Patent Application
20240298862
This disclosure relates to the field of robotics, particularly focusing on a self-moving cleaning robot. Additionally, it relates to a cleaning system comprising the aforementioned self-moving cleaning robot, along with control methods and cleaning methods.
The self-moving floor cleaning robot is an intelligent household appliance capable of autonomously performing cleaning tasks such as sweeping, vacuuming, and mopping within a room, relying on a certain level of artificial intelligence.
However, existing self-moving floor cleaning robots have a low water stain recovery rate when mopping. After cleaning, residual water stains may remain on the floor, which continue to attract dust, causing secondary pollution and reducing cleaning efficiency. Moreover, people may also slip due to the water stains on the floor.
The present disclosure provides a self-moving cleaning robot, a cleaning system, a control method, and a cleaning method.
According to a first aspect of the present disclosure, a self-moving cleaning robot is provided, comprising a body and a water tank mounted on the body. The water tank comprises:
According to a second aspect of the present disclosure, a water tank is provided, comprising:
According to a third aspect of the present disclosure, a self-moving cleaning robot is provided, comprising a body and a water tank assembly disposed in the body. The water tank assembly comprises:
a clean water tank; a sewage tank with an air inlet; a fan chamber, wherein the opening of the fan chamber faces the bottom of the water tank assembly, and the fan assembly is inserted into the fan chamber from the opening. The top of the fan chamber is provided with an air outlet communicating with the sewage tank.
A second channel is provided between the clean water tank and the fan chamber to allow the airflow entering the sewage tank from the air inlet to be discharged through the air outlet via the second channel.
One beneficial effect of the present disclosure is that, during the operation of the self-moving robot, negative pressure is generated in the air duct, which can suck the sewage generated during the cleaning work from the air inlet into the tank body. The first channel space of the tank body is relatively open, allowing sewage and airflow to be adequately separated in the first channel. The sewage remains in the inner cavity of the tank body, while the airflow uniformly flows towards the air outlet through the second channel inside the tank body and is discharged, preventing the situation where the sewage is carried away by excessively fast local airflow.
According to a fourth aspect of the present disclosure, a self-moving cleaning robot is provided, comprising a body and, mounted on the body:
According to a fifth aspect of the present disclosure, a cleaning system is provided, comprising a self-moving cleaning robot and a base station. The base station includes a base station body with a housing cavity, and a drying system is installed inside the base station body.
The housing cavity of the base station body is constructed to accommodate the self-moving cleaning robot. The inlet of the first air duct of the self-moving cleaning robot is configured to draw in the wind drying airflow emitted by the drying system, drying the cleaning device.
One beneficial effect of this disclosure is that the first air duct, located at the rear of the cleaning device, can suction away sewage from behind the cleaning device. The sewage suctioned by the air duct can be separated from gas in the second air duct of the sewage tank, avoiding entry into the third air duct and affecting the fan assembly. This ensures efficient utilization of energy by the fan assembly, thereby improving work efficiency.
According to a sixth aspect of the present disclosure, a self-moving cleaning robot is provided, comprising a body with a mounting cavity and a roller assembly mounted in the mounting cavity. The roller assembly comprises:
According to a seventh aspect of the present disclosure, a roller assembly is provided, comprising:
One beneficial effect of this disclosure is that, in the roller assembly of the self-moving cleaning robot, the pressure block at one end of the roller can be sealed against the end face of the roller bracket, and under the action of the elastic device, the pressure block can be moved axially along the side wall of the roller cavity of the roller bracket to ensure the sealing performance between them, facilitating the assembly and disassembly of the roller.
According to an eighth aspect of the present application, a self-moving floor scrubbing robot is provided, comprising:
According to a ninth aspect of the present application, a control method for the robot is also provided, wherein the robot employs the self-moving floor scrubbing robot; further comprising an identification device and a control unit, comprising the following steps:
An advantageous effect of the this disclosure is that the squeegee scrapes away sewage from the roller while the roller cleans the working surface, thus enhancing the cleaning ability of the roller. When encountering obstacles, the roller and the squeegee undergo relative movement, causing the squeegee to stop scraping water to prevent sewage from remaining on the floor.
According to a tenth aspect of the present disclosure, a cleaning system is provided, comprising:
According to an eleventh aspect of the present disclosure, a cleaning method is provided, implemented by a cleaning system, comprising:
According to a twelfth aspect of the present disclosure, a base station is provided, comprising:
An advantageous effect of the present disclosure is that after the cleaning device enters the housing cavity of the base station, the air duct system can extract dry airflow sent out by the base station's drying system, drying the cleaning unit and the residual water stains inside the cleaning device, preventing bacteria growth and odor.
