words, the cleaning robot uses a single-time cleaning strategy, that is, a working manner in which the cleaning robot cleans the entire region of the to-be-cleaned floor once, to directly make the cleaning effect of the cleaning robot equivalent to one-time cleaning effect of a handheld cleaner.

In some examples, when the carpet type is a standard test carpet (for example, a Wilton carpet), a value range of single-time CE of the cleaning robot is greater than or equal to 80%; further, the value range of the single-time CE is 80% to 95%; and in some embodiments, the value range of the single-time CE is 85% to 90%.

For a nonstandard test carpet (for example, a full-piece carpet), a value range of single-time CE is greater than or equal to 25%; further, the value range of the single-time CE is 35% to 70%; and in some embodiments, the value range of the single-time cleaning efficiency CE is 50% to 60%.

That is, the single-time cleaning efficiency of the cleaning robot can achieve an extent equivalent to that of the handheld cleaner.

As can be seen from above, a same cleaning robot has different cleaning effects for different carpets. For example, when cleaning efficiency of a nonstandard test carpet by a same cleaning robot is 25%, and cleaning efficiency of a standard test carpet by the cleaning robot reaches 80% in some embodiments; or certainly is cleaning efficiency determined with a carpet (for example, a nonstandard test carpet) that is difficult to clean as a reference in some embodiments, and cleaning efficiency of another carpet (for example, a standard test carpet) is better.

It is to be noted that, for the cleaning robot designed by the applicant, while the cleaning efficiency is improved, the passability also needs to be ensured. For example, the cleaning robot can pass through an opening provided at a bottom of furniture to perform cleaning below the furniture.

In some examples, a value range of a height of the cleaning robot is 95 mm to 115 mm. Further, the value range of the height of the cleaning robot is 105 mm to 110 mm.

In some examples, a value range of a volume of the cleaning robot is 7000 cm³to 11000 cm³. Further, the value range of the volume of the cleaning robot is 8000 cm³to 10000 cm³.

Therefore, in some examples, for a standard test carpet, a ratio of the cleaning efficiency CE of the cleaning robot to the height of the cleaning robot is greater than or equal to 7/m (80%/95 mm), or a ratio of the cleaning efficiency CE of the cleaning robot to the volume of the cleaning robot is greater than or equal to 80%/11000 cm³=72.7/m³.

For a nonstandard test carpet, the ratio of the cleaning efficiency CE of the cleaning robot to the height of the cleaning robot is greater than or equal to 2.2/m, or the ratio of the cleaning efficiency of the cleaning robot to the volume of the cleaning robot is greater than 22.7/m³.

In some examples, the value range of the power of the cleaning robot is 100 W to 200 W. Further, the value range of the power of the cleaning robot is 120 W to 180 W.

Certainly, while the cleaning efficiency of the cleaning robot is improved, power consumption of the cleaning robot also needs to be controlled, thereby improving user experience. In some examples of the present disclosure, for a standard test carpet, a ratio of the cleaning efficiency CE of the cleaning robot to the power of the cleaning robot is greater than or equal to 80%/200 W=0.004/W.

For a nonstandard test carpet, the ratio of the cleaning efficiency CE of the cleaning robot to the power of the cleaning robot is greater than or equal to 0.00125/W.

The cleaning efficiency is related to an energy value inputted per unit area, a dust suction efficiency per unit energy, and the like. Therefore, the cleaning efficiency is improved by increasing at least one of the energy value inputted per unit area or the dust suction efficiency per unit energy in some embodiments.

The energy value inputted per unit area (also referred to as an energy input per unit area)

In some examples, the cleaning efficiency CE can be improved by increasing an energy input per unit area in the present disclosure.

The energy input EI per unit area is energy inputted by the cleaning robot in every unit of cleaning area. The inputted energy is related to a power P0 of the cleaning robot and a time t of cleaning. The power P0 of the cleaning robot is related to a power p1 of a dust suction mechanism (for example, a dust suction fan), a power p2 of a beating mechanism (for example, a roller brush), a power p3 of the movement assembly (also referred to as a movement mechanism, for example, a drive motor configured to drive a drive wheel), a power p4 of another member, and the like. A cleaning area S is related to a movement speed v of the cleaning robot, the time t of cleaning, a length (for example, a width of the roller brush: a length of the roller brush in an axial direction) B of contacting a to-be-cleaned ground by a single beat of the beating mechanism.

In some examples, a relationship of the parameters is, for example, in some embodiments:

$EI = P 0 t / S = (p 1 + p 2 + p 3 + p 4) t / (vt \times kB) \approx (p 1 + p 2 + p 3) t / (vt \times kB) = (p 1 + p 2 + p 3) / (v \times kB) .$

k is a non-overlapping coefficient and is used for representing a whether there is an overlap between cleaning areas of roller brushes (especially when there are a plurality of roller brushes) and a non-overlapping amount after the overlapping amount is eliminated. The “whether there is an overlap between cleaning areas” is whether there is an overlap between cleaning areas generated by the roller brush on adjacent paths when the cleaning robot moves along an actual running route (for example, a square zigzag route).

It is to be noted that because p4 is usually a fixed value, and is small relative to a sum of p1+p2+p3. Therefore, in the foregoing formula, to facilitate calculation, p4 is omitted.

As can be seen from the foregoing formula, an EI is related to parameters of the machine such as the power p1 of the dust suction mechanism, the power p2 of the beating mechanism, the power p3 of the movement mechanism, the movement speed v, the length B of contacting a to-be-cleaned ground by a single beat, but is not related to a test condition such as a carpet type. Therefore, the EI can reflect the cleaning efficiency CE more intuitively, to represent the cleaning effect.

In addition, it is to be understood that when one roller brush is used, no overlap of cleaning areas exists, and therefore, a value of k is 1.

Therefore, for a manner of improving the energy value inputted per unit area, the perspective of increasing an energy input can be considered. For example, the energy input is increased by increasing at least one of beating energy or dust suction energy. Alternatively, the perspective of reducing a unit area can be considered. For example, a cleaning area in a unit time is reduced. It is to be noted that, the beating energy is related to a dust agitation effect, the dust suction energy, and a dust suction effect. The dust agitation effect and the dust suction effect are related to the cleaning effect. Therefore, the beating energy and the dust suction energy are related to the cleaning effect.

1.1 Beating Energy

The beating energy is related to the beating mechanism configured to perform dust agitation. Therefore, to improve the beating energy, a beating frequency of the beating mechanism, a beating strength of the beating mechanism, a beating direction of the beating mechanism, and other perspectives, can be considered. The beating frequency of the beating mechanism is related to a quantity of beating mechanisms, a quantity of beating portions that are disposed on the beating mechanism and are in contact with cleaning ground, and the like.

The foregoing parameters of the beating mechanism are separately described below as follows:

- A. Beating frequency: It is considered that a small amount of garbage such as dust is agitated when the beating frequency is low. Therefore, more garbage can be agitated by increasing the beating frequency, thereby improving the dust agitation effect.
- B. Beating direction: It is considered that a gap in a hard floor (for example, a floor board, or a floor tile) or a material of a soft floor (for example, a carpet, or a mat) has a high adsorbability to garbage, if the floor is only beaten in only one direction, this type of garbage may fail to be agitated, affecting the cleaning effect. Therefore, in some examples, the beating direction at least includes a first direction and a second direction. In some embodiments, the first direction is opposite to the second direction. Through beating in two opposite directions, the agitation of garbage in a gap in a hard floor, in carpet pile or deep in a carpet can be improved, which helps to improve the dust agitation effect.
- C. Beating force: It is considered that a small beating force is not conducive to the agitation of garbage. Therefore, the dust agitation effect can be improved by increasing the beating force.

It is usually not easy to directly measure the beating force, and direct measurement requires the addition of an additional measurement assembly, resulting in an increase in costs. Therefore, it is considered to indirectly represent the beating force in the design of the present disclosure.

In some examples, the beating force is represented by a degree of interference generated in a to-be-cleaned floor by a beating portion in contact with to-be-cleaned floor of the beating mechanism in some embodiments. The degree of interference is understood as a distance between an end of the beating portion away from a chassis of the body and a surface of the to-be-cleaned floor in some embodiments.

When the to-be-cleaned floor is a hard floor such as a floor board, a spacing usually exists between the head portion (for example, a bottom of a beating work head) of a beating work head away from the chassis of the body and the surface of the floor board. In this case, the degree of interference represents a value of the spacing, and is represented by a negative value. For example, the degree of interference is −1 mm, indicating that a spacing exists between the head portion of the beating work head away from the chassis of the body and the surface of the floor board, and the spacing is 1 mm.

When the to-be-cleaned floor is a soft floor such as a carpet, the head portion of the beating work head away from the chassis of the body extends into a surface formed by a top of the carpet pile by a depth, and in this case, the degree of interference represents the depth, and is represented by a positive value. For example, a spacing from a surface of the carpet is positive, indicating a depth into the surface (for example, inside the surface formed by the carpet pile). For example, the length of the pile is 8 mm, and the degree of interference is 4 mm, indicating that the depth by which the head portion of the beating work head away from the chassis of the body extends into the surface formed by the top of the carpet pile is 4 mm.

It needs to be noted that, when the beating force is larger, wear of the beating mechanism may be increased, and maintenance and replacements costs are also increased. Therefore, the beating force should be controlled within an appropriate range.

In some examples, the beating mechanism includes a cleaning roller brush (a roller brush assembly). In this case, the beating frequency is related to a quantity of roller brushes, a quantity of brush heads (for example, strips, bristles, and the like) on the roller brush that are in contact with a cleaning ground, and a rotational speed of the roller brush. The beating strength is related to a degree of interference of the brush heads that are disposed on the roller brush and are in contact with a cleaning ground.

Certainly, in some examples, a rod, a stick, a shovel or another object is used as the beating mechanism in some embodiments, provided that the beating mechanism can achieve the effect of beating the to-be-cleaned floor.

In some examples, a quantity of beats is approximately equal to a product of multiplying the rotational speed, the quantity of roller brushes, and the quantity of brush heads. According to the beating frequency being a quantity of beats within a unit time, the beating frequency is calculated in some embodiments.

The beating frequency may be increased in one of the following manners or a combination thereof:

- (a1) increasing the rotational speed of the cleaning roller brush;
- (a2) increasing the quantity of cleaning roller brushes; and
- (a3) increasing the quantity of brush heads on the cleaning roller brush.

Therefore, in some examples of the present disclosure, the cleaning robot can increase the beating frequency by increasing the rotational speed of the cleaning roller brush, thereby improving the dust agitation effect, which is conducive to the improvement of the cleaning effect.

The rotational speed of the roller brush is related to a (motor) power of the roller brush. Therefore, the rotational speed of the roller brush can be increased by increasing the power of the roller brush.

In an example solution, the rotational speed of the roller brush is greater than or equal to 1200 r/min. Further, a value of the rotational speed of the roller brush ranges from 1200 r/min to 1900 r/min.

To reach the foregoing rotational speed, in some examples, a value of the power of the roller brush of the present disclosure ranges from 25 W to 45 W. Further, the power of the roller brush ranges from 30 W to 35 W.

It is considered that the soft floor and the hard floor have different cleaning difficulty. In some examples, when the to-be-cleaned floor is a hard floor or when the cleaning robot is in a hard floor cleaning mode of cleaning a hard floor, the power of the roller brush is a first power. When the to-be-cleaned floor is a soft floor or when the cleaning robot is in a soft floor cleaning mode of cleaning the soft floor, the power of the roller brush is a second power. The first power is less than or equal to the second power.

For example, a value range of the first power is 20 W to 30 W, and a value range of the second power is 25 W to 50 W.

Further, the first power is less than the second power. For example, the first power is 25 W, and the second power is 30 W.

In an example, in an embodiment of the present disclosure, to increase the beating frequency to improve the dust agitation effect, the quantity of cleaning roller brushes is increased in some embodiments. For example, the cleaning robot is cleaned by using double roller brushes. The double roller brushes include a first cleaning roller brush (also referred to as a first roller brush) and a second cleaning roller brush (also referred to as a second roller brush). The first cleaning roller brush and the second cleaning roller brush are configured to agitate garbage such as dust on the to-be-cleaned ground, to facilitate the suction of the dust suction mechanism (for example, the dust suction fan).

Cleaning of different grounds is implemented. For example, both cleaning of a hard ground and cleaning of a soft ground can be implemented. This also helps to improve the cleaning effect of the to-be-cleaned surface. In some examples, one cleaning roller brush in the double roller brushes is a hard roller brush, and the other cleaning roller brush is a bristle roller brush. The hard roller brush is a rubber roller brush, and the bristle roller brush at least includes bristles. That is, in the double roller brushes, one cleaning roller brush is a rubber roller brush, and the other cleaning roller brush is a roller brush including bristles, for example, a pure bristle roller brush with only bristles or a rubber bristle roller brush with both rubber and bristles in some embodiments.

To reduce hair entanglement, an arrangement position of the cleaning roller brush is improved in some embodiments. For example, in the traveling direction of the body, the hard roller brush is disposed in front, and the bristle roller brush is disposed in rear.

It needs to be noted that rotational speeds of the first cleaning roller brush and the second cleaning roller brush are the same in some embodiments. For example, the rotational speeds of the first cleaning roller brush and the second cleaning roller brush are equal and are both greater than or equal to 1500 r/min.

Certainly, in some examples, the rotational speeds of the first cleaning roller brush and the second cleaning roller brush are different in some embodiments. For example, when the first cleaning roller brush is a hard roller brush and the second cleaning roller brush is a bristle roller brush, a rotational speed of the hard roller brush located at a front portion of the body is greater than a rotational speed of the bristle roller brush located at a rear portion of the body in some embodiments, thereby improving a beating effect of the carpet pile, which helps to agitate dust.

To drive the first cleaning roller brush and the second cleaning roller brush to rotate, two roller brush motors is selected to respectively drive the first cleaning roller brush and the second cleaning roller brush in some embodiments, or one roller brush motor is used to drive the first cleaning roller brush and the second cleaning roller brush in some embodiments. The roller brush motor is used in combination with a transmission mechanism (for example, a gear transmission mechanism) to drive the first cleaning roller brush and the second cleaning roller brush. In consideration of a cost problem, in some examples, one roller brush motor is used to drive the first cleaning roller brush and the second cleaning roller brush.

In an example, to improve the cleaning effect, in an embodiment of the present disclosure, the quantity of brush heads on the cleaning roller brush is increased to increase the quantity of beats in some embodiments.

In an example solution, a range of the quantity of brush heads is 3 to 8.

It is considered that a carpet and a floor board have different cleaning difficulty. In some examples, a quantity of brush heads of the bristle roller brush should be greater than a quantity of brush heads of the hard roller brush. For example, a range of the quantity of brush heads of the bristle roller brush is 6 to 8, and a range of the quantity of brush heads of the hard roller brush is 3 to 5. Further, the quantity of brush heads of the bristle roller brush is 6, and the quantity of brush heads of the hard roller brush is 4.

Next, to improve the beating energy to further improve the dust agitation effect, a beating direction of the cleaning roller brush is further improved in some embodiments.

In some examples, when one cleaning roller brush is used, to improve the dust agitation effect, the cleaning roller brush is controlled to perform beating in two directions. For example, for a same position, the cleaning roller brush beats the position in the first direction, makes a direction change, and beats the position again in the second direction after a direction change, where the first direction is opposite to the second direction.

In some examples, if two cleaning roller brushes are used, the two cleaning roller brushes both perform beating in a direction of facing a dust suction port of the dust suction mechanism in some embodiments.

To improve the cleaning effect, further, the dust suction port includes a space located between the first cleaning roller brush and the second cleaning roller brush, a rotation direction of the first cleaning roller brush is the first direction, and a rotation direction of the second cleaning roller brush is the second direction, where the first direction is opposite to the second direction, and the first direction and the second direction both face the space located between the first cleaning roller brush and the second cleaning roller brush.

To improve the beating energy to further improve the dust agitation effect, a beating force of the cleaning roller brush is further improved in some embodiments, where the beating force is represented by a degree of interference of the brush head on the cleaning roller brush.

For example, when the cleaning roller brush is a hard roller brush, a value range of a degree of interference of the hard roller brush is −2 mm to 4 mm. When the cleaning roller brush is a bristle roller brush, a value range of a degree of interference of the bristle roller brush is 0 to 6 mm.

When the to-be-cleaned surface is a hard floor, the value range of a degree of interference of the hard roller brush is −2 mm to −0.5 mm. When the cleaning roller brush is a bristle roller brush, a value range of a degree of interference of the bristle roller brush is 0.5 mm to 1.5 mm.

Further, when the to-be-cleaned surface is a soft floor, the value range of a degree of interference of the hard roller brush is 1.5 mm to 2.5 mm. A value range of a degree of interference of the bristle roller brush is 3 mm to 5 mm.

It may be understood that when the beating force is larger, the power of the beating mechanism is increased.

Due to different types of to-be-cleaned floors (a hard floor and a soft floor), degrees of interference of the floors are also different. For example, a degree of interference of a cleaning roller brush when the to-be-cleaned floor is a hard floor (or the cleaning robot is in a hard floor cleaning mode) is less than a degree of interference of a cleaning roller brush when the to-be-cleaned floor is a soft floor (or the cleaning robot is in a soft floor cleaning mode), where the cleaning roller brushes are of the same type.

When cleaning roller brushes are made of different materials, degrees of interference are different. For example, a degree of interference of a hard roller brush is less than a degree of interference of a bristle roller brush, where to-be-cleaned floors are of the same type.

In some examples, when the cleaning roller brush is a hard roller brush and the brush head is made of rubber, a degree of interference of the hard roller brush on the to-be-cleaned ground being a hard ground (for example, a floor board) is −2 mm, and a degree of interference of the hard roller brush on the to-be-cleaned ground being a soft ground (for example, a carpet) is 4 mm. When the cleaning roller brush is a bristle roller brush, a degree of interference of the bristle roller brush on the to-be-cleaned ground being the hard ground (for example, a floor board) is 0 mm, and a degree of interference of the cleaning roller brush on the to-be-cleaned ground being a soft ground (for example, a carpet) is 6 mm.

1.2. Dust Suction Energy

The dust suction energy is related to the dust suction mechanism configured to perform dust suction. The dust suction mechanism sucks garbage on the to-be-cleaned ground through a suction force in some embodiments, to clean off the garbage. Therefore, the dust suction effect can be improved by increasing the suction force of the dust suction mechanism.

It is considered that the suction force of the dust suction mechanism is associated with a power of a fan of the dust suction mechanism. Therefore, in some examples of the present disclosure, the dust suction mechanism includes a fan (also referred to as a dust suction fan). Therefore, the dust suction effect is improved by increasing a power of the fan in some embodiments. For example, the suction force of the dust suction mechanism is increased by increasing the power of the fan in some embodiments, to further improve the dust suction effect.

In some examples, the power of the fan is greater than or equal to 65 W.

Further, the power of the fan is greater than or equal to 65 W and less than 120 W. A value range of a flow rate at an inlet of the fan when the fan is fully open is 0.7 m³/min to 0.9 m³/min; a value range of a flow rate at the inlet of the fan when the fan is fully open is 0.7 m³/min to 0.9 m³/min; and a static pressure at the inlet of the fan when the fan is fully blocked ranges from 6.5 Kpa to 12 Kpa.

In some examples, the power of the fan is 80 W.

In some examples, the fan is a centrifugal fan. When a power of the centrifugal fan is 80 W, a test value of a degree of vacuum (the static pressure at the inlet when the fan is fully blocked) of the centrifugal fan is approximately 8.2 Kpa, a test value of a flow rate at an inlet of the centrifugal fan when the fan is fully open is approximately 0.72 m³/min.

In some examples, a volume of the centrifugal fan is approximately 50 cm³.

In some other examples, the fan is a mixed flow fan. When a power of the mixed flow fan is 80 W, a test value of a degree of vacuum (the static pressure at the inlet when the fan is fully blocked) of the mixed flow fan is approximately 7.6 Kpa, a test value of a flow rate at an inlet of the mixed flow fan when the fan is fully open is approximately 0.75 m³/min.

In some examples, a volume of the mixed flow fan is approximately 75 cm³.

In an embodiment of the present disclosure, the cleaning robot uses a dust suction mechanism with a large suction force to perform dust suction in some embodiments. The dust suction mechanism with a large suction force is, for example, implemented by using a high-power fan in some embodiments. The high-power fan is a fan with a power greater than or equal to 100 W.

A fan power is related to a degree of vacuum and a flow rate. For example, in some examples, a relationship among the three is basically as follows: W (fan power)=P (degree of vacuum)×Q (flow rate). As can be seen from the formula of the relationship, a required fan power is obtained in consideration of the two aspects of the degree of vacuum and the flow rate in some embodiments. That is, for a same fan power, a fan with a high degree of vacuum and a low flow rate is selected in some embodiments, or a fan with a high flow rate and a low degree of vacuum is chosen in some embodiments. The high flow rate is that the flow rate at the inlet of the fan is greater than or equal to 1.2 m3/min, and the low flow rate is that the flow rate at the inlet of the fan is less than 1.2 m3/min. The high degree of vacuum is that the static pressure at the inlet when the fan is fully blocked is greater than 15 Kpa, and the low degree of vacuum is that the static pressure at the inlet when the fan is fully blocked is less than or equal to 15 Kpa.

In some examples, in view of requirements such as the size of the cleaning robot and noise, a value range of the power of the fan is 100 W to 200 W. In some embodiments, the a value range of the power of the fan is 100 W to 150 W. Further, the power selected for the fan is 125 W.

During model selection of the fan, the fan is a fan with a high flow rate (the flow rate at the inlet of the fan ranges from 1.2 m³/min to 1.6 m³/min) and a low degree of vacuum (the static pressure at the inlet when the fan is fully blocked ranges from 10 Kpa to 15 Kpa) in some embodiments. Alternatively, the fan is a fan with a low flow rate (the flow rate at the inlet of the fan ranges from 0.8 m³/min to 1.2 m³/min) and a high degree of vacuum (the static pressure at the inlet when the fan is fully blocked ranges from 15 Kpa to 20 Kpa).

As can be seen from an aero dynamical equation, a flow power of dust or the like is directly proportional to the square of a speed of an air flow, that is, is directly proportional to the square of a flow rate. Therefore, the fan is in some embodiments a fan with a high flow rate. In this way, the dust suction effect is good. In addition, it is considered that the degree of vacuum does not greatly benefit the flowing of dust, to save energy, the fan is in some embodiments a fan with a low degree of vacuum. Therefore, the fan is a fan with a high flow rate and a low degree of vacuum.

In view of that the volume of the fan increases as the fan power increases, therefore, the volume of the fan or a volume proportion of the fan in the cleaning robot needs to be controlled. In some examples, a value range of the volume of the fan is 40 cm³to 100 cm³.

Further, the value range of the volume of the fan is 50 cm³to 90 cm³.

In some examples, a value range of a volume of the cleaning robot is 7000 cm³to 11000 cm³.

Further, the value range of the volume of the cleaning robot is 8000 cm³to 10000 cm³.

In some examples, a ratio of the volume of the fan to an overall volume of the cleaning robot is 0.005 to 0.01.

To control the volume of the cleaning robot, a mounting position of the fan is improved in some embodiments. In some examples, the chassis is low at a position of the fan. That is, a chassis height at a position of the fan is smaller than a chassis height at another position at which the fan is not disposed of the body of the cleaning robot. The chassis height is a height relative to a horizontal plane.

In some examples, the chassis height at the position of the fan ranges from 8 mm to 12 mm, and the chassis height at another position at which the fan is not disposed of the body of the cleaning robot ranges from 12 mm to 18 mm.

Further, the chassis height at the position of the fan is 10 mm, and the chassis height at another position at which the fan is not disposed of the body of the cleaning robot is 15 mm.

It is considered that generated noise increases as the power of the fan increases. To reduce or eliminate noise of the fan 24, a series of noise reduction measures adopted in the design. For example, the fan is a high-power low-noise fan in some embodiments.

In an example, a length of a discharge air duct 2401 in the design is increased, that is, a long-distance channel is used. The long-distance channel reduces a movement energy of a discharge air flow of the fan 24 in the discharge air duct 2401 in some embodiments, thereby reducing noise of air discharge.

A manner of using an improved design of an air duct for noise reduction is described below.

Referring to FIG. 75, the discharge air duct 2401 is transversely disposed along a tail portion of the cleaning robot. The cleaning robot has a center plane parallel to the advancing direction. The discharge air duct 2401 extends from a side (for example, a right side) of the center plane of the cleaning robot to a side (for example, a left side) of the center plane of the cleaning robot through the center plane of the cleaning robot. Further, a diameter ratio of an air opening distance to a blade of the fan 24 ranges from 1 to 2. In some examples, the diameter ratio of the air opening distance to the blade of the fan 24 ranges from 1.3 to 1.7. For example, the diameter ratio of the air opening distance to the blade of the fan 24 is equal to 1.5. The air opening distance is a length of a path from a center plane Q of the blade of the fan 24 to an air outlet 2402 of the discharge air duct 2401.