According to a thirteenth aspect of the present disclosure, a water tank is provided, comprising a body and a water tank mounted on the body, wherein the water tank comprises: a body having an cavity;
According to a fourteenth aspect of the present disclosure, a water tank is provided, comprising a body and a water tank mounted on the body, wherein the water tank comprises:
An advantageous effect of the present disclosure is that the airflow in the air duct affects the liquid water level in the cavity of the water tank, causing the liquid to be pushed towards the air outlet. The water baffle inside the water tank, located adjacent to the air outlet on the inner wall of the body, can block the raised water level, preventing liquid from being drawn out of the water tank from the air outlet. Additionally, the water baffle has through-holes, allowing airflow in the air duct to flow towards the air outlet.
The appended figures, incorporated within the manual and forming a part thereof, illustrate embodiments disclosed herein and are used in conjunction with their descriptions to elucidate the principles disclosed herein.
Below is the translation of the component names and FIG. references from
Now the various exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. It should be noted that unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps described in these embodiments do not limit the scope of the present disclosure.
The description of at least one exemplary embodiment below is merely illustrative and does not serve as a limitation on the present disclosure and its applications or uses.
Techniques, methods, and devices known to those skilled in the art in related fields may not be discussed in detail, but in appropriate cases, such techniques, methods, and devices should be considered as part of the specification.
In all examples shown and discussed here, any specific values should be interpreted as merely exemplary and not as limiting. Therefore, other examples of exemplary embodiments may have different values.
It should be noted that similar numerals and letters in the drawings below represent similar items, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.
Cleaning equipment includes floor cleaning machine, vacuum cleaners, and floor-sweeping robots, which play an efficient cleaning role in various places such as municipal sanitation, manufacturing workshops, and indoor environments, reducing the labor cost of cleaning, improving work efficiency, and are indispensable equipment in modern society.
Currently, some cleaning equipment is equipped with water tanks, air ducts, and fans. During the cleaning process, the fan provides negative pressure to suction sewage in a cleaning area into a water tank. Cleaning equipment has a large variation in speed during startup, collision, and obstacle avoidance, causing fluctuations in the sewage in the water tank. The water level near the fan may be raised due to changes in speed, causing sewage to be sucked into the fan through the air duct and discharged by the fan into the cleaning area, resulting in ineffective cleaning.
Self-moving floor cleaning robots are a type of cleaning equipment that can automatically complete cleaning, vacuuming, mopping, and other cleaning tasks in a room with certain artificial intelligence. Existing self-moving floor cleaning robots clean the floor using a roller, with an air inlet at the rear of the roller to suction away water stains. After using for a period of time, the roller needs to be removed for cleaning. However, the existing self-moving cleaning robot's roller is inconvenient to disassemble and install with the body, and there is a problem of poor sealing, resulting in significant loss of suction power at the rear air inlet, making it easy for water stains to remain on the floor. The water stains will continue to adhere to dust, causing secondary pollution, reducing cleaning efficiency, and causing people to slip on the floor due to water stains when walking.
The present disclosure provides a self-moving cleaning robot, comprising a body capable of walking on a working surface with the assistance of a control unit. A cleaning device is arranged on the body, and the cleaning device is configured to clean the working surface. The self-moving cleaning robot can be a floor-sweeping robot, and the working surface to be cleaned can be the floor.
The body also includes an air duct, a sewage tank, and a fan assembly. Among them, the air duct includes a first air duct, the entrance of which is adjacent to the cleaning device and is configured to extract sewage from the working surface after cleaning by the cleaning device. The sewage tank is configured to contain the sewage from the working surface after cleaning. The sewage tank is provided with a second air duct, and the fan assembly has a third air duct. The first air duct and the third air duct are respectively connected to the second air duct; the fan assembly is able to provide negative pressure to the three air ducts, and the water vapor extracted by the first air duct enters the second air duct of the sewage tank, where the liquid drops into the sewage tank, and the gas is discharged through the suction passage of the fan assembly.
The first air duct is relatively narrow, so the airflow speed in the first air duct is higher, which can suction away the sewage after cleaning the working surface. The second air duct in the sewage tank is relatively wide. After the water vapor in the first air duct enters the second air duct, the flow rate decreases, the air pressure decreases, and the heavier sewage is separated from the gas and remains in the sewage tank, while the separated gas is sucked into the third air duct.