1.3 Cleaning Area Per Unit Time

The cleaning area per unit time is related to a movement strategy (for example, a movement speed) of the cleaning robot, a size of a cleaning mechanism (for example, a beating mechanism) configured to perform dust agitation, overlap amounts of a plurality of beating mechanisms (when the cleaning mechanism includes the plurality of beating mechanisms), and the like. Therefore, the cleaning area per unit time is improved in consideration of the foregoing several aspects in some embodiments.

The movement strategy (for example, the movement speed) of the cleaning robot is more controllable compared with the size of the beating mechanism configured to perform dust agitation and the overlap amounts of the plurality of beating mechanisms (when the cleaning robot includes the plurality of beating mechanisms). In view of this, therefore, in some examples of the present disclosure, the cleaning area per unit time is increased from the perspective of the movement strategy (for example, the movement speed) of the cleaning robot.

In some examples, a movement distance within a unit time or a cleaning area within a unit time is controlled by controlling the movement speed of the cleaning robot in some embodiments. For example, the to-be-cleaned ground is cleaned at a low movement speed, for example, a movement speed of 0.1 m/s to 0.2 m/s, especially a movement speed of the cleaning robot on a soft ground such as a carpet is reduced, thereby reducing the cleaning area per unit time and at the same time improving the dust agitation effect and/or the dust suction effect.

It is to be noted that a low movement speed can increase a quantity of beats on a to-be-cleaned ground by the beating mechanism within a unit time, especially a quantity of beats on every cluster of carpet fiber or pile, thereby improving the dust agitation effect. If a movement speed is excessively fast, the dust suction mechanism stays at every position of the to-be-cleaned ground for a short time, which is especially not conducive to suction for every cluster of carpet fiber or pile, affecting the dust suction effect. Therefore, the dust suction effect can also be improved by reducing the movement speed.

It is considered that a reduction in the movement speed affects working efficiency of the cleaning robot. Therefore, the movement speed of the cleaning robot cannot be excessively small. An increase in the movement speed reduces the quantity of beats or the dust suction effect of the to-be-cleaned floor and affects the cleaning effect of the cleaning robot. Therefore, the movement speed of the cleaning robot cannot be excessively large.

To take both the cleaning effect and the working efficiency into consideration, the movement speed of the cleaning robot needs to be controlled within a certain range. In some examples, a value range of the movement speed is 0.12 m/s to 0.18 m/s.

In view of that the movement speed is related to a power of a driving motor of the movement mechanism, therefore, the power of the driving motor is adjusted to make the cleaning robot move at a movement speed that meets requirements.

In some examples of the present disclosure, a value range of the power of the driving motor is 4 W to 6 W.

Therefore, to improve the cleaning efficiency, the ratio of the power of the cleaning robot relative to the power of the driving motor is controlled in some embodiments, or a ratio of the sum of the power of the dust suction mechanism (for example, the fan) and the power of the dust agitation mechanism (for example, the roller brush) relative to the power of the driving motor is controlled in some embodiments.

In some examples, the value of the power of the cleaning robot ranges from 100 W to 250 W. Further, the value of the power of the cleaning robot ranges from 100 W to 200 W.

In some examples, the value of the power of the fan ranges from 65 W to 150 W. Further, the range of the power of the fan is 100 W to 120 W.

In some examples, the value of the power of the roller brush ranges from 25 W to 50 W. Further, the power of the fan is 30 W to 35 W.

In some examples, a value of a sum of the power of the fan and the power of the roller brush ranges from 90 W to 200 W. Further, the value of the sum of the power of the fan and the power of the roller brush ranges from 130 W to 155 W.

Therefore, to improve the energy input per unit area, the ratio of the power of the cleaning robot relative to the power of the driving motor is controlled to be at least 100/6=17 in some embodiments, or the ratio of the sum of the powers of the fan and the roller brush relative to the power of the driving motor is controlled to be at least 90/6=15 in some embodiments.

It is considered that the hard floor and the soft floor have different cleaning difficulty. Therefore, the movement speed of the cleaning robot is controlled to be different in some embodiments. In some examples, the cleaning robot has a first movement speed in the hard floor cleaning mode and the cleaning robot has a second movement speed in the soft floor cleaning mode, where the first movement speed is greater than or equal to the second movement speed.

For example, a value range of the first movement speed is 0.24 m/s to 0.36 m/s; a value range of the second movement speed is 0.12 m/s to 0.18 m/s; and the first movement speed is 0.3 m/s.

The second movement speed is 0.15 m/s.

The cleaning efficiency can be improved by controlling a ratio of a sum of a power of the dust suction mechanism (for example, the fan) and a power of the dust agitation mechanism (for example, the roller brush) of the cleaning robot relative to the movement speed.

In some examples, a value range of the power of the dust suction mechanism (for example, the fan) is 65 W to 150 W; and further, the value range of the power of the dust suction mechanism (for example, the fan) is 80 W to 120 W.

In some examples, a value range of the power of the dust agitation mechanism (for example, the roller brush) is 25 W to 45 W. Further, the value range of the power of the dust agitation mechanism (for example, the roller brush) is 30 W to 40 W.

In some examples, the ratio of the sum of the dust suction mechanism (for example, the fan) and the power of the dust agitation mechanism (for example, the roller brush) of the cleaning robot to the movement speed is at least 90 W/0.2 m/s=45 J/m.

The cleaning efficiency can be improved by controlling a ratio of a power of the cleaning robot relative to the movement speed.

In some examples, a value range of the power of the cleaning robot is 100 W to 160 W; and further, the value range of the power of the cleaning robot is 120 W to 135 W.

In some examples, the ratio of the power of the cleaning robot to the movement speed is at least 100 W/0.2 m/s=50 J/m.

Certainly, in some examples, in the design, the size of the beating mechanism configured to perform dust agitation is increased in some embodiments. For ease of understanding, for example, the beating mechanism includes a cleaning roller brush. To improve the dust agitation effect and at the same time ensures an appropriate (for example, a small) cleaning area, in some examples, a width (that is, a length of contacting the to-be-cleaned ground by a single beat) of the cleaning roller brush is improved in some embodiments, where the width of the cleaning roller brush is a length of the brush head or the brush body in a direction of the rotation axis of the cleaning roller brush.

For example, in some examples, the length of the brush head is equal to the length of the brush body.

In some examples, a range of the width of the cleaning roller brush is 185 mm to 205 mm. Further, the width of the cleaning roller brush ranges from 190 mm to 195 mm.

If the beating mechanism includes at least two cleaning roller brushes, to improve the dust agitation effect and at the same time ensure an appropriate (for example, a small) cleaning area, an overlap amount of the at least two roller brushes is further improved.

In some examples, a value of the overlap amount of the at least two roller brushes (cleaning areas) ranges from 15% to 25%. In some embodiments, the overlap amount of the at least two roller brushes (cleaning areas) is 20%.

In some examples, a range of a single-time energy input EI per unit area of the cleaning robot is greater than or equal to 4000 J/m²; further, the range of the energy input per unit area is 4000 J/m²to 6000 J/m²; and in some embodiments, the value range of the energy input per unit area is 4500 J/m²to 5500 J/m².

To facilitate understanding, a process of calculating the energy input per unit area is briefly described below by using an example in which the power of the fan is 80 W, the power of the roller brush is 30 W, the power of the driving motor is 5 W, the width of the roller brush is 195 mm=0.195 m, the quantity of roller brushes is 2, an overlap between cleaning areas of two roller brushes is 20%, and the movement speed is 0.15 m/s:

A clean area S per unit time is calculated by using the following formula in some embodiments: 0.195×0.15×(1% to 20%)×60=1.4 m²/min.

The energy input per unit area is EI≈(80+30+5)/60/1.4=1.4 Wh/m²=5040 J/m².

Consumed fan energy per unit area is 80/60/1.37=0.974 Wh/m².

Certainly, to accurately calculate an input per unit area, p4 is also taken into consideration in some embodiments. A sum of powers of other members of the cleaning robot is 15 W. The energy input per unit area is EI=(80+30+5+15)/60/1.4=1.6 Wh/m².

In some examples, a range of a single-time energy input EI per unit area of the cleaning robot is greater than or equal to 5500 J/m²; further, the range of the energy input per unit area is 5500 J/m²to 8500 J/m²; and in some embodiments, the value range of the energy input per unit area is 6000 J/m²to 8000 J/m².

In an example, the process of calculating the energy input per unit area is briefly described by using an example in which the power of the fan is 125 W, the power of the roller brush is 30 W, the power of the driving motor is 5 W, the width of the roller brush is 190 mm=0.19 m, the quantity of roller brushes is 2, an overlap between cleaning areas of two roller brushes is 20%, and the movement speed is 0.15 m/s:

A clean area S per unit time is calculated by using the following formula in some embodiments: 0.19×0.15×(1% to 20%)×60=1.37 m²/min.

The energy input per unit area is EI≈(125+30+5)/60/1.37=1.95 Wh/m²=7000 J/m².

Certainly, to accurately calculate an input per unit area, p4 is also taken into consideration in some embodiments. A sum of powers of other members of the cleaning robot is 20 W. The energy input per unit area is EI=(125+30+5++20)/60/1.4=2.14 Wh/m².

In some examples, a value range of a height of the cleaning robot is 95 mm to 115 mm. Further, the value range of the height of the cleaning robot is 105 mm to 110 mm.

In some examples, a value range of a volume of the cleaning robot is 7000 cm³to 11000 cm³. Further, the value range of the volume of the cleaning robot is 8000 cm³to 10000 cm³.

For the cleaning robot designed by the applicant, while the cleaning efficiency is improved, the passability also needs to be ensured. For example, the cleaning robot can perform cleaning below furniture. Therefore, in some examples, a ratio of an energy input per unit area of the cleaning robot to a height of the cleaning robot is greater than or equal to 4000/0.095 J/m³(that is, 11.7 Wh/m³); or a ratio of an energy input per unit area of the cleaning robot to a volume of the cleaning robot is greater than or equal to 4000/0.007 J/m⁵(that is, 158.7 Wh/m⁵).

It is to be noted that, in an example, a cleaning effect is represented by an efficiency ratio in some embodiments. The efficiency ratio is used for representing a ratio of the cleaning efficiency to the energy input per unit area. For example, an efficiency ratio r=a cleaning efficiency CE/an energy input EI per unit area. Therefore, an efficiency ratio of each time is obtained according to corresponding value ranges of the cleaning efficiency of each time and the energy input per unit area in some embodiments. For this, this is not excessively described in this embodiment.

2. Dust Suction Efficiency Per Unit Energy

In the present disclosure, the cleaning efficiency CE can be improved by increasing a dust suction efficiency per unit energy.

For a manner of improving the dust suction efficiency per unit energy, sealing performance of the dust suction system (also referred to as the dust suction assembly) can be considered, and leakage of an air flow for dust suction is minimized. Alternatively, a flowing path of an air flow can be considered. For example, the design of the air duct of the dust suction fan is optimized.

2.1 Sealing Performance

It is found through researches that, an existing structure in which the roller brush assembly fits a housing of the dust suction assembly is restrictive. Specifically, there is a large spacing between a mounting support (also referred to as a roller brush support) of the roller brush assembly and a ground, and as a result an air flow fail to deeply clean a surface of a cleaning ground (especially a carpet), affecting the dust suction efficiency per unit energy.

Therefore, to improve the sealing performance to further improve the dust suction efficiency per unit energy, in some examples, a blocking member (also referred to as a blocking member or a sealing door) or another sealing part is disposed in some embodiments, to seal the large spacing between the mounting support and a ground. In some other examples, the structure of the mounting support is improved in some embodiments, to make an end of the mounting support close to a cleaning ground (an environmental surface) extend close to the cleaning ground, so that the large spacing can be sealed as much as possible, that is, a part of the mounting support is used as the blocking member to improve the sealing performance.

Due to a problem that a ground is uneven or there is a bumpy surface in some embodiments, to implement real-time sealing to improve joining degree, in some examples, the sealing part is disposed to be floatable.

When a sealing amount of the spacing is larger (a distance to the surface of the cleaning ground is smaller), the sealing performance is better, and the dust suction efficiency per unit energy is higher. However, large particles, clumps of hair, and other garbage on a ground (especially a soft ground) fail to be sucked in. In other words, an excessively large sealing amount between the housing (especially the mounting support) of the dust suction assembly and a ground is not conducive to cleaning up of large particles and clumps of hair. In addition, if the sealing amount is excessively large, friction between the dust suction assembly and the cleaning surface is increased, and the movement and passability of the cleaning robot are affected in some embodiments. Therefore, a larger sealing amount is not necessarily better. In consideration of this, therefore, in some examples, the sealing part is disposed to be movable.

To implement intelligent control of the cleaning robot, furthermore, the sealing part is designed to be intelligently adjustable in some embodiments. For example, during cleaning of a carpet or another soft ground, the sealing amount is large, and when large-particle garbage is encountered, the sealing amount is small.

A structural improvement is made. For example, an improvement is made to the flowing path of an air flow in the design of the foregoing sealing part. In one aspect, the sealing part is disposed to be closer to a cleaning surface, or even closer to a position of beating and dust agitation, to make more air flows flow through a required place, for example, a soft ground (for example, an inside of a standard test carpet), a bottom of a roller brush or a beating region, making it convenient to carry away dust inside the soft ground or dust agitated by the roller brush. In another aspect, an air flow flowing through a non-required place, for example, a region no beating and no dust agitation, is reduced. For example, a distance between the roller brush and the support or between the roller brush and the sealing part is made as small as possible. In an example, a rotational direction of the roller brush is adjusted, to enable the rotational direction of the roller brush hinders an air flow that flows through a non-required place.

For the Second Aspect:

In some examples of the present disclosure, a multi-round cleaning strategy is adopted. That is, a quantity of rounds of cleaning is made greater than or equal to 2, and a cleaning effect of each round is accumulated, to enable an overall cleaning effect to be close to or reach a cleaning effect of a handheld vacuum cleaner. Reasons of adopting the multi-round cleaning strategy mainly include the following two points: 1. If single-round of cleaning is adopted, a size of the cleaning robot needs to be made very large in some embodiments, which does not conform to an expectation of a miniature cleaning robot by a user. 2. Because the size of the cleaning robot is restricted, the cleaning effect of each round is restricted. The size of the cleaning robot is related to parameters such as sizes and powers of components such as a battery, a cleaning member, a motor, and the like.

For example, the cleaning robot adopts the multi-round cleaning strategy in some embodiments, that is, a working manner in which the cleaning robot performs a plurality of rounds of cleaning on an entire to-be-cleaned region in a working period, to enable an accumulated effect of cleaning effects of the plurality of rounds of cleaning by the cleaning robot to be equivalent to the cleaning effect of the handheld vacuum cleaner.

In other words, the cleaning robot performs autonomous cleaning in some embodiments, and no manual intervention is required in a cleaning process. Therefore, the cleaning robot performs a plurality of rounds of cleaning in some embodiments, and accumulates effects of the plurality of rounds of cleaning to achieve a cleaning effect equivalent to that of one round of cleaning by the handheld vacuum cleaner.

If only a quantity of rounds is increased but an effect of each round is very small or remains unchanged, when the quantity of rounds is excessively large, a working time of the cleaning robot is very long. In consideration of this, therefore, the cleaning effect of each round also should be constrained.

In the present disclosure, the quantity (denoted by M) of rounds of cleaning and the cleaning effect of each round are controlled, to make the overall cleaning effect of the cleaning robot equivalent to the cleaning effect of the handheld vacuum cleaner. It can be seen that, to achieve a similar cleaning effect, the quantity of rounds of cleaning is inversely proportional to the cleaning effect of each round. That is, when the quantity of rounds of cleaning is larger, the cleaning effect of each round is smaller in some embodiments. In contrast, when the cleaning effect of each round is better, the quantity of rounds of cleaning is reduced in some embodiments.

Therefore, in the design, when a balance needs to be reached between the quantity of rounds of cleaning and the cleaning effect of each round, that is, the quantity M of rounds is controlled to be within a first range, and the cleaning effect of each round is controlled to be within a second range, so that a cleaning effect after M rounds reaches a preset percentage of the cleaning effect of the handheld vacuum cleaner. The cleaning effect of each round is represented by the cleaning efficiency (CE) in some embodiments. In this case, a cleaning efficiency of each round should be controlled within a corresponding threshold range. Certainly, the cleaning effect of each round is represented by, for example, an energy input per unit area or another parameter in some embodiments. In this case, an energy input per unit area of each round is controlled to be within a corresponding threshold range. This is not limited in the present disclosure.

A manner of reaching a balance between the quantity of rounds of cleaning and the cleaning effect of each round is described below from two aspects, that is, the quantity of rounds and the cleaning effect of each round.

In one aspect, in consideration of that the quantity of rounds is restricted by the cleaning effect of each rounds, the cleaning effect of each round is improved to a corresponding range herein in some embodiments, to control the quantity of rounds of cleaning.

The cleaning efficiency (regardless of a single round or each round in a plurality of rounds) is related to an energy value inputted per unit area, a dust suction efficiency per unit energy, and the like. Therefore, the cleaning efficiency is improved by increasing at least one of the energy value inputted per unit area or the dust suction efficiency per unit energy in some embodiments. For specific content, refer to the foregoing embodiments. Details are not excessively described herein.

In some examples, in the present disclosure, a combination of increasing the foregoing beating energy and dust suction energy is used to jointly improve the cleaning effect of each round. For example, double roller brushes and a large suction force are combined to improve the cleaning effect of each round.

In the present disclosure, when a carpet type is a non-standard test carpet, where the non-standard test carpet is an overall carpet other than a labeled test carpet, a value of a CE of each round is within a range greater than or equal to 15%. Further, the value of the CE of each round ranges from 25% to 45%. In some embodiments, the value of the CE of each round ranges from 30% to 40%.

When a carpet type is a standard test carpet, where the standard test carpet is a Wilton carpet, a value of a CE of each round is within a range greater than or equal to 60%. Further, the value of the CE of each round ranges from 60% to 80%. In some embodiments, the value of the CE of each round ranges from 65% to 75%.

In another aspect, when the quantity of rounds is increased, the working time of the cleaning robot is longer. That is, the quantity of rounds is restricted by the working time. Therefore, the quantity of rounds of cleaning is controlled by constraining the working time herein. The working time is related to a working period of using the handheld vacuum cleaner by the user. In other words, the quantity of rounds is related to the working period (for example, one week or two weeks) of using the handheld vacuum cleaner by the user. Therefore, the quantity M of rounds needs to be controlled in the working period. A total time of a quantity of rounds of cleaning every day needs to be controlled within an acceptable range of the user, that is, the quantity of rounds is restricted by a working time of each day. It is to be noted that, the working period is determined or set according to user requirements in some embodiments.

For a manner of completing the quantity of rounds of cleaning within the foregoing working period, the following two manners is used for example in some embodiments.

Manner A: The quantity of rounds of cleaning is completed by performing cleaning once. That is, cleaning is performed only once to complete the M rounds in the working period. In this case, the cleaning robot continuously runs the M rounds in the working period to complete cleaning.

Manner B: The quantity of rounds of cleaning is completed by performing cleaning a plurality of times. That is, M rounds of cleaning are completed by performing cleaning N times in the working period. N is an integer greater than 1 or greater than or equal to 2. The reasons are as follows: If the M rounds of cleaning are completed by performing cleaning once, the cleaning robot needs to work continuously and noninterruptedly in the working period. In this case, the following problems are caused in some embodiments: 1. A rest time of the user is occupied in some embodiments, causing degraded user experience. 2. Heat generation parts, for example, a chip, a motor, a battery, and other heat generation components, have heavy load, and the service life of the cleaning robot is affected in some embodiments. In addition, a rechargeable battery is usually used in the cleaning robot. The battery has a limited quantity of times of charging. Therefore, if a plurality of rounds of cleaning are completed by performing cleaning once, the service life of the battery is shortened. 3. A movement wheel (including at least one drive wheel and a universal wheel), a cleaning member, and other mechanical parts of the robot also need to run continuously. Therefore, wear of the mechanical parts is increased, and the service life of the mechanical parts is reduced.

In Manner B, a plurality of times of cleaning reserve a rest time for the user in some embodiments, and the service life of the cleaning robot or the battery or another part of the cleaning robot is extended.

It needs to be emphasized that regardless of whether the M rounds of cleaning are completed by performing cleaning N times, a time interval between rounds should be short, to enable the user to intuitively feel the working continuity and a working efficiency of the cleaning robot, thereby improving user experience. For example, in some examples, in a case that the M rounds of cleaning are completed by performing cleaning N times and at least one of the N times includes two or more rounds of cleaning, the time interval between rounds should be short. Regardless of whether one time of cleaning includes one round of cleaning or a plurality of rounds of cleaning, a time interval between two times should be long, to provide a reserved time for the user to rest, thereby further improving user experience. In other words, in some examples of the present disclosure, the rounds of cleaning are completed by performing cleaning a plurality of times, to provide the user with a rest time.

For a manner of performing cleaning a plurality of times to reserve a rest time for the user, at least one of the following manners can be considered for example:

Manner 1: Time intervals between two adjacent rounds and two adjacent times and charging manners are compared for example.

Manner 2: The times is matched with calendar days in some embodiments, to match a time interval between times with the rest time of the user.

For Manner 1:

For example, in some examples, a time interval between end of a previous time of work and start of a current time of work is greater than a time interval between end of a previous round of work and start of a current round of work. That is, a time interval between two adjacent times of cleaning work is greater than a time interval between two adjacent rounds of cleaning work.

In an example, in some other embodiments, a time interval between end of a previous time of work and start of a current time of work is greater than or equal to a set first threshold; and/or, a time interval between end of a previous round of work and start of a current round of work is less than or equal to a set second threshold, where the first threshold is greater than the second threshold.

The first threshold is set according to the rest time of the user in some embodiments. For example, the first threshold is a rest time between morning and afternoon in some embodiments, or is a sleep time of the user in some embodiments. Therefore, the first threshold is, for example, set to any value with a range of 1 hour (h) to 12 h in some embodiments. In some embodiments, a value of the first threshold ranges from 2 h to 10 h. It is to be noted that, the first threshold corresponds to different values for different rest cases in some embodiments. For example, a current moment is 11:00 in the morning, the first threshold corresponds to 2 h. When the current moment is 22:00 in the evening, the first threshold is correspondingly adjusted to 8 h. Certainly, the user customizes the first threshold by controlling a terminal (for example, a mobile phone terminal, a remote control, a control panel on the cleaning robot, or the like) in some embodiments.

The second threshold is set from the perspective of the working continuity of the cleaning robot or from the perspective of the maintenance of the cleaning robot in some embodiments. From the perspective of working continuity, the second threshold is, for example, set to 0, that is, a time interval between rounds is 0, and the cleaning robot works continuously. In consideration of a large cleaning area, the cleaning robot requires a maintenance, for example, a charging maintenance, a dirt removal maintenance, an idling maintenance (for example, for heat dissipation), or the like in some embodiments. In this case, from the perspective of a maintenance, the second threshold is, for example, set to a time required for the cleaning robot to perform a charging maintenance, a dirt removal maintenance or an idling maintenance. The second threshold is, for example, set to 5 minutes (min) to 120 min. In some embodiments, the second threshold is set to 10 min to 60 min. In summary, the value of the second threshold ranges from 0 h to 2 h. In some embodiments, the value of the second threshold ranges from 0 min to 60 min.

It is to be noted that, the second threshold corresponds to different values according to different conditions in some embodiments. For example, under a condition that no maintenance is required, the second threshold is set to 0. Under a condition that dirt removal is required, the second threshold is, for example, set to 5 min to 20 min. In some embodiments, the second threshold is 10 min. Under a condition that a charging maintenance is required, the second threshold is, for example, set to 20 min to 40 min. In some embodiments, in this case, the second threshold is set to 30 min. Under a condition of idling, the second threshold is, for example, set to 40 min to 60 min. In some embodiments, the second threshold is set to 60 min. The foregoing values are only for ease of understanding and description, and should not be understood as a limitation to the present disclosure.

In the foregoing embodiments, user experience is improved from the perspective of the values or value ranges of the time interval between two adjacent times and/or the time interval between two adjacent rounds.

In addition, in some examples, user experience can be further improved from the perspective of charging manners between two adjacent times and two adjacent rounds. For example, between end of a previous time of work and start of a current time of work, the cleaning robot is charged by using constant current (CC) charging and in combination with constant voltage (CV) charging. Between end of a previous round of work and start of a current round of work, the cleaning robot is charged through CC charging.

In other words, in some examples of the present disclosure, a short time of CC charging facilitates high-efficiency work of the cleaning robot. Between two adjacent rounds of cleaning work, the charging manner of the cleaning robot is CC. Between two adjacent times of cleaning work, the charging manner of the cleaning robot is a combination of CC and CV (for example, the cleaning robot is first charged in a CC manner and then charged in a CV manner). Through the combination of CV charging with a long charging time, the user is provided with a rest time in some embodiments.

For Manner 2:

The rounds are completed by performing cleaning a plurality of times, the times is matched with calendar days in some embodiments, to match a time interval between times with the rest time of the user.

For example, at most one time of cleaning work is assigned or arranged on each day or each time of cleaning work is assigned or arranged on different calendar days.

In some examples, a working time of each time is matched with the daytime or nighttime of each calendar day in some embodiments, to match the time with the calendar day. A matching manner, for example, restricts a working duration of each time (or each day), or a working interval of each time (or each day) in some embodiments.

For a level to which a working time of each time (or each day) is to be constrained, at least one of the following two aspects is used for constraint in some embodiments:

a. Constrain a Range of a Working Time of Each Time (or Each Day).

For example, the working time of each time (or each day) is controlled not to exceed a predetermined working time, or, a working interval of each time (or each day) is controlled to be set to a period of time corresponding to daytime (or nighttime) of a calendar day. The predetermined working time or working interval is determined according to the rest time of the user or customized by the user in some embodiments. Within the foregoing working time or working interval, the work of the cleaning robot includes performing a cleaning task in a to-be-cleaned region, and further includes returning for a maintenance (for example, charging, dirt removal, and the like), obstacle avoidance, and other necessary operations. In some embodiments, the cleaning robot works continuously and noninterruptedly within the working time of each time or each day, and especially it is to be noted that, necessary returning for a maintenance (for example, charging, garbage removal, and the like), obstacle avoidance, and the like in a working process all fall within the meaning of continuous and noninterrupted work.

In some examples of the present disclosure, a value of the working time of each time is within a range less than or equal to 8 h. In some embodiments, the predetermined working time is, for example, set to 6 h. That is, the working time of each time (or each day) does not exceed 6 h. An interval between end of a working time of a current time and start of a working time of a next time is a rest time reserved for the user. For example, the working time of each day is set to 6 h, the cleaning robot completes continuous and noninterrupted work within the 6 h.

In an example, the working interval of each time (or each day) is set to 9:00 to 12:00 and 13:00 to 16:00. The working time of each time (or each day) is 6 h. A time interval (15 h) between end (16:00) of work of the time (or day) and start (9:00) of work of a next time (or next day) is a rest time reserved for the user. The 1 h time between 12:00 and 13:00 is, for example, a time interval between two rounds or a time reserved for the cleaning robot to return for a maintenance in some embodiments.

In addition, it is to be noted that, within the foregoing working time of 6 h, the cleaning robot completes one time of cleaning task through continuous and noninterrupted work. If the time of cleaning task includes 2 rounds of cleaning, the cleaning robot continuously completes 2 rounds of cleaning within the foregoing 6 h.

The working time of each time is related to a total charging time the cleaning robot each time. Therefore, in some examples, the working time of each time is restricted within a threshold range by controlling a total charging time of each time of cleaning in some embodiments. The total charging time is related to a quantity of times of charging required to complete the time of cleaning task and a charging time required to charging a battery once (referred to as a single-time charging duration for short).

Therefore, in one aspect, the total charging time is controlled by controlling the single-time charging duration in some embodiments.

In some examples of the present disclosure, the value of the single-time charging duration is within a ranges less than or equal to 90 min. Further, the value of the single-time charging duration is within a range less than or equal to 45 min. In some embodiments, the value of the single-time charging duration is within a range less than or equal to 35 min. Specifically, the single-time charging duration is 30 min.

In consideration of that the single-time charging duration is related to a charging manner and a battery type, therefore, to control the single-time charging duration, in one aspect, the battery of the cleaning robot is a quick-charge battery. The quick-charge battery is a battery that can be charged to a preset capacity of the battery within a short time. For example, the preset capacity is 70% or above of a rated capacity of the battery. Further, the quick-charge battery is a soft-pack battery in some embodiments, for example, a soft-pack lithium battery, or the like. In another aspect, the total charging time is controlled by controlling a charging manner of the battery in some embodiments. In some examples, the charging manner is quick charge. That is, the single-time charging duration is reduced to by increasing a charging power of the battery, to implement quick charge.

The cleaning robot has a limited size and cannot accommodate many batteries. A voltage of the battery is usually fixed. A charging voltage of the battery is usually slightly greater than the voltage of battery to facilitate charging. Therefore, in some examples, within a running period of performing each time or each round of cleaning work by the cleaning robot, the cleaning robot uses a constant current (CC) charging manner, and a charging speed is fast.

To implement the quick charge or reduce the single-time charging duration, the quick charge or a short single-time charging duration is implemented by controlling the charging power in some embodiments. In some examples, a value of the charging power of the battery is within a range greater than or equal to 40 W. Further, the value of the charging power of the battery is within a range greater than or equal to 60 W. In some embodiments, the value of the charging power of the battery is within a range greater than or equal to 100 W. For example, the charging power of the battery ranges from 120 W to 180 W. In some examples, the charging power of the battery is 170 W.

In view of that the charging power of the battery is determined by a charging current and a charging voltage, therefore, the charging power is controlled by controlling the charging current or the charging voltage in some embodiments. The voltage of the battery of the cleaning robot usually has been selected. Therefore, in some examples, the charging power is controlled by controlling the charging current. A value of the charging current is within a range greater than or equal to 3 amperes (A). Further, the value of the charging current is within a range greater than or equal to 5 A. In some embodiments, the charging current is greater than or equal to 7 A. In some examples, the voltage of the battery is 20 V or is basically equal to 20 V (for example, 21 V to 22 V), and the value of the charging current is 8 A. In this case, the charging power is approximately 170 W.

In some examples, in consideration of that the working time of the cleaning robot is extended, for example, the cleaning robot performs a plurality of rounds of cleaning every day, the quantity of times of charging is increased every day, and therefore a requirement of the service life of the battery is higher. Therefore, in some examples, the battery is a battery with a long service life. The service life of the battery is represented by a battery charging and discharging life or a battery cycle count (which is also referred to as a rechargeable count) in some embodiments. To facilitate the understanding of the battery charging and discharging life, in some examples, the capacity of the battery is 80 watt-hour (Wh). The service life of the battery is represented by the battery charging and discharging life. In this case, the battery charging and discharging life is use duration of the battery when the capacity of the battery is reduced to 64 Wh due to a battery loss.

A complete process in which the battery is fully charged and then fully discharged is referred to as one cycle. In some examples of the present disclosure, the service life of the battery is represented by a cycle count. The cycle count of the battery is within a range greater than or equal to 2000. In some embodiments, the value of the cycle count of the battery ranges from 3000 to 4000.

It is to be noted that, in another aspect, the total charging time is controlled by controlling a quantity of times of charging required to complete each time of cleaning task in some embodiments. In consideration of that the quantity of times of charging required to complete each time of cleaning task is related to a single-time full-charge workable duration (used for representing a single-pack battery life capability at a maximum output power), the quantity of times of charging required to complete each time of cleaning task is controlled by controlling the single-time full-charge workable duration in some embodiments. Therefore, in some examples of the present disclosure, a value of the single-time full-charge workable duration is within a range greater than or equal to 15 min. Further, the value of the single-time full-charge workable duration is within a range greater than or equal to 20 min. In some embodiments, the single-time full-charge workable duration ranges from 22 min to 25 min.

It is to be noted that, the single-time full-charge workable duration is related to an overall power of the cleaning robot and a battery capacity. For example, the overall power of the cleaning robot is 175 W, and the battery capacity is 80 Wh. The single-time full-charge workable duration of the battery is calculated through the following formula in some embodiments: T=80*0.9/175*60=24.7 min. 0.9 is a battery working capacity coefficient, which indicates a capacity ratio of a battery that can be used for work in some embodiments, and the remaining 0.1 indicates a remaining capacity ratio when battery requires returning for charging. The battery working capacity coefficient is set as required in some embodiments, and is, for example, set to 0.8, 0.85, or the like in some embodiments.

In addition, when the overall power of the cleaning robot is fixed, the single-time full-charge workable duration depends on the battery capacity. The battery capacity is restricted by the size of the cleaning robot. That is, the cleaning robot has a limited size and cannot accommodate many batteries. Therefore, a value of the single-time full-charge workable duration is within a particular range.

In view of that an existing cleaning robot performs one round of cleaning, therefore, the cleaning robot is not charged in a working process, and is only charged after work is completed. For the cleaning robot according to the present disclosure, each time of cleaning task includes a plurality of rounds of cleaning in some embodiments. In this case, a total cleaning area is large. Therefore, in a cleaning process, the cleaning robot needs to return for charging. A user expects that a charging time should not be too long, and a single-time full-charge working time should not be too short. If the single-time charging duration is far greater than the single-time full-charge workable duration, the user may feel that the cleaning robot has a low working efficiency, causing degraded user experience. Therefore, in some examples of the present disclosure, a ratio of the single-time charging duration and the single-time full-charge workable duration is less than or equal to 2.5:1. In some embodiments, the ratio of the single-time charging duration and the single-time full-charge workable duration is less than or equal to 2.3:1 or is less than or equal to 2:1. To ensure the working continuity of the cleaning robot, further, the ratio of the single-time charging duration and the single-time full-charge workable duration is less than or equal to 1:1. To improve the working efficiency of the cleaning robot, in some embodiments, the ratio of the single-time charging duration and the single-time full-charge workable duration is less than or equal to 1:2.

However, in consideration of that the single-time charging duration (or quick charge) and the single-time full-charge workable duration of the battery are related to the battery capacity, therefore, the battery capacity, battery performance, and costs also restrict the single-time charging duration and the single-time full-charge workable duration, making it impossible to make the single-time charging duration far less than the single-time full-charge workable duration. Therefore, in an embodiment of the present disclosure, the ratio of the single-time charging duration and the single-time full-charge workable duration is greater than or equal to a first ratio. A value of the first ratio is 1:3.

In some examples of the present disclosure, the single-time charging duration is 30 min, and the single-time full-charge workable duration is 22 min. Therefore, the ratio of the single-time charging duration and the single-time full-charge workable duration is 30:22.

In some other examples of the present disclosure, the single-time charging duration is 43 min, and the single-time full-charge workable duration is 25 min. In this case, the ratio of the single-time charging duration and the single-time full-charge workable duration is 43:25.

In addition, it is to be noted that, the working time of each time or each day is further related to a cleaning total time and another time (for example, an obstacle avoidance time, and a return-for-charging time). Therefore, in some examples, the cleaning total time and the another time can be considered. The cleaning total time is related to a cleaning area per unit time of the cleaning robot, an area of the to-be-cleaned region, and a quantity of rounds of cleaning of each time or each day. The cleaning area per unit time is related to a movement speed of the cleaning robot, a length of the roller brush, a quantity of roller brushes, whether cleaning areas have an overlap in a case of a plurality of roller brushes, a movement trajectory (whether there is reciprocal movement in a unit area) of the cleaning robot, and the like. The obstacle avoidance time is related to an obstacle avoidance logic. The return-for-charging time is related to a return-for-charging trajectory (for example, a length of the trajectory), a movement speed during return, and the like. Therefore, in some examples of the present disclosure, the working time of each time or each day is further controlled by controlling the movement speed of the cleaning robot in some embodiments.

For ease of understanding, mutual relationships between the foregoing parameters are briefly describe below.

When the length of the roller brush is 190 mm=0.19 m, the quantity of roller brushes is 2, an overlap between cleaning surfaces of the two roller brushes is 20%, and the movement speed is 0.15 m/s, the cleaning area per unit time is calculated by using the following formula: 0.19*0.15*(1−20%)*60=1.37 m²/min.

For example, the area of the to-be-cleaned region is 70 m², and the quantity of rounds of cleaning is 2. The cleaning total time is calculated in the following manner in some embodiments: t1=70*2/1.37=102 min. In consideration of the return-for-charging time, the obstacle avoidance time, and the like, the cleaning time t0=102*1.15=117 min.

The total charging time is obtained by subtracting the cleaning time from the working time of each time in some embodiments. That is, the total charging time=4*60−117=123 min. The quantity of times of charging=the cleaning total time/the single-time full-charge workable duration−1 (because in the time at the beginning, the cleaning robot is fully charged by using a combination of CC and CV after a previous time of working ends). The single-time full-charge workable duration is related to the overall power of the cleaning robot and the battery capacity. When the overall power of the cleaning robot is 175 W, the battery capacity is 80 Wh, and the battery voltage is 20 V, the single-time full-charge workable duration of the battery is calculated by using the following formula in some embodiments: T=80*0.9/175*60=24.7 min. It is obtained that the quantity of times of charging k=t1/T−1=102/24.7−1=3 in some embodiments. The three times of charging are performed in the working process. Therefore, CC charging is performed. The combination of CC and CV is used for charging only after the work ends, to get ready for a next time of work. Therefore, the single-time charging duration=the total charging time/the quantity of times of charging. That is, the single-time charging duration t2=(4*60−117)/3=41 min. The charging current is related to the battery capacity, the battery voltage, and the single-time charging duration. That is, the charging current=80/20/41*60=5.85 A. In consideration of some time errors in the middle, therefore, it is used that the charging current is greater than 5.85 A. For example, the charging current is 7 A in some embodiments.

b. Constrain a Cleaning Effect of Each Time.

In some examples of the present disclosure, for a non-standard test carpet (for example, an overall carpet or a full-piece carpet other than a standard test carpet, where the standard test carpet is a Wilton carpet), a value of the cleaning efficiency CE of each time or each day is within a range greater than or equal to 30%. Further, the value of the cleaning efficiency CE of each time or each day ranges from 30% to 70%. In some embodiments, the value of the cleaning efficiency CE of each time or each day ranges from 40% to 60%.

For a carpet type being a standard test carpet, the value of the CE of each time or each day is within a range greater than or equal to 80%. Further, the value of the CE of each time or each day ranges from 80% to 95%. In some embodiments, the value of the cleaning efficiency CE of each time or each day ranges from 85% to 90%.

To reflect the cleaning effect more intuitively without distinguishing between carpets, in an embodiment of the present disclosure, the cleaning effect is represented by an energy input per unit area in some embodiments. An energy input per unit area of each time or each day is within a range greater than or equal to 5000 J/m². Further, the energy input per unit area of each time or each day ranges from 6788±20% J/m². In some embodiments, a value of the energy input per unit area of each time or each day is within a range of 6788±10% J/m². The energy input per unit area is related to an overall power (including at least a power of the fan and a power of the roller brush) and the cleaning area per unit time. For example, the power of the fan is 125 W, the power of the roller brush is 30 W, and the cleaning area per unit time is 1.37 m²/min. The energy input per unit area is calculated: (125+30)*60/1.37=6788 J/m².

In addition, in an example, a cleaning effect of each time is represented by an efficiency ratio in some embodiments. The efficiency ratio is used for representing a ratio of the cleaning efficiency to the energy input per unit area. For example, an efficiency ratio r=a cleaning efficiency CE/an energy input EI per unit area. Therefore, an efficiency ratio of each time is obtained according to corresponding value ranges of the cleaning efficiency of each time and the energy input per unit area in some embodiments. For this, this is not excessively described in this embodiment.

In the working period, the cleaning robot can achieve or basically achieve a one-round cleaning effect of a handheld vacuum cleaner by performing cleaning a plurality of times with each time of cleaning includes a plurality of rounds of cleaning. In some examples, the working period is 7 calendar days. For a non-standard test carpet, a multi-round cleaning efficiency CE of the cleaning robot working one time on each calendar day with each time including a plurality of rounds (for example, 2 rounds, where a cleaning efficiency CE of each round is greater than or equal to 15%) is greater than or equal to 25%, so that the cleaning effect of the cleaning robot is equivalent to the one-round cleaning effect of the handheld vacuum cleaner.

It needs to be emphasized that, if the cleaning effect of each round is high enough, the cleaning robot achieves a cleaning effect equivalent to the one-round cleaning effect of the handheld vacuum cleaner by performing cleaning once every day with each time of cleaning includes one round in the working period in some embodiments. In some examples, the working period is 7 calendar days. For a non-standard test carpet, a cleaning efficiency CE of the cleaning robot working one time on each calendar day with each time including 1 round is greater than or equal to 25%, so that the cleaning effect of the cleaning robot is equivalent to the one-round cleaning effect of the handheld vacuum cleaner.

The cleaning effect of each round is improved, so that it is only necessary to perform one round of cleaning in each time or on each day in the working period to achieve or basically achieve the one-round cleaning effect of the handheld vacuum cleaner. For example, the CE of each round is increased from 15% to 25% or 30%, so that in the working period, it is only necessary one round of perform cleaning in each time or on each day to achieve or basically achieve the one-round cleaning effect of the handheld vacuum cleaner.

For example, within 7 days, the comprehensive CE can reach 45% through 7 times*1 round each time, or, the comprehensive CE can reach 45% through 7 times*2 rounds each time. When each time includes 1 round, the CE of each round or each time is greater than or equal to 30%. When each time includes 2 rounds, the CE of each time is greater than or equal to 25%, where the CE of each round is greater than or equal to 15%.

Because an overall cleaning effect of N times is equivalent to the cleaning effect of the handheld vacuum cleaner, the overall cleaning effect is achieved by completing M rounds assigned to the N times. The cleaning effect of each time is a product of multiplying a quantity of rounds assigned to each time and the cleaning effect of each round. It is to be understood that the cleaning effect of each time is related to the quantity of rounds included in each time and the cleaning effect of each round. Therefore, the cleaning effect of one time can be improved in the following two manners or a combination thereof:

Manner 1: Increase the quantity of rounds included in the time.

In some examples of the present disclosure, the quantity of rounds of cleaning included in each time is greater than or equal to 2. Further, a value of the quantity of rounds of cleaning in each time ranges from 2 to 4. In some embodiments, the value of the quantity of rounds of cleaning in each time ranges from 2 to 3. Specifically, the quantity of rounds of cleaning in each time is 2.

Manner 2: Improve a cleaning effect of at least one round in the time. For an improvement solution, refer to the foregoing manner of improving the cleaning effect of each round. For brevity, details are not excessively described herein.

For a manner of assigning the M rounds to the N times, the quantity M of rounds assigned to each time is the same in some embodiments or is different in some embodiments. The cleaning effect of each time is a total sum of cleaning effects corresponding to all rounds of cleaning included in the time of cleaning.

The assignment of rounds and the cleaning effect of each time are briefly described below by using an example in which M=14.

If the M rounds are assigned to 7 times and the same quantity of rounds are assigned to each time, 2 rounds are assigned to each time. In this case, in a case that the cleaning effect of each round is the same, the cleaning effect of each time is the same. When the cleaning effect of at least one round in the quantity of rounds included in one time is improved, the cleaning effect of the time is different from the cleaning effect of the other time in which the cleaning effect of no round is improved. It is to be understood that, if the cleaning effects of at least three times in the 7 times are improved, the cleaning effect of any of the three times is greater than the cleaning effect of any other time without no cleaning effect improved in the 7 times.

If the M rounds are assigned to 7 times and different quantities of rounds are assigned to at least two times, in an embodiment, 2 rounds are assigned to each of the first time to the third time in some embodiments, 3 rounds are assigned to each of the fourth time and the fifth time in some embodiments, and 1 round is assigned to each of the sixth time and the seventh time in some embodiments. Certainly, another assignment method is used in the 7 times in some embodiments. The cleaning effect of each time is jointly determined by the quantity of rounds included in the time and the cleaning effect of each round in the time. In a case that the cleaning effect of each round is consistent, the cleaning effect of each time is directly proportional to the quantity of rounds.

Alternatively, in some examples, the 14 rounds are assigned to 8 times, 5 times, 4 times, 3 times, and the like in some embodiments. Details are not described herein again one by one.

It should be understood that, the foregoing assignment of quantities of rounds is only for ease of understanding, and does not indicate a limitation. The quantity of rounds assigned to each time is another value in some embodiments. This is not limited in this embodiment.

It is to be especially emphasized that when each time includes 2 rounds, traversal paths of the two rounds are different. For example, the traversal paths of the two rounds do not overlap or are not in parallel. Therefore, in an embodiment, the traversal paths of the two rounds form an acute angle or a right angle. That is, a value of the angle between the traversal paths of the two rounds is within a range greater than 0 degrees and less than or equal to 90 degrees. In some embodiments, referring to FIG. 14, the traversal paths of the two rounds are perpendicular to each other. That is, the traversal paths of the two rounds form a right angle. For example, when the cleaning robot performs two rounds of traversal cleaning in a rectangular room, if the cleaning robot performs traversal in a width direction of the rectangular room in the first round, the cleaning robot performs traversal in a length direction of the rectangular room in the second round. Certainly, in some examples, referring to FIG. 15, when the cleaning robot performs two rounds of traversal cleaning along a rectangular room, if the cleaning robot performs traversal in a wide side direction of the rectangular room in the first round, the cleaning robot performs traversal at an acute angle from a long side (or wide side) of the rectangular room in the second round. The foregoing traversal path uses “H”-shaped traversal. In some examples, the traversal path uses another trajectory, for example, wavy or tooth-shaped traversal in some embodiments. This is not limited in this embodiment.

When each time includes 2 or more rounds, paths of the at least two rounds are different. For example, paths of two adjacent rounds are different.

In consideration of a user requirement (for example, on a non-work day, the robot does not work, or the user expects that a cleaning effect is achieved before a period), and in addition, in consideration of that an error may exist between an actual cleaning effect of the cleaning robot and a set expected effect, therefore, the cleaning effect of at least one time in the N times of cleaning is improved in some embodiments to achieve a cleaning effect equivalent to a cleaning effect of a handheld vacuum cleaner. For example, in some examples of the present disclosure, in at least one time in the N times, between start of cleaning work and end of the cleaning work, a CE of each time reaches 40 to 60%, or the energy input per unit area reaches 6788±10% J/m², to achieve the cleaning effect equivalent to the cleaning effect of the handheld vacuum cleaner.

For example, for a non-standard test carpet, the cleaning robot needs to perform cleaning 7 times on 7 days a week. A CE of each time is 15%, so that a cleaning effect of the cleaning robot in one week can be equivalent to the one-round cleaning effect of the handheld vacuum cleaner. In consideration of user requirements or cleaning errors, in the 7 times of cleaning in one week, the CE of 1 time is improved to 40%, so that a cleaning effect of the cleaning robot in 6 days (or 6 times) is equivalent to the one-round cleaning effect of the handheld vacuum cleaner.

For a manner of improving the cleaning effect of at least one time, the following two manners or a combination thereof are adopted in some embodiments:

- (1) Increase a quantity of rounds included in a single time.

For example, the quantity of rounds included in the single time is greater than or equal to 2.

In some examples of the present disclosure, the cleaning robot traverses a to-be-cleaned region 2 rounds to 3 rounds in each time/each day. In some embodiments, the cleaning robot traverses the to-be-cleaned region 2 rounds in each time, that is, each time includes two rounds.

- (2) Improve a cleaning effect of at least one round in the time. For a specific improvement solution, refer to the foregoing. For brevity, details are not excessively described herein.

To improve user experience, in some examples of the present disclosure, in the N times of cleaning, cleaning effects of at least 3 times are improved. That is, in at least three times, a CE of each times reaches 40% to 60%, or the energy input per unit area reaches 6788+6788×10% to 6788+6788×20% J/m², to enable the N times of cleaning to achieve a cleaning effect equivalent to the cleaning effect of the handheld vacuum cleaner.

In some examples of the present disclosure, a quantity M of rounds of a working period (for example, 7 calendar days or 7 days) ranges from 5 round/period to 21 round/period. Further, the quantity M of rounds ranges from 5 round/period to 14 round/period. In some embodiments, the quantity M of rounds ranges from 7 round/period to 14 round/period.

A threshold range of an effect of each round is described below by using an example in which a cleaning efficiency (CE) represents a cleaning effect achieved in each round.

When a carpet type is a non-standard test carpet, where the non-standard test carpet is an overall carpet other than a labeled test carpet, a value of a CE of each round is within a range greater than or equal to 15%, so that the value of the CE in the working period (for example, 7 days) is within a range greater than or equal to 35%, to be equivalent to the cleaning effect of the handheld vacuum cleaner.