For ease of subsequent description, the exemplary embodiment of the present disclosure takes the direction of movement of the body as the forward direction. The cleaning device is arranged near the front of the body, and the fan assembly is arranged near the rear of the body. The first air duct is set behind the cleaning device, and the sewage tank is set between the first air duct and the fan assembly, so that the first air duct, the second air duct, and the third air duct have a longer path, which is conducive to the sufficient separation of water vapor in the second air duct of the sewage tank.
The air outlet of the fan assembly faces the working surface, blowing the working surface cleaned by the cleaning device to accelerate the evaporation of residual water stains. The heat generated by the fan assembly itself can heat the airflow, accelerating the evaporation of water stains on the working surface, fully utilizing the energy of the fan assembly.
The body also includes a clean water tank for storing clean water, cleaning agents, and other cleaning liquids. The clean water tank is configured to supply the cleaning liquid to the cleaning device to enhance the decontamination ability of the cleaning device and improve the efficiency of the self-moving cleaning robot.
As shown in
The bottom of the body 1 is also provided with driving wheels 8 for walking, and the driving wheels 8 are set behind the cleaning device. The cleaning device can clean dirt, water stains, etc., on the working surface in front of the driving wheels 8 during walking to prevent dust and water stains from affecting the friction between the driving wheels 8 and the working surface, thereby protecting the driving wheels 8 and improving the mobility of the body 1.
The cleaning device may include a mop, brush, roller brush, roller, etc., capable of wiping or sweeping the working surface while the body 1 is walking. In one embodiment of the present disclosure, the cleaning device includes a roller 20, and a mounting cavity is provided on the body 1. The roller 20 is rotatably connected in the mounting cavity of the body 1 and can roll against the working surface. The surface of the roller 20 can be provided with a cleaning layer, which can be a sponge, cotton cloth, velvet, etc. During rolling, the cleaning layer can wipe the working surface and adhere to dust and other stains on the working surface. The roller 20 can be designed as a hollow structure to reduce weight.
The roller 20 can achieve rolling in different ways. In some embodiments, the roller 20 can rotate by relying on the friction between the body 1 and the working surface during walking; in other embodiments, the roller 20 can rotate by the driving action of a driving mechanism.
In a specific embodiment of the present disclosure, as shown in
For the convenience of cleaning and replacement of the roller 20, one end of the roller 20 can be set to detachably connect with the drive assembly 21, and the other end can be set to detachably rotate with the body 1. Furthermore, in order to reduce the wind loss at the entrance of the first air duct 31, the two end portions of the roller 20 and the corresponding positions of the body 1 are sealed.
In one embodiment of the present disclosure, the roller 20 is installed on the body 1 in the form of a roller assembly 2. Referring to
Referring to
Still referring to
The other end of the roller 20 can be sealed connected to the end face of the roller bracket 28 by means of pressure blocks 22. Specifically, one end of the roller 20 is provided with pressure blocks 22, which are preloaded at one end of the roller 20 through elastic devices 23. The outer end face of the pressure block 22 abuts against the corresponding end face of the roller cavity on the roller bracket 28, and under the action of the elastic device 23, the outer end face of the pressure block 22 forms a contact seal with the end face of the roller cavity.
The roller 20 is also rotatably connected to the roller bracket 28 through the pressure block 22. The pressure block 22 can be rotatably connected to the roller bracket 28 or the roller 20.
Referring to
The base component 24 includes roller end covers 243 for supporting inside the roller 20 and fixed seats 242 fixed on the roller end covers 243. The rotating shaft 25 passes through the fixed seat 242 and is configured to move along the axial direction of the roller 20.
Specifically, the fixed seat 242 extends axially relative to the roller 20, and a guiding channel is provided inside the fixed seat 242. The rotating shaft 25 is arranged in the guiding channel of the fixed seat 242. When the rotating shaft 25 is subjected to external force, it can move along the extension direction of the fixed seat 242, thereby improving the stability of the rotating shaft 25.
The base component 24 also includes roller shaft end covers 241 connected to the fixed seat 242 or the roller end covers 243, and the elastic device 23 is arranged between the rotating shaft 25 and the roller shaft end covers 241. When the roller 20 is installed in the mounting cavity of the body 1, the elastic device 23 preloads the pressure block 22 against the end face of the mounting cavity through the rotating shaft 25. The roller shaft end covers 241 can be designed in a “concave” structure, and the elastic device 23 is arranged inside the roller shaft end covers 241.
The roller shaft end covers 241, fixed seats 242, and roller end covers 243 of the base component 24 can be connected from the inside to the outside of the roller 20. These components can be integrally processed or set as separate connection structures. The connection methods of the separate connection structure include but are not limited to threaded connection, screw connection, adhesive bonding, and insertion connection.