Further, the value of the CE of each round ranges from 25% to 45%, so that the value of the CE in the working period (for example, 7 days) ranges from 35% to 60%, to be equivalent to the cleaning effect of the handheld vacuum cleaner. In some embodiments, the value of the CE of each round ranges from 30% to 40%, so that the value of the CE in the working period (for example, 7 days) ranges from 40% to 50%, to be equivalent to the cleaning effect of the handheld vacuum cleaner.

When a carpet type is a standard test carpet, where the standard test carpet is a Wilton carpet, a value of a CE of each round is within a range greater than or equal to 60%, so that the value of the CE in the working period (for example, 7 days) is within a range greater than or equal to 90%, to be equivalent to the cleaning effect of the handheld vacuum cleaner.

Further, the value of the CE of each round ranges from 60% to 70%, so that the value of the CE in the working period (for example, 7 days) ranges from 90% to 95%, to be equivalent to the cleaning effect of the handheld vacuum cleaner.

As can be seen from above, for different carpets, cleaning effects are also different. That is, for different carpets, cleaning efficiencies are adaptively adjusted in some embodiments. Certainly, a cleaning efficiency determined with a carpet (for example, a nonstandard test carpet) that is difficult to clean is used as a reference in some embodiments, and a cleaning efficiency of another carpet (a standard test carpet) is better.

The cleaning effect in each time or each day is described below by using an example in which the quantity of rounds of cleaning in each time or each day is greater than or equal to 2, and the cleaning effect is still represented by a cleaning efficiency CE.

For a carpet type being a non-standard test carpet, the value of the CE of each time or each day is within a range greater than or equal to 25%. Further, the value of the CE of each time or each day ranges from 30% to 70%. In some embodiments, the value of the CE of each time or each day ranges from 40% to 60%.

For a carpet type being a standard test carpet, the value of the CE of each time or each day is within a range greater than or equal to 80%. Further, the value of the CE of each time or each day ranges from 80% to 90%, so that the value of the CE in the working period (for example, 7 days) ranges from 90% to 95%, to be equivalent to the cleaning effect of the handheld vacuum cleaner.

In an example, calendar days are categorized into work days and non-work days in some embodiments, to ensure rest of a user on a non-work day.

In some examples, the cleaning robot has a high-efficiency cleaning mode and an ordinary cleaning mode. Each of the high-efficiency cleaning mode and the ordinary cleaning mode indicates one time of cleaning. To distinguish between the high-efficiency cleaning mode and the ordinary cleaning mode, a quantity of rounds of cleaning or a cleaning effect (one round) is used to define different cleaning modes in some embodiments. For example, a quantity of rounds of cleaning of the high-efficiency cleaning mode is a first quantity of rounds. A quantity of rounds of cleaning in the ordinary cleaning mode is a second quantity of rounds. The first quantity of rounds is greater than the second quantity of rounds. For example, the first quantity of rounds is set to be greater than or equal to 2 in some embodiments. The second quantity of rounds is set to 1 in some embodiments.

Alternatively, a cleaning effect of the high-efficiency cleaning mode is a first cleaning efficiency, and a cleaning effect of the ordinary cleaning mode is a second cleaning efficiency. The first cleaning efficiency is greater than the second cleaning efficiency. Different cleaning efficiencies are implemented through different powers in some embodiments, or are implemented a rotational speed of a roller brush in some embodiments, or the like. For example, the first cleaning efficiency is implemented by adjusting the power of the fan to a high power (for example, greater than or equal to 100 W, a large suction force). The second cleaning efficiency is implemented by adjusting the power of the fan to a small power (for example, less than 100 W, a small suction force).

In some examples of the present disclosure, on a non-work day, the cleaning robot does not perform cleaning or uses the ordinary cleaning mode. On a work day, the cleaning robot uses the high-efficiency cleaning mode.

The user selects a mode of the cleaning robot through a control terminal (for example, a mobile phone, or a control panel) in some embodiments, to enable the cleaning robot to perform cleaning work according to corresponding mode.

Next, to make the time of the cleaning robot controllable, in some examples of the present disclosure, a working time of the cleaning robot of each day is restricted in some embodiments. For example, the working time of the cleaning robot is controlled within an acceptable range of the user, to enable the cleaning robot to meet requirements of the user.

For example, the working time of each day is controlled not to exceed a predetermined working time, or, a working interval of each day is controlled to be set to a period of time corresponding to daytime (or nighttime) of a calendar day. The predetermined working time or working interval of each day is determined according to the rest time of the user or customized by the user in some embodiments.

In some examples of the present disclosure, the working time of each day does not exceed 8 h. In some embodiments, the working time of each day does not exceed 4 h. For example, the working interval of each day is set to 8:00 to 12:00 13:00 to 17:00 in some embodiments, or the like. Within the foregoing working interval, the work of the cleaning robot includes performing a cleaning task in a to-be-cleaned region, and further includes returning for a maintenance (charging, dirt removal, and the like), obstacle avoidance, and other necessary operations. In some embodiments, the cleaning robot works continuously and noninterruptedly within the working time of each time or each day, and especially it is to be noted that, necessary returning for a maintenance (charging, garbage removal, and the like), obstacle avoidance, and the like in a working process all belong to the definition of continuous and noninterrupted work. For example, the working time of each day is set to 4 h, and the cleaning robot completes continuous and noninterrupted work within the 4 h. In addition, it is to be noted that, within the foregoing working time of 4 h, the cleaning robot completes one time of cleaning task through continuous and noninterrupted work. If the time of task includes 2 rounds of cleaning, the cleaning robot continuously completes 2 rounds of cleaning within the foregoing 4 h.

Certainly, in some examples, a rest time of a user is reserved in some embodiments and/or a rest time is reserved for the cleaning robot in the working time of each day in some embodiments. The predetermined working time is, for example, set to 4 h. The 4 h is divided into different working intervals in the morning and afternoon in some embodiments. The working intervals of each day are, for example, set to 9:00 to 11:00 and 14:00 to 16:00. A time interval in the middle, that is, 11:00 to 14:00, is the reserved rest time of the user and/or the rest time of the cleaning robot. In the scenario, the cleaning robot completes one time of cleaning task in two working intervals. If the time of task similarly includes 2 rounds of cleaning, the cleaning robot completes 1 round of cleaning within the 2 h in the morning or complete a half of an area of the to-be-cleaned region in some embodiments, and the remaining 1 round of cleaning or half area is completed within the 2 h in the afternoon in some embodiments. Certainly, in some examples, the cleaning robot completes 3/2 rounds of cleaning or complete ⅔ of the area of the to-be-cleaned region within the 2 h in the morning in some embodiments, and the remaining ½ rounds of cleaning are completed within the 2 h in the afternoon in some embodiments or the remaining 4/3 of the area is completed within the 2 h in the afternoon in some embodiments. It should be understood that, the values herein are only for ease of description, and should not be understood as a limitation to the present disclosure.

The working time of each day is related to a cleaning total time, a total charging time, and another time (for example, an obstacle avoidance time, and a return-for-charging time) of the cleaning robot on each day. Therefore, for a problem of how to limit the working time of each day in the foregoing range, at least one of the foregoing three aspects can be considered.

The cleaning total time is related to a cleaning area per unit time (for example, 1.37 m2/min) of the cleaning robot and an area of the to-be-cleaned region (for example, 70 m²). The cleaning area per unit time is related to a movement speed (for example, 0.15 m/s) of the cleaning robot, a length (for example, 190 mm) of a roller brush, a movement trajectory of the cleaning robot, and the like.

The obstacle avoidance time and the return-for-charging time are respectively related to an obstacle avoidance logic and a return-for-charging logic. For example, the obstacle avoidance logic includes an obstacle avoidance response time, an obstacle avoidance movement strategy (for example, braking, steering or moving along an obstacle edge), movement speeds before and after obstacle avoidance, and the like. The return-for-charging logic is related to a return-for-charging response time, a return-for-charging strategy (for example, a movement trajectory, and a length of a trajectory), a movement speed during return, and the like.

For example, in consideration of that the foregoing factors such as the cleaning total time, the obstacle avoidance time, and the return-for-charging time are all related to a movement speed, therefore, in some examples of the present disclosure, the working time of each day is controlled by controlling the movement speed of the cleaning robot in some embodiments.

The total charging time is related to a quantity of times of charging required to complete each time of cleaning and a single-time charging duration. Therefore, the total charging time is controlled through at least one of the quantity of times of charging required to complete each time of cleaning and the single-time charging duration in some embodiments.

In one aspect, a total charging time of each time is controlled by controlling a quantity of times of charging required to complete each time of cleaning task in some embodiments. The quantity of times of charging required to complete each time of cleaning task is related to a single-time full-charge workable duration. Therefore, in some examples of the present disclosure, a value of the single-time full-charge workable duration ranges from 22 min to 25 min.

In another aspect, the total charging time of each time is controlled by controlling the single-time charging duration in some embodiments. In some examples of the present disclosure, the value of the single-time charging duration is within a ranges less than or equal to 45 min.

In consideration of that the user has a requirement of high-efficiency work of the cleaning robot, that is, expects that a single-time full-charge workable time of a battery is long and a time of charging the battery is short, therefore, in some examples of the present disclosure, a ratio of the single-time charging duration to the single-time full-charge workable duration is less than or equal to 2:1. Further, the ratio of the single-time charging duration to the single-time full-charge workable duration is less than or equal to 1:1. In some embodiments, the ratio of the single-time charging duration to the single-time full-charge workable duration is less than or equal to 1:2.

In addition, due to battery performance (for example, a capacity of a battery, a charging power of the battery, the service life of the battery, and the like) and battery costs of the cleaning robot, the ratio of the single-time charging duration to the single-time full-charge workable duration is greater than or equal to 1:3. Further, the ratio of the single-time charging duration to the single-time full-charge workable duration is greater than or equal to 1:2. In some embodiments, the ratio of the single-time charging duration to the single-time full-charge workable duration is greater than or equal to 1:1.

To reach a balance between user requirements and the battery performance and costs of the cleaning robot, therefore, in some examples of the present disclosure, the ratio of the single-time charging duration to the single-time full-charge workable duration should be controlled within a range of 1:2 to 2:1.

In view of that the single-time charging duration is related to a charging manner, therefore, the single-time charging duration is controlled by controlling the charging manner in some embodiments. In some examples of the present disclosure, the charging manner is CC charging. Because CC charging is related to a charging power, further, in some examples of the present disclosure, a value of the charging power of the battery is within a range greater than or equal to 100 W.

The charging power of the battery is closely related to the charging current. Therefore, in some examples of the present disclosure, the value of the charging current is within a range greater than or equal to 5 A.

Generally, the charging manner of the battery affects the service life of the battery. Therefore, to improve the service life of the cleaning robot, in this embodiment, a battery with a long service life is selected for the battery. The service life of the battery is represented by a charging and discharging life or a cycle count of the battery in some embodiments. Therefore, in some examples of the present disclosure, the charging and discharging life of the battery is service life when the battery capacity has decreased by 80% to 85%.

Finally, the size of the cleaning robot should be controllable. In one aspect, the size of the cleaning robot cannot be excessively large. For example, the size of the cleaning robot should meet a miniaturization requirement, or otherwise the passability is affected. In another aspect, the size of the cleaning robot is related to parts of the cleaning robot, and is especially affected by sizes of power parts related to cleaning such as a fan, a battery, a dirt accommodation assembly (for example, a dust box), a cleaning member (including a roller brush and a dust suction port), and the like. Therefore, to ensure a cleaning effect of the cleaning robot, the cleaning robot also cannot be made too small.

The size of the fan is related to model selection for the fan, and the model selection for the fan is mainly to meet a power requirement. In this embodiment, the power of the fan ranges from 100 W to 200 W, and in some embodiments, the power of the fan ranges from 100 W to 125 W.

The size of the battery is related to the model selection for the battery. The model selection for the battery is mainly to make the capacity of the battery meet power supply requirements, and in addition the use life of the battery is taken into consideration. In some examples of the present disclosure, the battery uses a blade battery.

The size of the dust box is related to a set dust capacity. To meet dirt accommodation requirements and at the same time consider a quantity of times of a maintenance such as dirt removal, in some examples of the present disclosure, the dust box is approximately 330 ml.

The cleaning member includes a cleaning unit configured to perform a cleaning task, where the cleaning unit at least includes at least one of a roller brush, an edge brush, and a dust suction port. In this embodiment, the cleaning unit includes a roller brush and a dust suction port. The size of the cleaning member mainly depends on a size of the roller brush. In this embodiment, the roller brush is double roller brushes, and a length of each roller brush ranges from 130 mm to 280 mm. In some embodiments, the length of each roller brush ranges from 180 mm to 230 mm. Further, the length of the roller brush ranges from 190 mm to 215 mm.

Certainly, in some examples, the cleaning member further includes a mopping unit configured to perform a mopping task in some embodiments. Further, the mopping unit is at least partially detachably connected to the cleaning robot. This is not limited in this embodiment.

In addition, the size of the cleaning robot is further affected by some sensor assemblies, for example, a laser radar (Laser Direct Structuring, LDS) for distance detection, and mounting positions of the sensor mechanisms.

To ensure the passability and the cleaning effect into consideration, further, a range of the volume (length*width*height) of the cleaning robot is 330*310*105 mm³to 340*320*110 mm³.

Specifically, the size of the cleaning robot is 8000 cm³, the overall power of the cleaning robot ranges from 120 W to 200 W, and a ratio of the overall power to the size ranges from 120/8000 W/cm³to 200/8000 W/cm³.

Because the volume of the cleaning robot is related to the length, width, and height of the cleaning robot, description is provided below from the three aspects: the length, the width, and the height:

First, it is considered that when the cleaning robot performs cleaning work indoors, the volume (especially in a height direction) of the cleaning robot is restricted by a height of indoor furniture. Therefore, a body height of the cleaning robot should be less than a furniture height. The body height is a distance between a top of the body of the cleaning robot and a horizontal ground. The furniture height is a distance between a bottom of the furniture and the horizontal ground. It is considered that the height of the furniture (for example, an ordinary chair, or a table) is approximately 150 mm. Therefore, in some examples, the body height of the cleaning robot is less than or equal to 150 mm. Further, it is considered that some special furniture (for example, a couch, or a bed stand) has a low height, and is generally 115 mm. Further, the body height of the cleaning robot is less than or equal to 115 mm, so that the cleaning robot can meet the passability of the height direction.

In addition, because the cleaning robot is restricted by the members (for example, the driving wheel, the battery, the fan, the roller brush, or the dust box) of the cleaning robot in the height direction, the height of the cleaning robot also cannot be excessively small. In some examples of the present disclosure, a value of the cleaning robot in the height direction is within a range greater than or equal to 80 mm. It is considered that the LDS is usually installed at the top of the body and has a certain height. Therefore, in some embodiments, the value of the cleaning robot in the height direction is within a range greater than or equal to 95 mm.

In summary, in some examples of the present disclosure, a value of a height of the cleaning robot ranges from 95 mm to 115 mm. In some embodiments, the value of the height of the cleaning robot ranges from 105 mm to 110 mm.

In view of that the cleaning robot is also restricted by furniture (a table, a chair, or the like) and a door, a step, a corridor, or the like on a to-be-cleaned region in the width direction, to ensure the passability in the width direction, it is considered that a width of furniture (for example, an ordinary chair or table), a door, a corridor, or the like is approximately 500 mm. Therefore, in some examples, a body width of the cleaning robot is less than or equal to 500 mm. In consideration of some special furniture (for example, a couch, or a bed stand) with a small width, further, the body width of the cleaning robot is less than or equal to 350 mm.

It is considered that the cleaning robot is restricted by members (for example, the driving wheel, the battery, the fan, the roller brush, and the dust box) of the cleaning robot in the width direction. Therefore, a width of the cleaning robot also cannot be excessively small. In some examples of the present disclosure, a value of the cleaning robot in the width direction is within a range greater than or equal to 270 mm. It is considered that some other functional requirements, for example, an edge brush, and an anti-collision board, exist in the width direction, and a certain width is occupied. Therefore, in some embodiments, the value of the cleaning robot in the width direction is within a range greater than or equal to 290 mm.

In summary, to enable the cleaning robot to meet functional requirements (for example, a cleaning effect, and multiple functions) and meet the passability in the width direction, in some examples of the present disclosure, the value of the cleaning robot in the width direction ranges from 290 mm to 350 mm; and in some embodiments, a value of the width of the cleaning robot ranges from 310 mm to 320 mm.

In consideration of that if the cleaning robot is too long in a length direction, the structure is not compact and is not conducive to obstacle avoidance of the cleaning robot, steering of the cleaning robot in a narrow region, and the like, in some examples of the present disclosure, the value of the cleaning robot in the length direction ranges from 310 mm to 350 mm; and in some embodiments, a value of the length of the cleaning robot ranges from 330 mm to 340 mm.

In the present disclosure, the cleaning effect is improved by using at least one improvement measure in the foregoing, to make the cleaning effect of the cleaning robot better than the cleaning effect of a conventional cleaning robot, and to make the cleaning effect of the cleaning robot equivalent to a cleaning effect of a handheld cleaner.

Further, a combination of the foregoing improvement measures has a better improvement effect than only using a single measure.

As can be seen from the above, the cleaning effect of the cleaning robot is closely associated with members such as the fan, the roller brush, and the movement mechanism. Therefore, when the power of the fan increases or the rotational speed of the roller brush increases (it indicates that the power of the roller brush increases). This raises higher requirements for the power supply mechanism (also referred to as a power supply assembly) of the cleaning robot. When the movement speed of the cleaning robot is reduced, a cleaning time is increased compared with cleaning of a same to-be-cleaned area at a high speed. This also raises higher requirements for the power supply mechanism.

In summary, to adapt to an improvement of the cleaning effect, the power supply mechanism needs to be improved.

In some examples, to meet a range requirement of the cleaning robot, in one aspect, a requirement is raised for a capacity of the battery. For example, after being charged once, the battery can support cleaning of a to-be-cleaned floor with an area not less than a large area (for example, not less than 60 m2) once by the cleaning robot. Therefore, the battery needs to be improved. For example, a battery with a higher capacity is used to supply power to the cleaning robot, thereby improving a range capability of the cleaning robot and reducing a charge count.

In some examples, the value range of the power of the cleaning robot is 100 W to 200 W.

In some examples, a value range of a volume of the cleaning robot is 7000 cm³to 10000 cm³.

In some examples, a value range of a weight of the cleaning robot is 4 kg to 6 kg.

In some examples, the capacity of the battery is not less than 140 Wh, or a ratio of the capacity of the battery to the power of the cleaning robot is not less than 2500 J/W.

Because the capacity of the battery affects a volume and a weight of the battery, to ensure the range, in some examples, the weight of the battery is greater than or equal to 640 g, or a ratio of the weight of the battery to the weight of the cleaning robot is greater than or equal to 0.10.

In some examples, the volume of the battery is greater than or equal to 400 cm3, or a ratio of the volume of the battery to the volume of the cleaning robot is greater than or equal to 0.04.

In view of that the volume and the weight of the battery increase as the capacity of the battery increases, which affects the volume and weight of the cleaning robot, this is not conducive to miniaturization (passability) and light-weight design requirements of the cleaning robot. Therefore, to meet the design requirements of the cleaning robot, the capacity of the battery also cannot be excessively large.

In some examples, the capacity of the battery is not greater than 200 Wh, or a ratio of the capacity of the battery to the power of the cleaning robot is not greater than 7200 J/W.

Because the capacity of the battery affects a volume and a weight of the battery, to ensure the range, in some examples, the weight of the battery is less than or equal to 960 g, or a ratio of the weight of the battery to the weight of the cleaning robot is less than or equal to 0.24.

In some examples, the volume of the battery is less than or equal to 600 cm³, or a ratio of the volume of the battery to the volume of the cleaning robot is greater than or equal to 0.086.

In addition, as the capacity of the battery increases, the volume (referred to as the volume of the battery for short) of the battery also increases. The cleaning robot cannot be made excessively large or excessively high, or otherwise the passability is affected. Therefore, a ratio of the capacity of the battery to the volume of the cleaning robot needs to be controlled, or a ratio of the capacity of the battery to the height of the cleaning robot needs to be controlled, or a ratio of the volume of the battery to the volume of the cleaning robot needs to be controlled.

To take the range and the passability and light-weight design requirements of the cleaning robot into consideration, in some examples, the capacity of the battery ranges from 140 Wh to 200 Wh. Further, the capacity of the battery ranges from 160 Wh to 180 Wh. Specifically, the capacity of the battery is 170 Wh.

In some examples, the volume of the battery ranges from 400 cm³to 600 cm³; and further, the volume of the battery is 500 cm³.

In some examples, the volume of the cleaning robot ranges from 7000 cm³to 10000 cm³; and further, the volume of the cleaning robot ranges from 7500 cm³to 8000 cm³.

In some examples, the height of the cleaning robot ranges from 95 mm to 115 mm; and further, the height of the cleaning robot ranges from 105 mm to 110 mm.

In some examples, a range of the ratio of the volume of the battery to the volume of the cleaning robot is approximately 1/25 to 1/15.

In some examples, a range of the ratio of the capacity of the battery to the volume of the cleaning robot is approximately 0.017 Wh/cm³to 0.024 Wh/cm³.

In some examples, a range of the ratio of the capacity of the battery to the height of the cleaning robot is approximately 1.2 Wh/mm to 2.1 Wh/mm.

It is considered that when the capacity of the battery is larger, the volume of the battery increases. To make it possible for the cleaning robot to accommodate a battery with alarger capacity without affecting the passability, in another aspect, the layout of the battery is improved in some embodiments. For example, a battery with a pillar shape is installed on the body of the cleaning robot in a in a vertical direction. The vertical direction means that an axis of the battery is perpendicular to the horizontal plane. In an example, the battery is disposed on a lateral side of the cleaning robot in some embodiments. In other words, the battery is disposed on a side of a central axis of the cleaning robot parallel to an advancing direction, to adapt to the capacity/size of the battery.

It is considered that the weight of the battery usually increases as the capacity of the battery increases. The cleaning robot cannot be excessively heavy, or otherwise user experience is affected. Therefore, during the design, a percentage of weight of the battery accounts in the cleaning robot needs to be controlled or a percentage of the capacity of the battery in the weight of the cleaning robot needs to be controlled.

In some examples, the capacity of the battery ranges from 140 Wh to 200 Wh. Further, the capacity of the battery ranges from 160 Wh to 180 Wh. Specifically, the capacity of the battery is 170 Wh.

In some examples, the weight of the battery ranges from 640 g to 960 g. Further, the weight of the battery ranges from 700 g to 900 g. Specifically, the weight of the battery is 800 g.

In some examples, the weight of the cleaning robot ranges from 4 kg to 6 kg. Further, the weight of the battery is 5 kg.

In some examples, a range of a proportion of the capacity of the battery in the weight of the cleaning robot is 33 to 35.

In some examples, a proportion of the weight of the battery relative to the weight of the cleaning robot is 0.10 to 0.24.

In another aspect, the battery life of the battery is associated with the life of the battery. For example, the capacity of the battery is increased, and after being charged once, the battery can meet cleaning of a large to-be-cleaned area once. In this way, a charge count of the cleaning robot is reduced. Therefore, a life requirement of the battery is correspondingly reduced. The life of the battery is represented by a battery charging and discharging life or a battery cycle count (which is also referred to as a rechargeable count) in some embodiments. To facilitate the understanding of the battery charging and discharging life, in some examples, the capacity of the battery is 160 Whether (watt-hour). The life of the battery is represented by the battery charging and discharging life. In this case, the battery charging and discharging life is use duration of the battery when the capacity of the battery is reduced to 128 Whether due to a battery loss.

In some examples, the battery life is represented by the battery cycle count. In some examples, under a condition of high-power charging and high-power discharging, the battery cycle count of the battery approximately ranges from 640 times to 960. The “high-power” means that the power is greater than or equal to 100 W.

Embodiments of the present disclosure further provide a cleaning robot. In the cleaning robot, a quantity M of rounds of cleaning in each working period is made large enough, and effects of the quantity of rounds are accumulated, to enable an overall cleaning effect of the cleaning robot in the working period to be equivalent to a one-round cleaning effect of a handheld vacuum cleaner.