In the disclosed embodiment, the roller shaft end covers 241, fixed seats 242, and roller end covers 243 of the base component 24 adopt a modular connection structure to facilitate the installation of the elastic device 23 and the rotating shaft 25. Positioning structures 27 are provided between the roller shaft end covers 241 and the fixed seats 242, and between the fixed seats 242 and the roller end covers 243, allowing for convenient positioning during installation. Additionally, the roller shaft end covers 241, fixed seats 242, and roller end covers 243 can be further secured by screws to enhance connection stability. Screw holes or screw sockets can be provided on the roller shaft end covers 241, fixed seats 242, and roller end covers 243 for screw insertion.
In a specific embodiment, as shown in
The fixed seats 242 can be manufactured separately using self-lubricating materials, while the roller shaft end covers 241 and roller end covers 243 can be made from other common materials to save costs.
The elastic device 23 can be selected from compression springs, elastic plates, elastic blocks, etc. In the disclosed embodiment, a compression spring is used for the elastic device 23. The compression spring can be connected to the roller shaft end covers 241 and the rotating shaft 25 using a plug-in mating connection method.
Guide structures compatible with the compression spring can be provided on the roller shaft end covers 241 and/or the rotating shaft 25, such as guide rods, guide sleeves, etc., to guide the compression spring and improve its installation stability.
In one embodiment, guide rods 2411 are set on the roller shaft end covers 241, and the guide rods 2411 are inserted into the compression springs to fix and guide the compression springs; slots are opened on the rotating shaft 25, and one end of the compression spring is inserted into the slot.
One end of the rotating shaft 25 connected to the elastic device 23 can extend into the roller shaft end cover 241 and be set as a limiting end, which can abut against the end face of the fixed seat 242 to restrict the position of the rotating shaft 25 and prevent it from detaching from the fixed seat 242. The radial size of the roller shaft end cover 241 is sufficient to accommodate the limiting end of the rotating shaft 25. Under external force, the rotating shaft 25 can move axially into the roller shaft end cover 241.
The roller end cover 243 can be close to the end face of the roller 20 and be shaped to match the “concave” structure of the pressure block 22. The roller end cover 243 is provided with a cavity to accommodate the pressure block 22, and a limiting structure is formed between the outer circumference of the pressure block 22 and the inner wall of the cavity of the roller end cover 243 to prevent the pressure block 22 from escaping from the cavity of the roller end cover 243. The pressure block 22 can move axially along the axis of the roller, and one end of the rotating shaft 25 passes through the roller end cover 243 to rotatably connect with the pressure block 22. Under the driving force of the elastic device 23, the pressure block 22 partially extends from the roller end cover 243 and mates with the corresponding position of the roller bracket 28.
The edge of the roller end cover 243 is provided with a flange 2431 that engages with the edge of the roller 20 to limit the position of the roller end cover 243. The anti-rotation structures 2432 can be set between the outer side of the roller end cover 243 and the inner side of the roller 20 to prevent relative rotation. The anti-rotation structures 2432 include complementary grooves and protrusions, with one of the grooves or protrusions set on the outer side of the roller end cover 243 and the other set on the inner side of the roller 20, preventing the roller end cover 243 from rotating relative to the roller 20.
To ensure smooth rotation of the rotating shaft 25 relative to the pressure block 22, a bearing 26 can be set between the rotating shaft 25 and the pressure block 22. Specifically, an installation groove is set on the side of the pressure block 22 facing the rotating shaft 25, and one end of the rotating shaft 25 is inserted into the installation groove. The bearing 26 is set in the installation groove, with its outer ring fixedly connected to the pressure block 22 and its inner ring fixedly connected to the rotating shaft 25. One end of the rotating shaft 25 connected to the pressure block 22 can be machined with a shoulder, and the bearing 26 fits onto the shoulder.
The outer end face of the pressure block 22 can be provided with grooves and/or protrusions for external connection, which mate with corresponding grooves or protrusions set on the end face of the roller bracket. The grooves and/or protrusions should be offset from the center position of the pressure block 22 or set to a non-circular shape.
In a specific embodiment disclosed herein, as shown in
In a specific embodiment disclosed herein, the anti-rotation portion 221 and the anti-rotation groove 280 can have shapes known to those skilled in the art, such as trapezoidal, rectangular, triangular, polygonal, etc. By mating the anti-rotation portion 221 with the anti-rotation groove 280, not only can the roller 20 be supported on the roller bracket 28, but also the rotation of the anti-rotation portion 221 relative to the roller bracket 28 can be prevented.