The cleaning robot includes a body; a movement assembly, supporting and driving the cleaning robot to move on a surface of a to-be-cleaned region, where the movement assembly is mounted on the body, and is configured to drive the cleaning robot to move, for example, drive the cleaning robot to move in the to-be-cleaned region, the movement assembly includes at least one drive wheel and a drive motor configured to drive the drive wheel to move, and an output end of the drive motor is connected to the drive wheel; and

a cleaning assembly, disposed at a bottom of the body, and performing cleaning work on the surface of the to-be-cleaned region, where the cleaning robot cleans the surface of the to-be-cleaned region through the cleaning assembly according to a preset cleaning strategy under the drive of the movement assembly, to enable a cleaning effect of the cleaning robot in each working period to be equivalent to the cleaning effect of the handheld vacuum cleaner, where the preset cleaning strategy includes at least one of the quantity M of rounds of cleaning in each working period and a cleaning effect of each round, and the cleaning effect is represented by a cleaning efficiency or an energy input per unit area. For example, the cleaning robot includes a controller, configured to control the cleaning robot to clean the surface of the to-be-cleaned region through the cleaning assembly according to the preset cleaning strategy under the drive of the movement assembly, to enable the cleaning effect of the cleaning robot in each working period to be equivalent to the cleaning effect of the handheld vacuum cleaner, where the movement assembly and the cleaning assembly are respectively electrically connected to a control module. Further, the preset cleaning strategy further includes a traversal path, a movement speed, and the like.

Further, each working period is set to 7 calendar days. The cleaning effect is represented by the cleaning efficiency. The cleaning efficiency of the cleaning robot in the working period is greater than or equal to 35%, especially on a non-standard test carpet. Furthermore, a value of the quantity M of rounds of cleaning in each working period ranges from 5 round/period to 21 round/period, and a cleaning efficiency of each round is greater than or equal to 15%, to enable a cleaning efficiency in each working period to be greater than or equal to 35%. Further, a quantity of rounds of cleaning of each calendar day or each time in each working period is 2 or 3, and the cleaning efficiency of each round is greater than or equal to 15%.

To make the cleaning effect of the cleaning robot to be equivalent to the one-round cleaning effect of the handheld vacuum cleaner, the present disclosure provides a cleaning robot using one of the following solutions. For details, refer to the following Table 1. It is to be understood that, a large suction force in the table is implemented by using a fan with a fan power of 125 W. A power of an ordinary fan is 80 W. Unless particularly described that a roller brush is a rubber brush, a roller brush that is not defined indicates that the roller brush is a rubber brush in some embodiments or is a hair brush with bristles or another type of roller brush in some embodiments.

The example solutions are briefly described below in combination with Table 1.

In the working period, to enable the cleaning effect of the cleaning robot to be equivalent to the one-round cleaning effect of the handheld vacuum cleaner,

in some examples, the cleaning robot uses an example solution No. 9. That is, the cleaning robot performs cleaning work by using double roller brushes in combination with a large suction force fan. One of the double roller brushes is a hair brush, and the other is a rubber brush. A power of the large suction force fan is 125 W. Further, in an advancing direction of the body, the rubber brush is disposed in the front, and the hair brush is disposed in the rear.

The cleaning robot continuously performs 2 rounds of cleaning work each time or each day.

The cleaning robot uses a battery with a battery capacity of 80 Wh for power supply.

When the cleaning robot performs charging, the battery is quickly charged with a charging current of 7 A, and a single-time charging duration is 30.9 min.

An overall power of the cleaning robot is a sum of the fan power and a total power of the roller brush, the drive wheel, and others, that is, 125 W+50 W=175 W. After the cleaning robot charges a battery of 80 Wh by using a 7 A CC quick-charge technique, a workable duration (that is, a single-time discharge duration) is 23.3 min. In this case, a ratio of the single-time charging duration to the single-time discharge duration is 30.9:23.3=1.3.

In some examples, the cleaning robot uses an example solution No. 8, and a difference from the solution No. 9 lies in that the fan power of the cleaning robot is doubled.

TABLE 1

Single-time

Total power
Single-time

Single-time
charging

Battery
Fan
(W) of roller
discharge

charging
duration/Single-

Solution
capacity
power
brush + drive
duration
Charging
duration
time discharge

No.
content
(Wh)
(W)
wheel + others
(min)
current (A)
(min)
duration

1
Single roller
80
125
35
25.5
7.0
30.9
1.2

brush + large

suction force + 2

rounds + quick-charge 7 A

2
Single roller
80
125
35
25.5
7.0
30.9
1.2

brush + large

suction force + 3

rounds + quick-charge 7 A

3
Single roller
80
125
35
25.5
14.0
15.4
0.6

brush + large

suction force + 3

rounds + quick-charge

increased by 1

time 14A

4
Single roller
120
125
35
38.3
7.0
46.3
1.2

brush + large

suction force + 3

rounds + battery

capacity

increased by

1.5

times + quick-

charge 7 A

5
Double rubber
80
80
50
31.4
7.0
30.9
1.0

brushes + 2

rounds + quick-

charge 7 A

6
Double rubber
80
|80
50
31.4
7.0
30.9
1.0

brushes + 3

rounds + quick-

charge 7 A

7
Double rubber
80
80
50
31.4
14.0
15.4
0.5

brushes + 3

rounds + quick-

charge

increased by 1

time

8
Double roller
160
250
50
27.2
14.0
30.9
1.1

brushes + power

increased by 1

time + 1

round + quick-

charge

increased by 1

time + battery

capacity

increased by 1

time

9
Double roller
80
125
50
23.3
7.0
30.9
1.3

brushes (one

hair brush + one

rubber

brush) + large

suction

force + quick-

charge + 2

rounds

Embodiments of the present disclosure further provide a cleaning robot. The cleaning robot uses a Type II battery (for example, a soft-pack lithium battery) and a quick-charge technique. For example, a working duration of each day of the cleaning robot is controlled within an acceptable range of a user, or a cleaning effect of the cleaning robot in a working period is supported to achieve or basically achieve a one-round cleaning effect of a handheld vacuum cleaner.

The Type II battery supports quick charge. That is, the Type II battery supports high-power charging or large-current charging in some embodiments. For example, the Type II battery is charged with a charging power greater than or equal to 100 W in some embodiments, or the Type II battery is charged with a charging current greater than or equal to 5 A in some embodiments. In an example, a single-time charging and discharging time ratio of the Type II battery is less than or equal to 2. The single-time charging and discharging time ratio is a ratio of a single-time charging duration to a single-time full-charge workable duration, or, a ratio of a single-time charging time to a single-time discharge time.

Further, the service life of the Type II battery is long. The service life of the battery is represented by a quantity of rechargeable times in some embodiments. In an example, the quantity of rechargeable times of the Type II battery used in the cleaning robot is greater than or equal to 2000, and especially under a high power charging and high power discharging (for example, discharging to the cleaning robot greater than or equal to 100 W) condition and/or a quick-charge condition, the quantity of rechargeable times of the Type II battery is greater than or equal to 2000.

Embodiments of the present disclosure further provide a handheld vacuum cleaner, including a dust suction system. In the dust suction system, at least one aspect in the following example is improved, to adjust a dust agitation efficiency or a dust suction efficiency, to assist in improving a cleaning efficiency of the handheld vacuum cleaner.

A: A feasible example of increasing a quantity of beats on a cleaning surface by a brush body of a roller brush assembly is as follows: Any following manner or any combination of the following manners can improve a dust agitation capability of a dust suction system to some extent. Details are as follows:

- 1. Increase a quantity of brush bodies of the roller brush assembly, which, for example, is implemented by increasing a quantity of roller brushes and/or increasing a quantity of brush bodies on a single roller brush in some embodiments.
- 2. Increase a rotational speed of the roller brush.
- 3. Increase a beating strength on a ground by the roller brush, which is, for example, implemented by increasing an interference between the brush body and the cleaning surface in some embodiments.
- 4. Change a dust agitation angle or direction, which is, for example, adjusting an angle or a direction of bristles, adjusting a mounting angle and a rotational direction of a roller brush on a body, and the like in some embodiments. In a configuration with more than one roller brush, a combination manner of the roller brushes is further adjusted to further optimize the dust agitation capability in some embodiments. In some embodiments, the adjustment of the combination manner specifically includes: cooperation of rotational speeds, cooperation of rotational directions, cooperation of mounting angles, cooperation of materials of brush bodies, cooperation of a beating order of the brush bodies, and/or the like.

B: A feasible example of improving a gathering capability of garbage on the cleaning surface by the dust suction system is as follows. Any following manner or any combined or adjusted manner can improve a dust suction capability of a dust suction system to some extent.

- 5. Increase a pass rate of garbage during gathering toward a dust suction port.
- 6. Increase a coverage area of the dust suction port.

C: A feasible example that increases a suction capability of garbage on a cleaning surface by a dust suction system is: any following manner or any combination of the following manners can improve a dust suction capability to some extent.

- 7. Improve a structure of a dust suction port, and guide a flowing path of an air flow formed by a negative pressure at the dust suction port.
- 8. Improve a negative pressure in a coverage region of the dust suction port, and adjust a capability of carrying a foreign object by an air flow at the dust suction port.

Based on the foregoing discoveries, the present disclosure further provides a handheld vacuum cleaner (referred to as a vacuum cleaner for short), including a dust suction system, configured to clean a to-be-cleaned surface.

As shown in FIG. 4 and FIG. 5, the dust suction system includes a roller brush mechanism and a sealed adjustment mechanism 11. The roller brush mechanism includes a housing 210 and a roller brush assembly 220 disposed on the housing 210. A dust suction port 12 is opened in the housing 210. When the roller brush assembly 220 rotates to beat the cleaning surface to make a foreign object separated from the cleaning surface, the foreign object is sucked into a dust collection box 14 through the dust suction port 12 under the action of a negative pressure. The sealed adjustment mechanism 11 is movably disposed on the housing 210, and is configured to adjust or stabilize the negative pressure generated at the dust suction port 12.

For example, in a cleaning process of the handheld vacuum cleaner, the sealed adjustment mechanism 11 adjusts or stabilizes at least part time the negative pressure generated at the dust suction port. An adjustment manner is, for example, manual adjustment by a user in some embodiments. Certainly, to improve convenience of use, automatic adjustment is set in some embodiments.

In some examples, relative positions of the sealed adjustment mechanism 11 and the blocking member 210 are fixed.

In some examples, referring to FIG. 5, the sealed adjustment mechanism 11 includes a blocking member 110. Relative positions of the blocking member 110, and the housing are fixed. In a process in which the handheld vacuum cleaner performs a cleaning task, the sealed adjustment mechanism 11 forms a closed surface of an air flow passage on a front side of the handheld vacuum cleaner in a traveling direction. The closed surface is located at a front portion of the housing on a side of the handheld vacuum cleaner in the traveling direction, to adjust the air flow passage at the dust suction port. FIG. 6 schematically shows the blocking member cooperating with the housing in the traveling direction of the vacuum cleaner or another cleaning device, and is used for assisting in describing a process of adjusting or stabilizing the negative pressure generated at the dust suction port by a sealed blocking mechanism. As shown in FIG. 6, the sealed adjustment mechanism 11 forms the closed surface of the air flow passage on the front side of the vacuum cleaner in the traveling direction. Specifically, an end of the blocking member facing a ground floats on a carpet or keeps a very small clearance, to block an air flow to some extent, so that more air flows flow between the roller brush and the cleaning surface, thereby enhancing a capability of sucking a foreign object on the carpet. In another aspect, the blocking member forms the closed surface of the air flow passage on the front side of the vacuum cleaner in the traveling direction, and keeps a small clearance from a surface of a carpet, to increase sealing performance between an inside and an outside of the dust suction port, which helps to increase and maintain a pressure difference between an inside and an outside of the dust suction port, so that the capability of sucking a foreign object of the dust suction system can be further improved.

In some examples, as shown in FIG. 8, on a side of the vacuum cleaner in the traveling direction, tooth-shaped bosses 2301 are disposed at intervals on the housing 210 in some embodiments, and air flow channels are formed between the tooth-shaped bosses 2301. The blocking member 110 is disposed in front of the tooth-shaped bosses 2301 in some embodiments, and can close notches between the tooth-shaped bosses 2301 in a traveling process of the vacuum cleaner, to form the closed surface. When the vacuum cleaner cleans a carpet or another soft ground, closing of the blocking member 110 obstructs an airflow passage in the dust suction port in a traveling direction of the vacuum cleaner, to enable an air flow to flow through a contact surface between the roller brush and the carpet centrally, so that a capability of sucking garbage on a cleaning surface by the dust suction port can be improved. Certainly, in some examples, a manner equivalent to the foregoing blocking member 110 is still used to improve the negative pressure in the coverage region of the dust suction port in some embodiments, and the tooth-shaped bosses 2301 are omitted.

In some examples, the housing 210 is detachable, and the dust suction port is provided at the detachable part. Further, as shown in FIG. 9, the housing 210 includes a roller brush support 230, and the roller brush support 230 is a detachable part of the housing 210, to facilitate assembly and disassembly of a roller brush by a user; and tooth-shaped bosses are disposed on the roller brush support 230 in some embodiments.

In some examples, the blocking member 110 is made of one of plastic, rubber or non-woven fabric. A shape of the blocking member 110 is a plate shape in some embodiments, a strip shape, a belt shape, or the like. Further, as shown in FIG. 5, the blocking member 110 is disposed on the roller brush support, and is filled on the notches in a tooth-to-tooth form in some embodiments. Referring to FIG. 5, the blocking member 110 and the tooth-shaped boss on the roller brush support jointly form the closed surface in the traveling direction of the vacuum cleaner. Alternatively, as shown in FIG. 6, the blocking member 110 directly blocks an outer side or an inner side of the roller brush support facing the traveling direction of the vacuum cleaner 100, and blocks the notches between the tooth-shaped bosses 2301 through a continuous face, thereby implementing closing.

In some examples, the blocking member 110 and the roller brush support are combined in a bonding manner, a clamping manner, or another manner in some embodiments. Further, the blocking member 110 and the roller brush support are an integral structure.

It is to be noted that, the blocking member 110 further forms the closed surface in front of and/or behind the tooth-shaped bosses in some embodiments, or, the blocking member 110 forms the closed surface in a notch matching manner, for example, by filling intervals between the tooth-shaped boss in some embodiments.

In some examples, the blocking member 110 has a particular elasticity. Therefore, the blocking member 110 has a self-adjustment capability in some scenarios, for example, when colliding with an obstacle, can deform due to the pressing of the obstacle and restore a state before the collision when the collision is released, to avoid damage, or when touching a foreign object with a large size, can adapt to pressing of foreign objects to deform, thereby improving a pass rate of foreign objects gathering at the dust suction port and automatically restore a previous state when the pressing of the foreign objects is released. In some embodiments, the blocking member 110 is made of a rubber material, with a hardness ranging from 60 HA to 80 HA. Certainly, in some examples, the hardness of the blocking member 110 can be improved, so that the blocking member remains in a more stable form in a dust suction process, so that the hardness of the blocking member can be improved. For example, a material with a hardness greater than or equal to 80 HA is selected to manufacture the blocking member 110 in some embodiments, or hard plastic is used for the blocking member 110 in some embodiments.

It needs to be noted that, in the operation of improving the capability of sucking garbage on a cleaning surface through the closing of the blocking member 110, a balance needs to reached between a hardness parameter of the blocking member 110 and stability of a form of the blocking member. When the hardness is larger, the blocking member 110 can withstand a larger negative pressure, to keep the stability of the form of the blocking member. When the hardness is lower, the self-adjustment capability of the blocking member 110 is enhanced, and in some scenarios the blocking member can deform to allow garbage to gather near the dust suction port through the notches between the tooth-shaped protrusions. This also helps to improve a garbage suction capability.

To improve a cleaning efficiency of a carpet or another soft ground by the handheld vacuum cleaner 100, the blocking member 110 can keep a basic closing effect during cleaning on a carpet, including at least that a basically stable form of the closed surface can be kept under the action of the negative pressure at the dust suction port. Therefore, in an embodiment, a guide or support structure is at least disposed between the tooth-shaped bosses 2301 and the blocking member 110. The blocking member 110 keeps the basically stable form of the closed surface through a deformation property of the blocking member under the action of the negative pressure or through limiting of at least one of the guide structure and the support structure.

Further, to provide the blocking member with a particular deformation recovery capability and enable the blocking member to adequately keep a form in a dust suction process, in some embodiments, the hardness of the blocking member 110 is 80 HA.

As an example, after the blocking member 110 is assembled, aground distance of an end of the blocking member facing the cleaning surface is less than or equal to 2 mm. It is found in experiments that during cleaning of a carpet, within the distance range, an edge of the blocking member 110 contacts a surface of the carpet to form a basically stable joining face in some embodiments, so that the closeness between the dust suction port and the carpet can be improved in a cleaning process, and a stable and larger pressure difference is generated between the inside and the outside of the dust suction port, to obtain better carpet dust suction performance. It should also be noted that, the resistance of the ground is increased when the clearance between the dust suction port and the ground is excessively small, affecting the performance of a walking system, which further affects the cleaning performance of the handheld vacuum cleaner.

The ground distance of the end of the blocking member 110 facing the cleaning surface is affected by different factors, for example, a material of a soft ground, a hardness of the soft ground, a pile length of a carpet, and the like. In some examples, an adjustment is made within a larger range. For example, it is set that the ground distance of the end of the blocking member 110 facing the cleaning surface between ranges from 0 mm to 5 mm.

It is described in the foregoing embodiments that the blocking member 110 of the sealed adjustment mechanism 11 forms the closed surface in a traveling direction of the vacuum cleaner, so that a negative pressure between the inside and the outside during dust suction of the dust suction port can be improved, a flowing path of an air flow generated by the negative pressure at the dust suction port can be adjusted, and a basically stable negative pressure at the dust suction port can be kept, which further helps to improve the garbage suction capability during cleaning of a carpet or another soft ground.

It may be understood that, in the foregoing embodiments, the sealed adjustment mechanism 11 at least acts on the dust suction port in a process of cleaning a carpet or another soft ground. The solution is used as one of the manners of improving the cleaning efficiency of the vacuum cleaner in some embodiments, and the solution and other factors related to the dust agitation capability and the dust suction capability described above are combined and optimized and then applied to vacuum cleaner, to improve the garbage suction capability of the vacuum cleaner during cleaning of a carpet or another soft ground, so that the vacuum cleaner can adapt to cleaning requirements of different scenarios.

In some examples, the roller brush mechanism is disposed at the front portion of the body 10.

In this embodiment, the dust agitation capability of the dust suction system 1 can be further improved by improving a beating capability of the roller brush assembly 220 on the cleaning surface. For example, the roller brush assembly 220 is switched from a single roller brush to double roller brushes, a material, a beating direction, and a mounting position of the brush body of the roller brush are added, and the like. For a specific arrangement, refer to any feasible example of the foregoing dust agitation capability. Details are not described again in this embodiment.

In some examples, the sealed adjustment mechanism 11 is configured to switch or move between two preset positions on the housing 210.

In some examples, the sealed adjustment mechanism 11 includes a blocking member, and an opening height of the blocking member is adjusted in some embodiments. For example, the sealed adjustment mechanism 11 of the dust suction system 1 is further configured to can make the blocking member 110 of the sealed adjustment mechanism switch between the first position and the second position. When the blocking member 110 is located at the first position, the blocking member 110 avoids the air flow passage of the dust suction port in the traveling direction of the vacuum cleaner or the blocking member 110 does not block the air flow passage. When the blocking member 110 is located at the second position, the blocking member 110 acts at least part time to adjust a flowing path of an air flow in the traveling direction of the vacuum cleaner 100 or the pressure difference between the inside and the outside of the dust suction port, thereby improving the capability of sucking a foreign object by the dust suction port. Further, the blocking member switches freely in two directions at any position between the first position and the second position in some embodiments.

Particularly, in some examples, a size of an opening of the blocking member relative to a ground can be adjusted by adjusting the blocking member to move between the first position and the second position. When the opening of the blocking member relative to the ground in the housing is larger, a pass rate of foreign objects at the dust suction port is higher. When the opening of the blocking member relative to the ground in the housing is smaller, the pass rate of foreign objects at the dust suction port is lower. However, the pressure difference of the negative pressure formed at the dust suction port can be effectively improved, which helps to improve and stabilize the capability of carrying a foreign object by the air flow at the dust suction port. It is to be noted that, the adjustment of the size of the opening of the blocking member relative to the ground is further specifically controlled according to a garbage type and a garbage amount in some embodiments. For example, according to a ground type, it is set that a corresponding size of the opening during cleaning of a carpet is less than a corresponding size of the opening during cleaning of a hard ground. According to a garbage size, it is set that a size of the opening during suction of large-size or heaped garbage is greater than a corresponding size of the opening during suction of small-size garbage. Further, an adjustment is made according to a user's instruction (for example, control with a manual button). When the user performs fixed-point cleaning or finds a large amount of garbage and needs to suck and clean the large amount of garbage, the user turns on a corresponding button to send instruction control to adjust the size of the opening in some embodiments. Certainly, a sensor configured to detect a large amount of garbage or a positioning apparatus configured to detect a fixed-point region is further disposed on the vacuum cleaner to automatically control the opening of the blocking member in some embodiments. This is not limited in this embodiment.

As discussed above, FIG. 6 is a schematic state diagram of the blocking member 110 cooperating with the housing 210 in the traveling direction of the vacuum cleaner or another cleaning device, and is used for assisting in describing a process of adjusting or stabilizing the negative pressure generated at the dust suction port by the sealed adjustment mechanism. When the blocking member is located at the second position, the sealed adjustment mechanism 11 forms the closed surface of the air flow passage on the front side of the vacuum cleaner in the traveling direction. Specifically, an end of the blocking member facing a ground floats on a carpet or keeps a very small clearance, to block an air flow to some extent, so that more air flows flow between the roller brush and the cleaning surface, thereby enhancing a capability of sucking a foreign object on the carpet. In another aspect, the blocking member forms the closed surface of the air flow passage on the front side of the vacuum cleaner in the traveling direction, and keeps a small clearance from a surface of a carpet, to increase sealing performance between an inside and an outside of the dust suction port, which helps to increase and maintain a pressure difference between an inside and an outside of the dust suction port, so that the capability of sucking a foreign object of the dust suction system can be further improved. When the blocking member is located at the first position, on a side of the vacuum cleaner in a traveling direction, the air flow generated by the negative pressure mostly flow into an air duct from a side of the dust suction port facing the traveling direction of the vacuum cleaner and adjacent lateral sides, and an interval between the dust suction port and the cleaning surface is large, and helps large-particle foreign objects to enter the dust suction port, which is therefore beneficial to a pass rate of large-particle foreign objects on a hard ground.

It needs to be noted that, when the vacuum cleaner cleans a soft ground, it is set in some embodiments that the blocking member 110 of the sealed adjustment mechanism 11 is located at the second position, and the blocking member 110 forms the closed surface in the direction of the vacuum cleaner, to improve the dust suction capability. When the vacuum cleaner cleans a hard ground, it is set in some embodiments that the blocking member 110 of the sealed adjustment mechanism 11 is located at the first position, and the blocking member 110 avoids the air flow passage to allow gathering of large-particle garbage on the hard ground toward the dust suction port. Therefore, when the blocking member 110 is located at the first position, a gathering capability of garbage on a hard ground by the vacuum cleaner can be improved, which is especially suitable for cleaning large-particle garbage on a hard ground.

It is to be understood that, the foregoing adjustment process is controlling the position of the blocking member 110 and controlling the time at which the blocking member 110 closes the air flow passage in the traveling direction of the vacuum cleaner 100. The implementation of this process further involves other necessary arrangements that the control system of the vacuum cleaner can transfer a related control instruction and the sealed adjustment mechanism 11 can execute an instruction. Therefore, details are not described again in the present disclosure.

In some examples, on a side facing the traveling direction of the vacuum cleaner, tooth-shaped bosses 2301 are disposed at intervals, and the air flow passage includes an air flow path formed by a notch between adjacent tooth-shaped bosses 2301.

In some examples, the sealed adjustment mechanism 11 includes the blocking member 110, and the sealed adjustment mechanism 11 is configured to can make the blocking member 110 switch between the first position and the second position. When the blocking member 110 is located at the first position, the blocking member 110 avoids the air flow passage. When the blocking member 110 is located at the second position, the blocking member 110 at least partially blocks the air flow passage.

In an example application, as shown in FIG. 9, when the blocking member 110 is located at the first position, the ground distance H1 of the end of the blocking member 110 facing the ground is less than 2 mm. When the blocking member 110 is located at the second position, the ground distance H2 of the end of the blocking member 110 facing the ground ranges from 6 mm to 9 mm. It needs to be noted that, when the blocking member 110 is located at the second position, the ground distance H2 of the end of the blocking member 110 facing the ground is adjusted based on a height of the housing 210, a size of the tooth-shaped boss, the air flow passage, among other factors in some embodiments. For example, in some examples, it is further set that the ground distance H2 of the end of the blocking member 110 facing the ground ranges from 4 mm to 12 mm in some embodiments.

In the embodiments of the present disclosure, the adjustment of the position of the blocking member corresponds to a change in the area of the opening in the traveling direction of the vacuum cleaner or the ground distance in some embodiments. In any of the foregoing manners, the blocking member is configured to form the closed surface, to adjust the flowing path of the air flow in the dust suction port, a pressure difference in the negative pressure, and the stability of the negative pressure.

To implement an adjustable position of the blocking member, in some examples, as shown in FIG. 9, the sealed adjustment mechanism 11 includes a traction unit 120. The traction unit 120 is disposed on the housing 210. The traction unit 120 is configured to drive the blocking member 110 to switch or move between a first position and a second position of the housing 210. The traction unit 120 is used as an execution mechanism of the foregoing control instruction, and drives the blocking member 110 to switch between the first position and the second position in some embodiments and stop at the first position or the second position as required. Further, the traction unit uses a linkage drive structure, a gear drive structure, or a hinge drive structure in some embodiments. Certainly, in some examples, the traction unit also uses another drive structure that can drive the blocking member to move in some embodiments.

It is to be noted that, for a specific structure of the traction unit, refer to the foregoing embodiments. Details are not described again herein.

Similarly, in this embodiment, when the blocking member 110 is located at the second position, in a process of performing a cleaning task by the vacuum cleaner, the blocking member 110 is used for forming the closed surface of the air flow passage in some embodiments, thereby improving a dust suction effect. To keep a relatively stable dust suction effect, in a process of performing a cleaning task by the vacuum cleaner, it is configured that the blocking member 110 can keep the basically stable form of the closed surface through a deformation property of the blocking member under the action of the negative pressure or through limiting of the guide structure (or the support structure). For this, refer to the material and model related to the blocking member 110 and the examples for keeping limiting, guiding, and the like in a stable form specifically recorded in the foregoing embodiments. Details are not described again herein.

Similar to a position adjustment function of a blocking member by a control apparatus of a handheld vacuum cleaner, the position adjustment of the blocking member of the vacuum cleaner is implemented under the action of control of a control apparatus of the vacuum cleaner, and a difference from the handheld vacuum cleaner lies in that the control apparatus of the vacuum cleaner mainly receives a user's instruction (for example, through a physical button, a virtual button, a mobile terminal that interacts with a controller, a wearable device, or the like) to implement the position adjustment of the blocking member. Similarly, the adjustment of a fan power of the vacuum cleaner is also implemented under the control of the control apparatus of the vacuum cleaner. Certainly, in some examples, a sensing system, for example, sensors that sense a ground material, a garbage size, and the like, is disposed on the vacuum cleaner in some embodiments, and then the sensors acquire related information and send the related information to the control apparatus of the vacuum cleaner. The control apparatus of the vacuum cleaner automatically controls a size of an opening of the blocking member relative to a ground and/or the fan power, thereby improving convenience of use by the user.

It is to be noted that, in a case that the vacuum cleaner is manually controlled in some embodiments and is automatically controlled in some other embodiments, to avoid a conflict between automatic control and manual control, further, a prompt apparatus connected to the controller is further disposed at the vacuum cleaner in some embodiments. In a case that the user does not send an instruction in time, the control apparatus of the vacuum cleaner sends a prompt to the user through the prompt apparatus.

In some examples, the opening of the blocking member 110 relative to the ground when the vacuum cleaner cleans a hard ground is larger than the opening when the vacuum cleaner cleans a soft ground.

In some examples, the opening of the blocking member 110 relative to the ground when the vacuum cleaner recognizes large-size garbage is larger than the opening when the vacuum cleaner does not recognize large-size garbage.

In some examples, user instruction information received by the vacuum cleaner includes control information of the size of the opening, and correspondingly adjust the size of the opening of the blocking member 110 relative to the ground based on the control information.

In some examples, the control apparatus of the vacuum cleaner is further configured to control an input power of a fan of the dust suction system 1. In a specific embodiment, the control system is configured to keep a same input power throughout a process of performing a cleaning task. In an example application, when the control apparatus of the vacuum cleaner recognizes, based on information obtained by the sensing system, that the vacuum cleaner performs cleaning on a soft ground, the input power of the fan is configured ranging from 60 W to 80 W.

In an embodiment, the control apparatus of the vacuum cleaner is configured to determine the input power of the fan according to obtained type information of a to-be-cleaned surface. For example, a first power range is kept during cleaning of a soft ground, and a second power range is kept during cleaning of a hard ground. The first power range is greater than the second power range. For example, when it is recognized that the vacuum cleaner performs cleaning on a soft ground, the input power of the fan is configured ranging from 60 W to 150 W. When it is recognized that the vacuum cleaner performs cleaning on a hard ground, the input power of the fan is configured ranging from 15 W to 35 W.

Further, when the in-position detection sensor 130 detects an in-position signal (including an open in-position signal and a closed in-position signal) of the blocking member 110 and sends the in-position signal to a control apparatus, especially sends the in-position signal to the control apparatus through an instant messaging technology, the control apparatus cuts off power of the drive mechanism 129 configured to drive the blocking member 110 to move, to prevent the drive motor or the transmission system of the drive mechanism from overload damage.

The mechanical limiting portion 131 is disposed to forcefully limit the opening and closing of the blocking member 110, to prevent the drive system of the drive mechanism 139 configured to drive the blocking member 110 to move from overload damage, thereby improving reliability.

In some examples, the control apparatus of the vacuum cleaner further has an overload protection procedure. The overload protection procedure can handle some emergencies, for example, in a case that the in-position detection sensor 130 fails or is faulty, protect the drive system configured to drive the blocking member 110 to move.

In some examples, the sealed adjustment mechanism further includes a reset unit configured to reset the blocking member. Further, the reset unit is one of a torsion spring or a compression spring.

In consideration of that during cleaning of a carpet or another soft ground, because carpet pile or carpet fiber are soft, to adapt to the cleaning of the soft ground, in some examples, referring to FIG. 25 to FIG. 28, the roller brush mechanism, especially the roller brush support 230, of the vacuum cleaner in this embodiment is configured to be floatable relative to the body 10.

In some examples, the sealed adjustment mechanism 11, especially on the blocking member 110, is configured to float relative to the body, to ensure sealing performance and improve a cleaning effect of a complex cleaning ground, especially a carpet or another soft ground

Further, the sealed adjustment mechanism and the roller brush mechanism are configured to float together or float simultaneously.

Certainly, in some examples, the floating of the sealed adjustment mechanism is independent of the floating of the roller brush mechanism.

To keep floating from affecting other mechanisms or assemblies of the vacuum cleaner, in some examples of the present disclosure, the dust suction system of the vacuum cleaner has a floating space 133.

Through a layout inside the vacuum cleaner, the floating space is reserved, so that while the vacuum cleaner adapts to a complex to-be-cleaned surface, normal running of other mechanisms or assemblies is also not affected.

In consideration of that when the vacuum cleaner moves on the to-be-cleaned surface, there are uneven positions on the to-be-cleaned surface, for example, there are low obstacles, protrusions, or the like on the to-be-cleaned surface. To enable the vacuum cleaner to handle the foregoing case during cleaning work on the to-be-cleaned surface and improve obstacle surmounting performance of the vacuum cleaner, in some examples, when the vacuum cleaner encounters an obstacle that needs to be surmounted or when the vacuum cleaner is in an obstacle surmounting state, the sealed adjustment mechanism 11 forms the closed surface of the air flow passage on the front side of the vacuum cleaner in the traveling direction; or, the blocking member is in a closed state, and forms the closed surface of the air flow passage. The blocking member or the closed surface has a guiding effect, to assist in lifting the roller brush mechanism of the vacuum cleaner, to perform obstacle surmounting.

Similarly, in the dust suction system of the vacuum cleaner, a guide portion 111 is provided at an end of the blocking member 110 close to a to-be-cleaned ground. When the blocking member 110 is in a closed state, the guide portion 111 forms the closed surface. The guide portion 111 has an arc shape, or the closed surface is an arc-shaped face, and the arc shape or arc-shaped face has an outer arc surface facing the front end of the body of the vacuum cleaner.

Specifically, when the vacuum cleaner needs to perform obstacle surmounting, the traction unit of the sealed adjustment mechanism is controlled (automatically or manually) to close the blocking member in some embodiments, to assist in lifting the roller brush assembly.

For ease of understanding, referring to FIG. 38, an automatic control process of the blocking member of an obstacle surmounting process in which the vacuum cleaner encounters a step when cleaning a hard ground (for example, a floor, a tile, a cement ground, or the like) is briefly described below.

When the vacuum cleaner cleans a hard ground, the sealed adjustment mechanism, especially the blocking member 110, is in the open state. In this case, the vacuum cleaner can clean up garbage, especially large-size garbage (for example, large particles), on the hard ground. When a main unit with the blocking member in the open state crosses a step or another obstacle that has a particular height but can be surmounted, because a guide portion assisting in climbing is not disposed on the vacuum cleaner, the roller brush assembly is likely to collide with the step, causing damage to the roller brush assembly. Therefore, if the vacuum cleaner has an obstacle surmounting procedure when cleaning a to-be-cleaned surface (especially a hard ground), the cleaning robot can surmount step or another obstacle with a height less than the preset value.

Specifically, the vacuum cleaner determines a current state of the blocking member, and determines whether the blocking member is normally open or determines whether the blocking member is in an open state. If yes, a step is detected through a first sensor 101 (for example, a depth camera) that is disposed on the vacuum cleaner and is configured to detect a height of an obstacle (a step). The control apparatus of the vacuum cleaner compares a height of an obstacle detected by the first sensor 101 with the preset value. When it is determined that the obstacle is a surmountable step, the obstacle surmounting procedure is started, the blocking member is closed or the sealed adjustment mechanism is controlled to switch the blocking member from the open state to the closed state, and the closed surface formed by the guide portion of the blocking member lifts the roller brush assembly, to assist the vacuum cleaner in crossing the step or ascending the step.

Further, it is determined whether the vacuum cleaner has crossed the step or ascended the step. If yes, the blocking member is opened, or, the sealed adjustment mechanism is controlled to switch the blocking member from the closed state to the open state.

Further, the in-position detection unit detects whether the blocking member is open, and if yes, returns to the foregoing step of determining the state of the blocking member.

To improve the reliability of guiding, in some examples, the blocking member 110 is an integral structure.

Certainly, in some examples, in a scenario in which the user recognizes a step or another obstacle and requires obstacle surmounting of the vacuum cleaner, an instruction is sent manually (for example, through a button) to adjust an open or closed state of the blocking member in some embodiments. Details are not described again herein.

To improve a cleaning effect of a carpet, when the vacuum cleaner performs cleaning work on a surface of a carpet or another soft ground, the blocking member is configured to be in the closed state, to form a sealed region below the roller brush mechanism. In this case, an air flow flows around the blocking member from below a lower portion of the blocking member and passes through carpet fiber, the dust suction port, and the air duct to be sucked into the dust collection box. Therefore, when the carpet fiber is longer and the density is higher, it is more difficult for the air flow to pass through the carpet fiber, the sealed region formed below the roller brush mechanism has a better sealing effect, a negative pressure is higher, and a traveling resistance of the vacuum cleaner is larger. When the resistance has increased to a particular level and exceeds a driving force (for example, a pushing force of the user) for driving the vacuum cleaner to walk, the movement of the vacuum cleaner is hindered.

In view of this, in some examples, when the movement of the vacuum cleaner is obstructed, the blocking member is obstructed. Certainly, in some examples, when the movement of the vacuum cleaner is obstructed, the dust suction fan is turned off or the power of the dust suction fan is turned down. For example, the user sends an instruction to the vacuum cleaner, and the control apparatus of the vacuum cleaner controls the dust suction fan to be turned off or the fan power to be reduced.

When the movement of the vacuum cleaner is obstructed, the user feels and sends an instruction, to control the blocking member to be opened.

Certainly, in some examples, the control apparatus of the vacuum cleaner detects working parameters of a walking system. The walking system includes a walking wheel. The working parameters are, for example, a working current of a drive motor configured to drive the walking wheel to move, a rotational speed of the walking wheel, and the like. The detected working parameters are compared with corresponding set values to determine whether the vacuum cleaner is obstructed. This is not limited in this embodiment.

When the vacuum cleaner fails to move or encounters a sudden movement speed change during normal cleaning of a ground, the negative pressure at the dust suction port is reduced by opening the blocking member in some embodiments, turning down the power of the fan, turning off the fan, or in another manner, to reduce a frictional force between the roller brush assembly and the ground, so that the vacuum cleaner can perform work normally.

In a process in which the vacuum cleaner cleans a soft ground, in consideration of that large-size garbage (for example, large particles) is present on a carpet or another soft ground in some embodiments and the large-size garbage is usually trapped inside carpet fiber or pile, when the vacuum cleaner performs cleaning work on a carpet or another soft ground, the blocking member is in the closed state, and affects a cleaning effect of large-size garbage by the vacuum cleaner in some embodiments.

In consideration of this, in some examples, during cleaning work on a surface of a carpet, if the vacuum cleaner or the user recognizes large-size garbage, the control apparatus of the vacuum cleaner controls the blocking member to switch from a closed state to an open state.

When the vacuum cleaner cleans a carpet, after large-size garbage is recognized, the blocking member is opened, to enable the vacuum cleaner to clean up the large-size garbage on the carpet, thereby improving the cleaning effect of the carpet.

In consideration of that the carpet usually has carpet tassels, to prevent the handheld vacuum cleaner from damaging the tassels,

in some examples, before the vacuum cleaner moves onto the carpet, the blocking member is in the closed state, or, the control apparatus of the vacuum cleaner controls the blocking member to be closed.

To adapt to a shape of a mounting portion (for example, a roller brush bearing) of a roller brush, in some examples, a half-bearing socket 2601 is disposed on the roller brush cover 260.

The openable roller brush cover 260 is disposed, so that after the roller brush cover is opened, a roller brush can be easily removed for maintenance.

A cleaning effect of a carpet or another soft ground can be improved by improving a sealing effect of the roller brush assembly. In one aspect, the sealing effect of the roller brush assembly is improved in the following manner in some embodiments:

A: A closing degree of a sealed adjustment mechanism (especially the blocking member) is adjusted to improve the sealing effect of the roller brush assembly. A sealing degree of the roller brush assembly and a flow rate of an air flow flowing inside a carpet is adjusted by adjusting the closing degree, for example, by controlling a free end of the blocking member to extend to a position close to contact between the roller brush and a ground in some embodiments. In some examples, a value range of a distance between the free end (an end portion close to a cleaning ground in a vertical direction) of the blocking member and the hard ground is M. The value range M is less than or equal to 3 mm, so that when the vacuum cleaner cleans a carpet or another soft ground, because the carpet is soft, the roller brush sinks in the carpet by a particular height in some embodiments. In this case, a distance from the free end of the blocking member to the carpet is smaller than that to a hard ground, thereby reducing a flow rate of an air flow flowing through an outside (for example, a clearance between the free end of the blocking member and the carpet) of the carpet, to ensure that more air flows can flow inside the carpet to clean off garbage in pile of the soft ground or fiber of the soft ground, thereby improving the cleaning effect of the carpet.

In another aspect, the sealing effect is improved in the following manner in some embodiments:

B: At least one of a position, a thickness, or a shape of the blocking member is designed, so that when the blocking member is closed, an inner side edge 1100 of the blocking member is as close to the roller brush as possible, to improve the sealing effect, thereby reducing a flow rate of an air flow in a path from a non-dust suction port side (a side of the roller brush away from a dust suction port, for example, two ends of the roller brush support 230) through the outside of the carpet. For example, when the blocking member is closed, the inner side edge of the blocking member extends to a position close to a side of the roller brush away from the dust suction port. In some examples, referring to FIG. 60, a distance between a farthest end T (in other words, the closest end of the inner side edge 1100 close to a ground) of the inner side edge (in a horizontal direction, a surface facing the roller brush) of the blocking member 1100 away from a body and a projection point TO projected to a side of the roller brush away from the dust suction port is N. A value of N is within a range less than or equal to 5 mm. Further, in some other examples, a projection Ay of the farthest end of the blocking member in the vertical direction is located between a projection Ry of an outer contour of the roller brush in the same direction and a projection Yo of a roller brush center A2 in the same direction. A projection Ax of the farthest end of the blocking member in the horizontal direction is located between a projection Rx of the outer contour of the roller brush in the same direction and a projection Xo of the roller brush center A2 in the same direction. That is, a distance between the farthest end of the blocking member and a roller brush axis (passing through the roller brush center A2) in the vertical direction and a distance between the farthest end of the blocking member and the roller brush axis (passing through the roller brush center) in the horizontal direction are both less than a radius R of the roller brush.

In some other examples, R²is less than or equal to Ax²+Ay²and is less than or equal to 1.1R².

In some examples, a value of RA/R ranges from 1.1 to 1.3.

Because the vacuum cleaner inevitably encounters collisions during dust suction work, referring to FIG. 62 to FIG. 64, to avoid an impact of a force of a collision on the blocking member, the applicant sets at least one of the following anti-collision measures:

Measure 1: A fit between an output shaft of a reducer gearbox of the drive motor configured to drive the blocking member to move and a gear set of the transmission system is a loose fit.

When the output shaft 1241 of the reducer gearbox drives a gear 1240, the gear 1240 is driven to first rotate by a small cushioning angle, to eliminate a clearance between the gear and the output shaft, to cushion a force of a hit.

Measure 2: The roller brush support 230 has an anti-collision portion 2302. The anti-collision portion 2302 protrudes from the blocking member 110.

In some examples, the anti-collision portion 2302 protruding from an outer surface of the blocking member 110 is provided on each of two lateral sides of the roller brush support 230 along the roller brush axis. When a collision plate of the handheld vacuum cleaner is collided and moves backward, the anti-collision portion 2302 bears a force of the hit, thereby keeping the blocking member from directly bearing a force.

In view of that the blocking member is relatively long, to improve the smoothness of transmission, in some examples, the transmission system uses a gear-rack synchronous transmission system. Further, the transmission system uses double gear-rack synchronous transmission systems. A rack 124 is integrally disposed with the blocking member 110 in some embodiments or is disposed on the blocking member in some embodiments. In some examples, referring to 63 and FIG. 64, the transmission system includes a gear shaft 1203, a first gear set 1201, and a second gear set 1202. Two gear sets are synchronously driven by the gear shaft, and then the gear sets drive the rack on the blocking member to synchronously move, to implement the opening and closing of the blocking member.

In some examples, two the gear set are asymmetrically disposed. For example, the first gear set 1201 and the second gear set 1202 are asymmetrical about a center plane of the roller brush support.

In consideration of that the blocking member has a large length, if same clearances are provided in a full length range, floating dust and other garbage flying cleaning enter the clearances, making the blocking member stuck.

Manner 1: A clearance exists between the blocking member 110 and the roller brush support 230. A dust accommodation space 232 is disposed in the clearance. The dust accommodation space 232 is, for example, implemented through a rib 233 in some embodiments.

Referring to FIG. 68 and FIG. 69, the dust accommodation space 232 is disposed on a fitting surface 234 between the blocking member 110 and the roller brush support 230.

Manner 2: A part of contact between the blocking member and the roller brush support 230 has a sealing structure.

Referring to FIG. 70, the sealing structure is disposed at each of two ends of the blocking member in contact with the roller brush support 230. The sealing structure includes a roller brush guide support portion 235 and/or the dust accommodation space 232.

For ease of understanding, descriptions are provided below with reference to the accompanying drawings: Specifically, as shown in FIG. 76, the present disclosure provides a handheld vacuum cleaner. The handheld vacuum cleaner includes a dust suction system 1.

It is to be understood that, the handheld vacuum cleaner further includes a negative pressure module (for example, a fan) configured to provide a negative pressure, a dust collection box 14 configured to store a foreign object, and a walking system 2 configured for movement in some embodiments.

The dust suction system 1 includes a housing 210 and a roller brush assembly 220 mounted on the housing 210. The roller brush assembly 220, for example, uses a double roller brush mechanism in some embodiments. The walking system 2 includes a support wheel 15. An internal cavity of the double roller brush mechanism 12 is in communication with an air inlet of the dust collection box 14 through an air duct 240.

In some examples, a filter 141 (for example, a hepa) is disposed in the dust collection box 14. Under the action of the suction of the negative pressure module 4, an air flow that enters from the air inlet of the dust collection box and carries dust or impurities is filtered by the filter 141 and is discharged from an air outlet. The dust and impurities after filtering are left in the dust collection box.

In some examples, the handheld vacuum cleaner further includes a connecting portion 16 configured to connect to a handle module.

The dust suction system 1 can be supported on a ground through the support wheel 15. To improve the stability of support, in some examples, at least two support wheels 15 are provided. The double roller brush mechanism 12 includes two relatively rotatable roller brushes, configured to clean up dust and other foreign objects on a ground through relative rotation of the two roller brushes, where the dust and other foreign objects can enter the dust collection box 14 through the air duct 240 under the action of the negative pressure module. The two roller brushes are mounted on a roller brush support.

To improve a dust suction capability, the dust suction system 1 further includes a sealed adjustment mechanism, disposed on the roller brush support. The sealed adjustment mechanism includes a movable sealing door (that is, a blocking member 110). The sealed adjustment mechanism, especially the movable sealing door, seals a space in an advancing direction of a roller brush during floor sweeping in some embodiments, to improve a cleaning efficiency. When large-size particle garbage exists in front, a controller controls (automatically controls in some embodiments, or receives a manual control instruction of a user to control in some embodiments) the sealed adjustment mechanism (especially the movable sealing door) to be opened in some embodiments.

In some examples, the blocking member is configured to be floatable in a preset space range.

In some examples, the roller brush mechanism includes the roller brush support, and the roller brush support is configured to be floatable in the preset space range.

In some examples, the blocking member is configured to float together with the roller brush support.

In some examples, a difference value between floating amounts of the roller brush support and the blocking member is not greater than 2 mm.

In some examples, the blocking member is configured to be in a closed state at least during obstacle surmounting, to assist in lifting the roller brush mechanism.

In some examples, the blocking member is configured to make a free end of the blocking member extend close to a position at which the roller brush assembly is in contact with a cleaning surface when in the closed state.

In some examples, a horizontal distance between the free end of the blocking member and the roller brush assembly is less than or equal to 5 mm.

In some examples, a distance between the free end of the blocking member and the position at which the roller brush assembly is in contact with the cleaning surface is less than or equal to 3 mm.

In some examples, the roller brush mechanism includes a roller brush cover and the roller brush support, where a connecting portion between the roller brush cover and the roller brush support is located on two sides of the blocking member.

In some examples, the roller brush cover is hinged to the roller brush support.

In some examples, a clearance exists between the blocking member and the roller brush support, and the clearance has a dust accommodating space.

In an embodiment, a sealing structure is further disposed at each of two ends of the blocking member in contact with the roller brush support, and the sealing structure includes at least one of a roller brush guide support portion and the dust accommodating space.

In some examples, the blocking member is configured to be opened when the handheld vacuum cleaner is obstructed.

Certainly, in some examples, when traveling of the handheld vacuum cleaner is obstructed, a control apparatus of the vacuum cleaner controls a dust suction fan to be turned off in some other embodiments.

In some examples, the dust suction system includes a roller brush motor configured to drive the roller brush assembly, and a traction unit includes a drive motor configured to drive the blocking member to move, where the roller brush motor and the drive motor are arranged at two ends of a center plane of the roller brush mechanism. For details, refer to FIG. 61.

In some examples, the handheld vacuum cleaner is a DC handheld vacuum cleaner.

The present disclosure provides a cleaning robot. The cleaning robot includes a roller brush assembly and a blocking member. The blocking member includes at least one of the first blocking member and the second blocking member. The roller brush assembly includes at least one roller brush. The blocking member rises or lowers according to a landform and remains close to a ground in real time in some embodiments, to keep a cavity at a relatively stable sealing level.

In some examples, the blocking member rises or lowers in linkage with the roller brush. In other words, when the roller brush rises or lowers, the blocking member rises or lowers as the roller brush rises or lowers.

It needs to be noted that the blocking member rises or lowers in linkage with the roller brush, and is applicable to the foregoing cleaning robot with the roller brush assembly including the first roller brush and the second roller brush and also applicable to a cleaning robot with a single roller brush.

The present disclosure provides a cleaning robot, where the cleaning robot includes:

- a body having a front end;
- a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region;
- a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and
- a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where
- the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, and a blocking member configured to seal the cavity; and the roller brush assembly includes at least one roller brush.

To improve a dust suction effect, in some examples, the blocking member includes a first blocking member located on a front side of the roller brush assembly and a second blocking member located on a rear side of the roller brush assembly.

In some examples, when the roller brush assembly lifts, the blocking member is configured to lift together as the roller brush assembly lifts. In other words, when the roller brush assembly lifts, at least one of the first blocking member and the second blocking member is configured to lift together as the roller brush assembly lifts.

To improve a dust agitation effect, in some examples, the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body.

In other words, the dust suction assembly is a double-roller brush structure. Through the cooperation of the dust agitation of double roller brushes and the sealing of the blocking member, the cleaning efficiency of the cleaning robot is improved.

Certainly, in other examples, the roller brush assembly includes only one roller brush in some embodiments, that is, the dust suction assembly is a single-roller brush structure. Through the beating action of the single roller brush and the sealing action of the blocking member, the cleaning efficiency of the cleaning robot is improved.

It needs to be noted that when the roller brush assembly lifts, the blocking member lifts together as the roller brush assembly lifts, and is applicable to the foregoing example of the cleaning robot in which the roller brush assembly includes the first roller brush and the second roller brush and also applicable to a cleaning robot with a roller brush assembly being a single roller brush. This is not limited in the present disclosure.

The lifting of the roller brush assembly should be understood as including active lifting and passive lifting (also referred to as floating) of the roller brush assembly.

In other words, during the lifting (including the active lifting and the passive lifting) of the roller brush assembly, the blocking member definitely lifts together with the roller brush assembly.

Therefore, in some examples, during the active lifting of the roller brush assembly, the blocking member lifts together with the active lifting of the roller brush assembly. During the passive lifting of the roller brush assembly, the blocking member also lifts together with the passive lifting of the roller brush assembly.

In some examples, a manner of the blocking member lifting together as the roller brush assembly lifts is lifting of the blocking member driven by another member of the cleaning robot (for example, when the blocking member is disposed on a roller brush support, this is understood as a special example in some embodiments, and this special example is different from active movement of the blocking member under the traction action of a traction unit and is also different from floating of the blocking member adapting to a landform).

Certainly, in some examples, the manner of the blocking member lifting together as the roller brush assembly lifts is active lifting of the blocking member in some embodiments, so that the blocking member and the roller brush assembly are kept at relatively stable positions, to ensure the sealing level of the cavity.

In some examples, the blocking member (especially the first blocking member) is configured to be movable.

Being movable at least includes active lifting.

For example, during the active lifting of the blocking member, the roller brush assembly lifts actively in some embodiments, or does not lift actively in some embodiments. Whether the roller brush assembly needs to lift actively or lift passively depends on a scenario that the cleaning robot is in.

In some examples, during the active lifting of the blocking member, the roller brush assembly is configured to not to lift actively. In other words, the roller brush assembly does not lift actively along with the active lifting of the blocking member. For example, during the active lifting of the blocking member, the roller brush assembly passively lifts or does not lift in some embodiments, referring to Table 3. The roller brush assembly actively lifts only in a scenario in which active lifting is required.

Certainly, in some examples, being movable further includes active lowering.

In some examples, the dust suction assembly includes a housing, and the housing includes a roller brush support configured to at least partially cover and support the roller brush assembly.

In some examples, the lifting of the roller brush assembly is implemented through the lifting of the roller brush support. The lifting should be understood as active lifting and passive lifting. In other words, the roller brush assembly actively lifts (or passively lifts) together with the active lifting (or passive lifting) of the roller brush support.

Because the second blocking member is usually used as a part of the roller brush support, and the first blocking member is usually disposed independently. Therefore, in some examples, when the roller brush assembly lifts, the first blocking member is configured to synchronously lift with the roller brush assembly.

In some examples, the blocking member is disposed on the roller brush support. In other words, regardless of the active lifting or the passive lifting of the roller brush assembly, the blocking member definitely flits as the roller brush support lifts.

In some examples, when the blocking member is in an open state, the roller brush assembly is configured to passively lift.

For example, when the cleaning robot cleans a hard ground, the first blocking member is in an open state. In other words, the first blocking member is opened (actively lifts). When the cleaning robot is in a scenario of passive lifting of the roller brush assembly, for example, in a scenario of ascending an obstacle (for example, a carpet, or a step) under the assistance action of the roller brush assembly, the roller brush assembly passively lifts under the action of the obstacle, and retracts upward into body of the cleaning robot, to avoid affecting the running of the cleaning robot.

It may be understood that in some examples, after the scenario of passive lifting of the roller brush assembly disappears, for example, after assisted obstacle surmounting of the cleaning robot, the roller brush assembly drops freely (falls passively) under the action of gravity in some embodiments.

For example, when the cleaning robot cleans a soft ground (for example, a carpet), the first blocking member is in a closed state. In other words, when the first blocking member is opened (actively lowers), in a scenario of passive lifting of the roller brush assembly, for example, in a scenario of ascending an obstacle (for example, a carpet, or a step) under the assistance action of the roller brush assembly, the roller brush assembly passively lifts under the action of the obstacle, and retracts upward into body of the cleaning robot, to avoid affecting the running of the cleaning robot.

It needs to be noted that in the closed state, when encountering a scenario in which floating is required (for example, to adapt to different landforms), the blocking member passively lifts in some embodiments.

It should be pointed out that being active should be understood as a movement generated under the control action of a member (for example, a controller of the cleaning robot) of the cleaning robot or the like and under the driving action of a motor or another power member, and being passive should be understood as a movement generated under the action of an object (an external object, for example, an obstacle, or a landform) outside the cleaning robot.

For ease of understanding, the passive lifting and the active lifting of the roller brush assembly and the passive lifting and the active lifting of the blocking member are respectively described below with reference to Table 1.

(1) Active Lifting of the Roller Brush Assembly

In some examples, the roller brush assembly is configured to be actively liftable.

It is considered that the cleaning robot encounters various scenarios during cleaning work, the roller brush assembly should actively lift to adapt to some scenarios in which the roller brush assembly needs to actively lift, for example: A. a scenario in which a short obstacle that needs to be surmounted and has a height less than a preset height is recognized or recognized in advance before the short obstacle is ascended, for example, carpet surmounting/threshold surmounting/step surmounting; B. a scenario in which a pile or fiber length of a to-be-cleaned carpet is recognized or recognized in advance before a short obstacle is ascended and it is necessary to adjust a cleaning capability of the roller brush to adapt to the to-be-cleaned carpet; C. a scenario in which the cleaning robot is stuck, for example, stuck by carpet pile, a groove, or the like; and D. a scenario in which the cleaning robot fails to escape after repeated movements by adjusting angles.

It may be understood that because the roller brush assembly can be actively lifted and can also be actively lowered, after the scenario of active lifting is cleared, for example, a scenario in which the cleaning robot surmounts a carpet, a threshold, a step or another obstacle or escapes, the roller brush assembly is configured to actively lower.

In consideration of a requirement of a scenario in which the roller brush actively lifts, to implement the active lifting of the roller brush assembly, the cleaning robot is provided with a roller brush lifting mechanism, and is configured to drive the roller brush assembly to lift. The roller brush lifting mechanism includes a roller brush lifting motor and a driving mechanism connected to the roller brush lifting motor, and the driving mechanism is connected to the roller brush assembly.

It should be pointed out that, in some examples, the dust suction assembly includes a housing, the housing includes a roller brush support configured to at least partially cover and support the roller brush assembly, and the roller brush support is configured to be vertically movable relative to a horizontal plane or the body of the cleaning robot.

The roller brush assembly is disposed on the roller brush support, and the roller brush assembly moves vertically as the roller brush support moves vertically.

In other words, the lifting (falling) of the roller brush assembly is implemented by the roller brush lifting mechanism driving the roller brush support to lift (fall).

Certainly, in some examples, the cleaning robot is further provided with a mopping assembly in some embodiments, to implement a mopping function. For the cleaning robot provided with the mopping assembly, in addition to the foregoing scenarios A, B, C, and D, scenarios in which the roller brush assembly needs to actively lift further include a scenario E of avoiding cross contamination, that is, to avoid cross contamination, the roller brush assembly is also configured to be actively liftable.

(2) Passive Lifting (Also Referred to as Floating) of the Roller Brush Assembly

In some examples, the roller brush assembly is configured to be passively liftable. In other words, the roller brush assembly is configured to be floatable.

It is considered that the cleaning robot encounters various scenarios in a cleaning process, the roller brush assembly can further passively lift to adapt to some scenarios in which the roller brush assembly needs to passively lift, for example, a scenario b in which the cleaning robot is assisted in ascending an obstacle, the obstacle is in contact with the roller brush assembly, a force is applied to the roller brush assembly, and the roller brush assembly is lifted under the action of the obstacle, to adapt to a landform, to enable the cleaning robot to move smoothly.

It may be understood that the roller brush assembly can passive lift and can also passive lower, so that after the scenario of passive lifting is cleared, the roller brush assembly is configured to passive lower under the action of its own weight.

The roller brush assembly is disposed on the roller brush support, and the roller brush assembly floats as the roller brush support floats.

It may be understood that to make the roller brush assembly floatable, a floatable space is reserved at a position of the cleaning robot corresponding to the roller brush assembly (the dust suction assembly), to make the roller brush assembly passively liftable.

(3) Active Lifting and Active Lowering of the Blocking Member

In consideration of that there are some large-size garbage 01 (for example, large particles, and clumps of hair) with large sizes (for example, sizes greater than the first distance and less than a threshold, for distinguishing from an obstacle) on the environmental surface, to further deal with cleaning of garbage such as large particles and clumps of hair (for example, with sizes ranging from 5 mm to 20 mm), in some examples, at least one of the first blocking member and the second blocking member is disposed to be movable.

Being “movable” should be understood as at least including a capability of active lifting.

Because the cleaning robot usually travels toward the front (the front end of the body is the front), in some examples, the first blocking member is movable.

Through the movement of the first blocking member, a distance between the free end of the blocking member and an environmental ground (including a rigid ground and a soft ground) is adjusted in some embodiments, providing the first blocking member with a closed state and an open state.

The first blocking member is disposed to be movable, so that the first blocking member has the open state and the closed state. When the first blocking member is in the closed state, the cleaning robot can perform cleaning with high cleaning efficiency. When the first blocking member is in the open state, the cleaning robot can suck large particles, clumps of hair (also referred to as hair clumps), and other large-size garbage in front.

That is, in a case that the cleaning robot recognizes clumps of hair, the blocking member is in the open state. For example, the first blocking member is movable, and in a case that the cleaning robot recognizes large-size garbage, the first blocking member is opened, to clean up clumps of hair.

Similarly, in some examples, the second blocking member is also configured to be movable to adjust a distance between the free end of the second blocking member and the environmental surface, providing the second blocking member with a closed state and an open state.

It needs to be noted that, because the second blocking member is disposed on a rear end of the body, usually, the second blocking member is in the closed state, to improve a sealing effect of the cavity.

To provide the blocking member with an open state and a closed state, the “movable” should be understood as at least including capabilities of active lifting and active falling. The closed state of the blocking member is implemented through the active falling of the blocking member in some embodiments. The open state of the blocking member is implemented through the active lifting of the blocking member in some embodiments.

In other words, to improve the cleaning efficiency (especially cleaning efficiency on a soft ground) of the cleaning robot, the blocking member is configured to actively lower, to make the blocking member in the closed state. To implement cleaning of large-size garbage, the blocking member is configured to actively lift, to make the blocking member in the open state.

For example, the cleaning robot is located on a rigid ground. The first blocking member is movable, to adjust a distance between the free end of the first blocking member and the rigid ground, providing the first blocking member with a closed state and an open state.

For details of the structure of the traction unit, refer to the description about the traction unit herein. Details are not excessively described herein.

(4) Passive Lifting (Floating) of the Blocking Member

To make the blocking member adapt to a landform, in some examples, the blocking member is arranged to be floatable.

TABLE 1

Scenario requirement (control occasion)

Cleaning robot (sweeping and mopping

Cleaning robot (robotic vacuum cleaner)
robot) with both a dust suction assembly

with a dust suction assembly
and a mopping assembly

Blocking member is
Entry of large-size garbage (large
Entry of large-size garbage

opened (actively lifts)
particles, dog hair or other clumps of hair)

Blocking member is
Improve a cleaning capability for a soft
Improve a cleaning capability for a soft

closed (actively
ground (for example, a carpet)
ground

lowers)

Roller brush
A. a scenario in which a short obstacle
A. a scenario in which a short obstacle

assembly actively
that needs to be surmounted and has a
that needs to be surmounted and has a

lifts
height less than a preset height is
height less than a preset height is

recognized or recognized in advance, for
recognized or recognized in advance, for

example, carpet surmounting/threshold
example, carpet surmounting/threshold

surmounting/step surmounting; B. a
surmounting/step surmounting; B. a

scenario in which a pile or fiber length of
scenario in which a pile or fiber length of

a to-be-cleaned carpet is recognized or
a to-be-cleaned carpet is recognized or

recognized in advance and it is necessary
recognized in advance and it is necessary

to adjust a cleaning capability of the roller
to adjust a cleaning capability of the roller

brush to adapt to the to-be-cleaned
brush to adapt to the to-be-cleaned

carpet; C. a scenario in which the cleaning
carpet; C. a scenario in which the cleaning

robot is stuck, for example, stuck by
robot is stuck, for example, stuck by

carpet pile, a groove, or the like; and D. a
carpet pile, a groove, or the like; D. a

scenario in which the cleaning robot fails
scenario in which the cleaning robot fails

to escape after repeated movements by
to escape after repeated movements by

adjusting angles
adjusting angles; and E. a scenario of

avoiding cross contamination

The blocking member
To adapt to a landform
To adapt to a landform

passively lifts (floats)

The roller brush
a. Scenario b in which the cleaning robot
a. Scenario in which the cleaning robot is

passively lifts (floats)
is assisted in ascending an obstacle, the
assisted in ascending an obstacle, the

obstacle is in contact with the roller brush
obstacle is in contact with the roller brush

assembly, a force is applied to the roller
assembly, a force is applied to the roller

brush assembly, and the roller brush
brush assembly, and the roller brush

assembly is lifted under the action of the
assembly is lifted under the action of the

obstacle, b. to adapt to a landform
obstacle, b. to adapt to a landform

A linkage mechanism between the roller brush assembly and the blocking member is briefly described below:

a. Linkage in Passive Lifting of the Roller Brush Assembly

In some examples, in a scenario of the passive lifting of the roller brush assembly, the blocking member (at least one of the first blocking member and the second blocking member) passively lifts along with the passive lifting of the roller brush assembly.

For example, in a scenario of passive floating of the roller brush assembly, to ensure a sealing effect during cleaning, in some examples, the blocking member is arranged to be floatable, to enable the blocking member to remain a relatively stable state with the roller brush corresponding to the roller brush assembly.

For example, the first blocking member is configured to be floatable in a vertical direction.

The first blocking member is also configured to float vertically relative to the horizontal plane or the body of the cleaning robot, to enable the first blocking member to remain a relatively stable state with the first roller brush, which is conducive to ensuring the sealing effect of the cavity.

In an example, the second blocking member is configured to be floatable in a vertical direction.

The second blocking member is also configured to float vertically relative to the horizontal plane or the body of the cleaning robot, to enable the second blocking member to remain a relatively stable state with the second roller brush, to ensure the sealing effect of the cavity.

The second blocking member is usually used as a part of the roller brush support, and the roller brush assembly is disposed on the roller brush support. Therefore, both the second blocking member and the second roller brush are disposed on the roller brush support, to enable the second blocking member and the second roller brush to float as the roller brush support floats, which is conducive to enabling the second blocking member and the second roller brush to remain a relatively stable state.

To implement synchronous floating of the first blocking member and the roller brush support and at the same time ensure simplicity, easy feasibility, and lowered costs, in some examples, the first blocking member is disposed on the roller brush support, to enable the first blocking member to float as the roller brush support floats like the roller brush assembly, thereby keeping a relatively stable state between the first blocking member and the first roller brush.

In other words, during the passive lifting of the roller brush assembly, the blocking member (especially the first blocking member) also passively lifts along with the passive lifting of the roller brush assembly.

b. Linkage in Active Lifting of the Roller Brush Assembly

In some examples, in a scenario of the active lifting of the roller brush assembly, the blocking member lifts along with the active lifting of the roller brush assembly.

In some examples, the dust suction assembly includes a housing, the housing includes a roller brush support configured to at least partially cover and support the roller brush assembly, and the roller brush support is configured to be vertically movable relative to a horizontal plane or the body of the cleaning robot.

The roller brush assembly is disposed on the roller brush support, and the roller brush assembly moves vertically as the roller brush support moves vertically.

The second blocking member is usually used as a part of the roller brush support, and the roller brush assembly is disposed on the roller brush support. Therefore, both the second blocking member and the second roller brush are disposed on the roller brush support, to enable the second blocking member and the second roller brush to lift as the roller brush support actively lifts, which is conducive to enabling the second blocking member and the second roller brush to remain a relatively stable state.

The first blocking member is usually disposed independently. Therefore, in some examples, the first blocking member is configured to synchronously lift with the roller brush support, to keep a relatively stable state of the first blocking member and the first roller brush.

To implement synchronous lifting of the first blocking member and the roller brush support and at the same time ensure simplicity, easy feasibility, and lowered costs, in some examples, the first blocking member is disposed on the roller brush support, to enable the first blocking member to lift as the roller brush support actively lifts like the roller brush assembly, thereby keeping a relatively stable state between the first blocking member and the first roller brush.

In other words, during the active lifting of the roller brush assembly, the blocking member (especially the second blocking member) also lifts along with the active lifting of the roller brush assembly.

Further, in consideration of that various parts such as a part (for example, a motor) for driving and a part (for example, a transmission mechanism) for transmission are disposed on the dust suction assembly, in some examples, the dust suction assembly includes a blocking member drive assembly configured to drive the first blocking member and a roller brush drive assembly configured to drive the roller brush assembly to rotate, and the blocking member drive assembly and the roller brush drive assembly are both disposed on the roller brush support, to enable both the blocking member drive assembly and the roller brush drive assembly to float as the roller brush support floats.

The blocking member drive assembly includes a blocking member drive motor and a first transmission part connected to the drive motor.

The roller brush drive assembly includes a roller brush drive motor and a second transmission part connected to the roller brush drive motor.

It needs to be noted that, the in-position detection apparatus is alternatively disposed on the roller brush support in some embodiments, to enable the in-position detection apparatus to floats as the roller brush support floats.

For sealing and adaptation to various different scenarios, for example, obstacle surmounting, and cleaning on different environmental surfaces, in some examples, all parts of the dust suction assembly are configured to float together synchronously, and the structure is simple.

To facilitate detachable maintenance of a roller brush, in some examples, the housing includes a roller brush cover.

In consideration of how to arrange a blocking member, especially a movable first blocking member, in some examples, the roller brush cover has a connecting portion connected to the roller brush support (which is understood as an upper support in a narrow sense herein in some embodiments). Two connecting portions are provided. In a direction parallel to a rotating shaft, two connecting portions are arranged respectively disposed on two sides of the first blocking member.

It needs to be noted that the movement is active, and is, for example, implemented through active control by a controller or through a manual operation on the traction unit, and it may be understood that; the movement has a movement stroke; and the floating is passive, and only requires a space for floating.

In an embodiment, the movement stroke of the blocking member is greater than or equal to 3 mm; and further, the movement stroke of the blocking member is greater than or equal to 5 mm.

It may be understood that the movement stroke of the blocking member is applicable to any example in which it is mentioned that the blocking member is movable in the present disclosure.

An application scenario in which the roller brush assembly actively lifts and the blocking member is opened, an application scenario in which the roller brush assembly actively lifts and the blocking member is closed, an application scenario in which the roller brush assembly actively lowers and the blocking member is opened, and an application scenario in which the roller brush assembly actively lowers and the blocking member is closed are respectively described below with reference to Table 2.

In some examples, the roller brush assembly is configured to be in a state of active lifting, and the blocking member is configured to be in an open state. To adapt to scenarios in which the roller brush assembly needs to actively lifts and the blocking member needs to actively lifts:

for example, when the cleaning robot cleans a rigid ground, the blocking member is opened, so that a cleaning requirement of large-size garbage on a floor can be met; and in a process of cleaning the rigid ground, the cleaning robot encounters scenarios in which the roller brush needs to actively lift, for example: A. a scenario in which a short obstacle that needs to be surmounted and has a height less than a preset height is recognized or recognized in advance before the short obstacle is ascended, for example, carpet surmounting/threshold surmounting/step surmounting; B. a scenario in which a pile or fiber length of a to-be-cleaned carpet is recognized or recognized in advance before a short obstacle is ascended and it is necessary to adjust a cleaning capability of the roller brush to adapt to the to-be-cleaned carpet; C. a scenario in which the cleaning robot is stuck, for example, stuck by carpet pile, a groove, or the like; D. a scenario in which the cleaning robot fails to escape after repeated movements by adjusting angles; and the like above.

In other words, in some examples, in a process of cleaning the rigid ground by the cleaning robot, when a carpet or another obstacle is recognized, the blocking member is in an open state, and the roller brush assembly actively lifts, to avoid a problem that the roller brush pushes the carpet or another obstacle to move.

In an example, when the movement of the cleaning robot on the carpet (especially a carpet with planted bristles greater than a particular threshold, referred to as a long bristle carpet) is obstructed, the blocking member is opened, so that the sealing level of the cavity can be reduced, to reduce a frictional force between the roller brush assembly and the carpet, thereby meeting a requirement of normal movement on the long bristle carpet. In a case that the movement on the long bristle carpet is obstructed and the blocking member is opened, the cleaning robot encounters a scenario in which the roller brush assembly requires active lifting of the roller brush, for example, a scenario in which the roller brush assembly is stuck or entangled by carpet pile and runs abnormally or even fails to run (which is determined through abnormality detection of a current or voltage of the roller brush in some embodiments). In this case, to escape, the roller brush assembly actively lifts.

In other words, when the movement of the cleaning robot on the long bristle carpet is obstructed and the roller brush assembly runs abnormally, the blocking member is in an open state, and the roller brush assembly actively lifts, to facilitate escape.

In an example, in a cleaning process of the cleaning robot on a carpet, a rigid ground, or another environmental surface, large-size garbage is recognized, and the blocking member is opened, to meet a cleaning requirement of large-size garbage. For garbage with a very large size, for example, large-size garbage (for example, hair clumps) with a size greater than a threshold (for example, 20 mm) or within a threshold range (for example, greater than 20 mm or less than or equal to 25 mm), the blocking member is opened, and it is not enough for the large-size garbage to enter the cavity. In this case, the roller brush assembly is actively lifted in some embodiments, to allow the large-size garbage to enter.

In other words, when the cleaning robot recognizes large-size garbage with a size greater than a set threshold, the blocking member is in an open state, and the roller brush assembly actively lifts, to clean the large-size garbage.

In some examples, the roller brush assembly is configured to be in a state of active lifting, and the blocking member is configured to be in a closed state. To adapt to scenarios in which the roller brush assembly needs to actively lifts and the blocking member needs to be closed:

for example, when the cleaning robot cleans a carpet, the blocking member is closed, to meet a requirement of high efficiency cleaning of the carpet; and in a process of cleaning the carpet, the cleaning robot encounters a scenario in which the roller brush assembly requires active lifting of the roller brush, for example, a scenario in which the roller brush assembly is stuck or entangled by carpet pile and fails to move or even fails to run (which is determined through abnormality detection of a current or voltage of the roller brush in some embodiments), and/or a scenario of the movement being obstructed (which is determined by detecting an electrical parameter of a drive motor of a drive wheel), in this case, the roller brush assembly actively lifts by a height to escape.

In consideration of making an escape and at the same time ensuring the cleaning efficiency of the carpet by the cleaning robot, in an embodiment, a height of the lifting is less than a maximum lifting height of the roller brush assembly.

In some examples, a manner of gradually lifting the roller brush assembly according to a lifting spacing (a set minimum distance of each time of lifting) is used in some embodiments, so that while an escape is made or the roller brush is capable of running, it is ensured that the carpet is cleaned with maximum cleaning efficiency, thereby ensuring the cleaning effect of the carpet.

In other words, when the roller brush assembly of the cleaning robot runs abnormally on the carpet, the blocking member is in a closed state, and the roller brush assembly actively lifts, so that the roller brush assembly can run.

In some examples, the roller brush assembly is configured to be in a state of active lowering, and the blocking member is configured to be in an open state, to adapt to a scenario in which the roller brush assembly needs to actively lower and the blocking member is opened.

For example, when the cleaning robot cleans the rigid ground, the roller brush assembly is in a cleaning state of active lowering, to meet a cleaning requirement on a floor or another rigid ground. In a cleaning process on the floor, the cleaning robot encounters a scenario in which the blocking member needs to be opened, for example, a scenario of cleaning large-size garbage (large particles, dog hair or other clumps of hair), in this case, the blocking member is in an open state, to enable large-size garbage to be sucked into a dust box and keep large-size garbage from being pushed by the blocking member to move.

In other words, when the cleaning robot cleans the rigid ground, the blocking member is in an open state, and the roller brush assembly is in a cleaning state of active lowering, to enable the cleaning robot to clean large-size garbage.

In an example, when the cleaning robot cleans a carpet, the roller brush assembly is in a cleaning state of active lowering, and the blocking member is in a closed state, to meet a requirement of cleaning of the carpet. In a cleaning process on the carpet, the cleaning robot encounters a scenario in which the blocking member needs to be opened, for example, a scenario of cleaning large-size garbage (large particles, dog hair or other clumps of hair), in this case, the blocking member is in an open state, to enable large-size garbage to be cleaned and keep large-size garbage from being pushed by the blocking member to move.

In other words, when the cleaning robot cleans a carpet, in a case that large particles are recognized, the blocking member is in an open state, and the roller brush assembly is in a cleaning state of active lowering, to enable the cleaning robot to clean large-size garbage.

In some examples, the roller brush assembly is configured to be in a cleaning state of active lowering, and the blocking member is configured to be in a closed state, to adapt to a scenario in which the roller brush assembly needs to actively lower and the blocking member is closed.

For example, when the cleaning robot cleans a carpet, the roller brush assembly is in a cleaning state of active lowering, and the blocking member is in a closed state, to improve the sealing level of the cavity, and improve the cleaning capability, thereby meeting a requirement of cleaning of the carpet.

In other words, when the cleaning robot cleans a carpet, the blocking member is in a closed state, and the roller brush assembly is in a cleaning state of active lowering, to enable the cleaning robot to better clean the carpet.

TABLE 2

Scenario in which the

Scenario in which the roller
Scenario in which the
roller brush assembly
Scenario in which the

brush assembly actively lifts
roller brush assembly
actively lowers and the
roller brush assembly

and the blocking member is
actively lifts and the
blocking member is
actively lowers and the

opened
blocking member is closed
opened
blocking member is closed

1. When the cleaning robot
The roller brush runs
1. To make it easier to
The blocking member

recognizes a carpet, the
abnormally on the carpet,
clean large-size garbage
actively lowers, and the

roller brush assembly
and the roller brush
(large particles, dog hair
sealing level of the cavity

actively lifts, to keep the
assembly lifts
or other clumps of hair)
is enhanced, to improve

roller brush from pushing the
appropriately, so that
instead of pushing the
the cleaning capability,

carpet to move.
while cleaning can be run,
large-size garbage to
and especially this

2. The roller brush assembly
a cleaning requirement is
move, this manner is used
manner is used by default

cannot run on a thick long
met to the greatest extent,
by default for cleaning on
for cleaning on the carpet.

bristle carpet, the roller
that is, the height is
a floor or another rigid

brush assembly actively lifts
adjusted to implement
ground.

to escape.
running and at the same
2. During cleaning on a

3. For garbage with a very
time meet a cleaning
carpet, when large-size

large size, the blocking
requirement of the carpet.
garbage is actively

member is opened, but it is

recognized, the blocking

not enough for the garbage

member is opened

to enter, so that based on

(actively lifts) to clean

that the blocking member is

large garbage.

opened, the roller brush

assembly actively lifts to

implement entry of large

garbage.

An application scenario in which the blocking member is opened and the roller brush assembly passively lifts and an application scenario in which the blocking member is closed and the roller brush assembly passively lifts are described below with reference to Table 3.

In some examples, the blocking member is configured to be in an open state, and the roller brush assembly is configured to passively lift, to adapt to a scenario in which the blocking member needs to be opened and the roller brush assembly needs to passively lift.

For example, when the cleaning robot cleans a rigid ground, the blocking member is opened, so that a cleaning requirement of large-size garbage on a floor can be met; and in a process of cleaning the rigid ground, the cleaning robot encounters scenarios in which the roller brush needs to passively lift, for example: a scenario in which the cleaning robot is assisted in ascending a carpet, a threshold, a cable, a step, or another short obstacle (or a scenario of adapting to an uneven hard ground landform). In this case, the roller brush assembly passively lifts under the action of a carpet, a threshold, a cable, or another obstacle (or landform), for example, retracts into a chassis of the body, thereby assisting the cleaning robot in ascending the obstacle (or adapt to a landform change).

In other words, in a process of cleaning a rigid ground, when the cleaning robot encounters a cable, a step, a carpet, or another obstacle (for example, the cleaning robot encounters a cable, a step, a carpet, or another obstacle in a case that the cleaning robot cannot recognize, does not recognize, or fails to recognize in advance the obstacle), the blocking member is in an open state, and the roller brush assembly passively lifts.

It may be understood that after the scenario of the passive lifting of the roller brush assembly is cleared (for example, after a carpet, a threshold, a step, a cable, or another obstacle is surmounted in a cleaning process on a rigid ground), the roller brush assembly drops (passively lowers under the action of gravity).

In an example, when the cleaning robot cleans a carpet and encounters large-size garbage, the blocking member actively lifts, so that a cleaning requirement of large-size garbage can be met. In addition, in a cleaning process of large-size garbage, a scenario in which the roller brush needs to passively lift, for example, a scenario in which the cleaning robot is assisted in ascending a cable, a toy (for example, a building block), or another short obstacle (to adapt to a landform change on a carpet), is also encountered. In this case, the roller brush assembly passively lifts under the action of the toy, the cable, or another obstacle (or a convex portion on a carpet), for example, retracts into a chassis of the body, thereby assisting the cleaning robot in ascending the toy, the cable, or another obstacle (or ascending a convex portion on a carpet).

In other words, in a process of cleaning large-size garbage on a carpet, when the cleaning robot encounters a cable, a toy (for example, a building block), or another obstacle (for example, the cleaning robot encounters a cable, a step, a carpet, or another obstacle in a case that the cleaning robot cannot recognize, does not recognize, or fails to recognize in advance the obstacle), the blocking member is in a state of active lifting, and the roller brush assembly is in a state of passive lifting.

It may be understood that after the scenario of the passive lifting of the roller brush assembly is cleared (for example, after a cable, a toy, or another obstacle is surmounted in a cleaning process of large-size garbage), the roller brush assembly drops (passively lowers under the action of gravity).

In some examples, the blocking member is configured to be in a closed state, and the roller brush assembly is configured to passively lift, to adapt to a scenario in which the blocking member needs to be closed and the roller brush assembly needs to passively lift.

For example, when the cleaning robot cleans a carpet, the blocking member is closed, to adapt to a requirement of high efficiency cleaning of the carpet. In a process of cleaning a carpet by the cleaning robot, a scenario in which the roller brush needs to passively lift, for example, a scenario in which the cleaning robot is assisted in ascending a cable, a toy (for example, a building block), or another short obstacle (to adapt to a landform change on a carpet), is also encountered. In this case, the roller brush assembly passively lifts under the action of the toy, the cable, or another obstacle (or a convex portion on a carpet), for example, retracts into a chassis of the body, thereby assisting the cleaning robot in ascending the toy, the cable, or another obstacle (or ascending a convex portion on a carpet).

In other words, in a cleaning process on a carpet, when the cleaning robot encounters a cable, a toy (for example, a building block), or another obstacle (for example, the cleaning robot encounters a cable, a step, a carpet, or another obstacle in a case that the cleaning robot cannot recognize, does not recognize, or fails to recognize in advance the obstacle), the blocking member is in a closed state, and the roller brush assembly is in a state of passive lifting.

TABLE 3

Scenario in which the
Scenario in which

blocking member is
the blocking member

opened and the roller
is closed and the

brush assembly
roller brush assembly

passively lifts
passively lifts/lowers

1. In a process of cleaning a
In a cleaning process

rigid ground, when the
on a carpet, when the cleaning

cleaning robot encounters
robot encounters a cable, a

a cable, a step, a carpet,
toy (for example, a

or another obstacle, the
building block), or another

blocking member is in an open
obstacle, the blocking member is

state, and the roller brush
in a closed state, and the

assembly passively lifts.
roller brush assembly is in

2. In a process of cleaning
a state of passive lifting.

large-size garbage on a carpet,

when the cleaning robot encounters

a toy, a cable, or another

obstacle, the blocking member is

in a state of active lifting, and

the roller brush assembly is in

a state of passive lifting

In some examples, the dust suction assembly includes a housing, and the housing includes a first roller brush support portion at least partially covering the first roller brush.

In some examples, the housing further includes a second roller brush support portion at least partially covering the second roller brush.

It needs to be noted that, the dust suction assembly has the housing, and the first blocking member and the second blocking member are parts of the housing in some embodiments, or are parts that are independent of the housing and are additionally disposed in some embodiments.

In some examples, the dust inlet 14 is opened in an upper portion of the housing.

For example, referring to FIG. 100 and FIG. 101, the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The first blocking member 110 is disposed independently of the housing, for example, is disposed on the first roller brush support portion 230A in some embodiments, or is disposed on the body of the cleaning robot in some embodiments. The second blocking member 112 is a part (for example, a part that is located at a lower end of the second roller brush support portion and produces a sealing action) of the second roller brush support portion 230B. In this case, the first blocking member, the first roller brush support portion, and the second roller brush support portion surround to form the cavity.

In an example, referring to FIG. 102, the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The second blocking member 112 is disposed independently of the housing, for example, is disposed on the second roller brush support portion 230B in some embodiments, or is disposed on the body of the cleaning robot in some embodiments. The first blocking member 110 is a part (for example, a part that is located at a lower end of the first roller brush support portion and produces a sealing action) of the first roller brush support portion 230A. In this case, the first blocking member, the first roller brush support portion, and the second roller brush support portion surround to form the cavity.

In an example, referring to FIG. 103, the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The first blocking member 110 is a part (for example, a part that is located at a lower end of the first roller brush support portion and produces a sealing action) of the first roller brush support portion 230A. The second blocking member 112 is a part (for example, a part that is located at a lower end of the second roller brush support portion and produces a sealing action) of the second roller brush support portion 230B. In this case, the first roller brush support portion and the second roller brush support portion surround to form the cavity.

In some examples, the housing further includes a roller brush cover in some embodiments. As shown in FIG. 66, the roller brush support and the roller brush cover is detachably connected in some embodiments, to facilitate maintenance of the roller brush assembly.

In some examples, the housing includes an upper housing (also referred to as an upper support) and a lower housing (also referred to as a roller brush cover or a lower support). The upper housing and the lower housing jointly form the roller brush support, that is, the roller brush support includes a roller brush cover configured to cover the roller brush assembly in some embodiments. Further, the roller brush support includes a first roller brush support portion configured to at least partially cover the first roller brush and a second roller brush support portion configured to at least partially the second roller brush. The first roller brush support portion includes front half parts of the upper housing and the lower housing, and the second roller brush support portion includes rear half parts of the upper housing and the lower housing.

In some examples, the dust inlet 14 in communication with the dust suction fan is formed in the upper housing in some embodiments.

In some examples, the first blocking member is movably disposed on the first roller brush support portion, to block the first roller brush.

It needs to be noted that, the first blocking member is disposed on an outer side of the first roller brush support portion in some embodiments, or is disposed on an inner side of the first roller brush support portion (that is, the first blocking member is disposed between the first roller brush and the first roller brush support portion) in some embodiments.

To ensure sealing, prevent a mutual interference problem of parts, and fully use an internal space of a device, a gap between the first roller brush support portion and the outer contour of the first roller brush is usually very small. Therefore, in some examples, the first blocking member is disposed on the outer side of the first roller brush support portion in some embodiments.

The first blocking member is disposed on the outer side of the first roller brush support portion, so that it is convenient to arrange a traction mechanism for driving the first blocking member to move, no interference is generated with the first roller brush support portion and the first roller brush, and the extension of a lower portion of the first blocking member is facilitated, making it easier for the lower portion to approach the lowest position of the first roller brush, which helps to ensure the sealing effect.

In some examples, the second blocking member is a part of the second roller brush support portion, to block the second roller brush. The first roller brush support portion and the second roller brush support portion surround to form the cavity configured to accommodate the roller brush assembly.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; the dust suction assembly has a bottom surface, and the bottom surface is a surface of the dust suction assembly facing the environmental surface; each of the first blocking member and the second blocking member has a free end close to the bottom surface; and a minimum distance between the free end of the first blocking member and a reference plane is a first reference distance, and a minimum distance between the free end of the second blocking member and the reference plane is a second reference distance, where the reference plane is the bottom surface of the dust suction assembly, the first reference distance is greater than or equal to 0 and less than 5 mm, and the second reference distance is greater than or equal to 0 and less than 5 mm. In some examples, a height difference between the first reference distance and the second reference distance is within 3 mm.

In some examples, a first opening portion formed by the free end of the first blocking member and the bottom surface (a plane in which the bottom surface is located) of the dust suction assembly has the first reference area, and a second opening portion formed by the free end of the second blocking member and the bottom surface of the dust suction assembly has the second reference area, where a ratio of the first reference area to the second reference area ranges from 0.7 to 1.3. Alternatively, a sum of the first reference area and the second reference area is greater than or equal to 0 and less than 2200 mm².

In some examples, the ratio of the length of the free end of the first blocking member to the length of the first roller brush is greater than or equal to 70%, and the ratio of the length of the free end of the second blocking member to the length of the second roller brush is greater than or equal to 70%.

In some examples, the first blocking member is movable, and a movement stroke of the first blocking member is greater than or equal to 5 mm.

In some examples, the second blocking member is movable, and a movement stroke of the second blocking member is greater than or equal to 5 mm.

In some examples, the first roller brush has a first direction, the second roller brush has a second direction opposite to the first direction, and the first direction rotates counterclockwise and passes through a bottom of the first roller brush; and the second direction is in a clockwise direction and passes through a bottom of the second roller brush.

The present disclosure provides a cleaning robot, which can have equivalent cleaning efficiency of upright.

The cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly and a cavity configured to accommodate the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; the cavity has a dust inlet, and the dust inlet is in communication with the dust suction fan that generates a negative pressure; when the dust suction fan operates, a first air flow flows from an outside of the cavity, through a first beating region of the first roller brush, and toward the dust inlet, and a second air flow flows from the outside of the cavity, through a second beating region of the second roller brush, and toward the dust inlet; and a sum of a flow rate of an air flow that flows to a dust inlet through a first beating region of the first roller brush and a flow rate of an air flow that flows to the dust inlet through a second beating region of the second roller brush accounts for 70% or above of a flow rate of an air flow that flows into the dust inlet.

In other words, in the present disclosure, cleaning efficiency CE of the cleaning robot becomes equivalent to that of upright by making a ratio of a sum of an effective air flow in the first air flow and an effective air flow in the second air flow meet a particular condition, for example, reach 70% or above of a total air flow.

It needs to be pointed out that the ratio of the sum of the effective air flow in the first air flow and the effective air flow in the second air flow is a manner of representing the cleaning efficiency CE. In other examples, a ratio (for example, 70% or above of the first air flow) of the effective air flow in the first air flow and a ratio (for example, 70% or above of the second air flow) of the effective air flow in the second air flow and a ratio (for example, within 30% of the first air flow) of a loss air flow in the first air flow and a ratio (for example, within 30% of the second air flow) of a loss air flow in the second air flow are used to represent the cleaning efficiency Capture in some embodiments, and the foregoing representation manners are replaced or combined with each other in some embodiments. A flow rate of the air flow is used as a representation of a ratio of the air flow above. In other examples, another parameter (for example, energy) of the air flow is used as a representation of the ratio of the airflow in some embodiments. Parameters of the air flow are replaced or combined with each other in some embodiments.

In some examples, the sealing performance is improved in the foregoing manner of arranging the blocking member, and a sum of a flow rate of an air flow that flows to a dust inlet through a first beating region of the first roller brush and a flow rate of an air flow that flows to the dust inlet through a second beating region of the second roller brush accounts for 70% or above of a flow rate of an air flow that flows into the dust inlet.

In other examples, referring to FIG. 105 and FIG. 106, at least one of the first roller brush and the second roller brush is a pile roller brush. In this case, a sealing member is not required in some embodiments, and the pile roller brush is used to implement sealing directly. Certainly, in an example in which the at least one roller brush in the first roller brush and the second roller brush is a pile roller brush, the blocking member is disposed in some embodiments. This is not limited in the present disclosure.

The present disclosure provides a cleaning robot, which can have equivalent cleaning efficiency of upright.

The cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly and a cavity configured to accommodate the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; when a dust suction fan is turned on to make the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush; and a sum of a flow rate of an air flow that flows through a bottom of the first roller brush and toward a space between the first roller brush and the second roller brush and a flow rate of an air flow that flows through a bottom of the second roller brush and toward the space between the first roller brush and the second roller brush accounts for 70% or above of a flow rate of an air flow that flows into a dust box.

It needs to be pointed out that the ratio of the sum of the effective air flow in the first air flow and the effective air flow in the second air flow is a manner of representing the cleaning efficiency CE. In other examples, a ratio (for example, 70% or above of the first air flow) of the effective air flow in the first air flow and a ratio (for example, 70% or above of the second air flow) of the effective air flow in the second air flow and a ratio (for example, within 30% of the first air flow) of a loss air flow in the first air flow and a ratio (for example, 70% or above of the second air flow) of a loss air flow in the second air flow are used to represent the cleaning efficiency Capture in some embodiments, and the foregoing representation manners are replaced or combined with each other in some embodiments. A flow rate of the air flow is used as a representation of a ratio of the air flow above. In other examples, another parameter, for example, energy, of the air flow is used as a representation of the ratio of the air flow in some embodiments. Parameters of the air flow are replaced or combined with each other in some embodiments.

In some examples, the sealing performance is improved in the foregoing manner of arranging the blocking member, and a sum of a flow rate of an air flow that flows through a bottom of the first roller brush and toward a space between the first roller brush and the second roller brush and a flow rate of an air flow that flows through a bottom of the second roller brush and toward the space between the first roller brush and the second roller brush accounts for 70% or above of a flow rate of an air flow that flows into a dust box.

In other examples, at least one of the first roller brush and the second roller brush is a pile roller brush. In this case, a blocking member is not required in some embodiments, and the pile roller brush is used to implement blocking or sealing directly. Certainly, in an example in which the at least one roller brush in the first roller brush and the second roller brush is a pile roller brush, the blocking member is disposed in some embodiments. This is not limited in the present disclosure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and in a case that the cleaning robot is located on a carpet and the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, and a sum of flow rates of an air flow that flows through a bottom of the first roller brush and toward a space between the first roller brush and the second roller brush and an air flow that flows through a bottom of the second roller brush and toward the space between the first roller brush and the second roller brush accounts for 70% or above of a flow rate of an air flow that flows to a dust box.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and in a case that the cleaning robot is located on a rigid ground, a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, the second distance is less than 5 mm, and a height difference between the first distance and the second distance is within 3 mm, so that when the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, under the first blocking member, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, under the second blocking member, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and in a case that the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a ratio of the first area to the second area ranges from 0.7 to 1.3; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, the second distance is less than 5 mm, so that when the first roller brush and the second roller brush rotate toward each other in opposite directions, a first air flow flows from an outside of the cavity, under the first blocking member, through a bottom of the first roller brush, and toward a space between the first roller brush and the second roller brush, and a second air flow flows from the outside of the cavity, under the second blocking member, through a bottom of the second roller brush, and toward the space between the first roller brush and the second roller brush.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and in a case that the cleaning robot is located on a rigid ground, in the first blocking member, a sealing area accounts for 70% or above, and in the second blocking member, a sealing area accounts for 70% or above; a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, and the second distance is less than 5 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and in a case that the cleaning robot is located on a rigid ground, an area of an air leakage hole of at least one blocking member in the first blocking member and the second blocking member accounts for 30% or below of an area of the corresponding blocking member; a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a minimum distance between the free end of the second blocking member and the rigid ground is a second distance, where the first distance is less than 5 mm, and the second distance is less than 5 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and in a case that the cleaning robot is located on a rigid ground, a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a second distance exists between the free end of the second blocking member and the rigid ground, where the first distance is less than 5 mm, the second distance is less than 5 mm, and a difference value between the first distance and the second distance is within 3 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and in a case that the cleaning robot is located on a rigid ground, a first opening portion formed by the free end of the first blocking member and the rigid ground has a first area, and a second opening portion formed by the free end of the second blocking member and the rigid ground has a second area, where a ratio of the first area to the second area ranges from 0.7 to 1.3; and a minimum distance between the free end of the first blocking member and the rigid ground is a first distance, and a second distance exists between the free end of the second blocking member and the rigid ground, where the first distance is less than 5 mm, the second distance is less than 5 mm, so that when the first roller brush beats the environmental surface to form a first beating region and the second roller brush beats the environmental surface to form a second beating region, a first air flow flows from an outside of the cavity, through the first beating region, and toward a dust inlet of the cavity, and a second air flow flows from the outside of the cavity, through the second beating region, and toward the dust inlet; and the dust inlet is in communication with a dust suction fan that generates a negative pressure.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; each of the first blocking member and the second blocking member has a free end close to the environmental surface; and the cleaning robot is located on a carpet, and the free end of the first blocking member and the free end of the second blocking member are in contact with the carpet, to enable a first air flow to flow from an outside of the cavity to a dust inlet of the cavity through an inside of the carpet and a second air flow to flow from the outside of the cavity to the dust inlet through the inside of the carpet, where a range of a ratio of a flow rate of an air flow that flows through the inside of the carpet and toward the dust inlet of the cavity in the first air flow to a flow rate of an air flow that flows through the inside of the carpet and toward the dust inlet in the second air flow ranges from 0.7 to 1.3.

Alternatively, in the first air flow, a flow rate of an air flow that flows through the inside of the carpet and toward the dust inlet accounts for 70% or above; and in the second air flow, a flow rate of an air flow that flows through the inside of the carpet and toward the dust inlet accounts for 70% or above.

Alternatively, in the first air flow, a flow rate ratio of a loss air flow is within 30%; and in the second air flow, a flow rate ratio of a loss air flow is within 30%.

The present disclosure provides a cleaning robot, where the cleaning robot includes: a body having a front end; a movement assembly, disposed on the body, and supporting and driving the cleaning robot to move on an environmental surface of a to-be-cleaned region; a controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction assembly, disposed on the body, and performing cleaning work on the environmental surface, where the dust suction assembly includes a roller brush assembly, a cavity configured to accommodate the roller brush assembly, a first blocking member located on a front side of the roller brush assembly, and a second blocking member located on a rear side of the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are longitudinally arranged, and the first roller brush is close to the front end of the body; the dust suction assembly has a bottom surface, and the bottom surface is a surface of the dust suction assembly facing the environmental surface; each of the first blocking member and the second blocking member has a free end close to the bottom surface; and a minimum distance between the free end of the first blocking member and a reference plane is a first reference distance, and a minimum distance between the free end of the second blocking member and the reference plane is a second reference distance, where the reference plane is the bottom surface of the dust suction assembly, the first reference distance is greater than or equal to 0 and less than 5 mm, and the second reference distance is greater than or equal to 0 and less than or equal to 5 mm.

Further, a ratio of the length of the first blocking member to the length of the first roller brush is greater than or equal to 70%.

Further, at least one of the first blocking member and the second blocking member is movable, and the movement stroke of the movable blocking member is greater than or equal to 5 mm.

Further, the first blocking member is configured to be movable, and a movement stroke of the first blocking member is greater than or equal to 5 mm.

Technical features of the foregoing embodiments may be randomly combined. To make description concise, not all possible combinations of the technical features in the foregoing embodiments are described. However, the combinations of these technical features shall be considered as falling within the scope recorded by this specification provided that no conflict exists.

The foregoing embodiments only describe several examples of the present disclosure, which are described specifically and in detail, but cannot be construed as a limitation to the patent scope. It should be noted that for a person of ordinary skill in the art, several transformations and improvements can be made without departing from the idea of the present disclosure. These transformations and improvements belong to the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure shall be subject to the appended claims.

Number	Date	Country	Kind
CN202210948736.6	Aug 2022	CN	national
CN202211214628.2	Sep 2022	CN	national
CN202211539105.5	Dec 2022	CN	national
CN202310180026.8	Feb 2023	CN	national
CN202310409071.6	Apr 2023	CN	national
CN202310573562.4	May 2023	CN	national
CN202410263497.X	Mar 2024	CN	national

	Number	Date	Country
Parent	PCT/CN2023/112081	Aug 2023	WO
Child	19050017		US

CLEANING ROBOT AND CLEANING SYSTEM

Information

Publication Number

Date Filed

Date Published

Inventors

Original Assignees

CPC

International Classifications

Abstract

Description

Claims

Priority Claims (7)

CROSS-REFERENCE TO RELATED APPLICATIONS

Continuations (1)