To facilitate the installation and removal of the roller 20, the anti-rotation groove 280 extends to the end face of the roller bracket 28. During assembly, one end of the roller 20 can be first inserted into the rotating part at the corresponding end of the roller bracket 28, and the anti-rotation portion 221 on the pressure block 22 can be directly inserted into the anti-rotation groove 280 on the other end. Of course, to ensure the seal between the end face of the roller 20 and the end face of the roller bracket 28, when inserting the anti-rotation portion 221, it is necessary to move it a predetermined distance towards the roller 20 direction, so that the elastic device 23 is preloaded. After inserting it into the anti-rotation groove 280, under the action of the elastic device 23, the anti-rotation portion 221 is pressed against the side wall of the anti-rotation groove 280. Finally, the anti-rotation portion 221 is constrained in the anti-rotation groove 280 by the roller cover plate 29 to prevent it from coming out of the anti-rotation groove 280.
The anti-rotation groove 280 can be set on the roller bracket 28 and correspond to the anti-rotation portion 221 of the pressure block 22, extending radially from the end of the roller bracket 28. The roller cover plate 29 can seal the anti-rotation groove 280 and constrain the anti-rotation portion 221 within it. The roller cover plate 29 can be configured as a frame structure. The roller 20 can partially extend from the center of the roller cover plate 29 to fit the ground for cleaning work.
In one embodiment disclosed herein, as shown in
The upper end of the side wall 284 (the opening end of the roller cavity) is provided with an avoidance groove, through which the anti-rotation portion 221 on the pressure block 22 can pass to match with the anti-rotation groove 280 at the end position of the roller bracket 28. The anti-rotation groove 280 can be set, for example, at the avoidance groove position of the side wall 284, which is not further elaborated here.
The roller cover plate 29 can be connected to the body 1 or the roller bracket 28. The roller cover plate 29 is detachably connected, with specific connection methods including but not limited to screw fixation, insertion, and snap connection.
In a specific embodiment, the roller cover plate 29 can be detachably connected to the roller bracket 28. As shown in
In a specific embodiment disclosed herein, the slider 291 can be guided to fit into the corresponding guide groove set on the roller cover plate 29, and is preloaded to the first position by the elastic device. When the slider 291 is moved to the second position, it needs to overcome the elastic force of the elastic device; upon release, the slider 291 moves from the second position to the first position under the restoring force of the elastic device. The locking member 292 can cooperate with the slider 291 through a groove or other known means in the art, enabling the locking member 292 to move synchronously with the slider 291. A coupling portion 2920 can be provided on the locking member 292, for example, at the end position of the locking member 292 or at any other suitable position.
After the roller cover plate 29 is assembled on the roller bracket 28, the locking member 292 is located in the avoidance space 281 of the roller bracket 28, allowing users to move the locking member 292 within the avoidance space 281 of the roller bracket 28 by manipulating the slider 291. Corresponding positions on the roller bracket 28 are provided with locking slot 282 for cooperating with the coupling portions 2920 of the locking member 292, such that when the slider 291 moves from the second position to the first position, the coupling portions 2920 of the locking member 292 can move into alignment with the locking slot 282 of the roller bracket 28 to securely engage the roller cover plate 29 with the roller bracket 28. Furthermore, under the action of the elastic device, the coupling portions 2920 can be maintained in engagement with the locking slot 282.
When it is necessary to remove the roller cover plate 29, the slider 291 is driven to move from the second position to the first position, causing the coupling portions 2920 of the locking member 292 to disengage from the locking slot 282 of the roller bracket 28. Then, the roller cover plate 29 can be removed from the roller bracket 28, allowing access to the corresponding components for replacement or maintenance, such as replacing or maintaining the roller 20. Multiple coupling portions 2920 can be provided on the locking member 292, spaced apart along the extension direction of the roller cover plate 29; correspondingly, multiple locking slot 282 can be provided on the roller bracket 28, thus ensuring multiple locking structures along the extension direction of the roller bracket 28 and the roller cover plate 29, ensuring the stability of the connection between the two.
When installing the roller 20, the pressure block 22 is moved a certain distance towards the inside of the roller 20, so that the clastic device 23 generates a preloading force on the pressure block 22. Then, the roller 20 is inserted into the roller bracket 28, and the pressure block 22 of the roller is pressed against the corresponding end face of the roller bracket 28 under the action of the elastic device 23, thus achieving sealing. After the roller 20 is installed, the roller cover plate 29 is mounted on the roller bracket 28, and the slider 291 of the roller cover plate 29 is engaged with the corresponding guide groove of the roller bracket 28. Then, the slider 291 is pushed from the first position to the second position, causing the locking member 292 on the roller cover plate 29 to move, and the coupling portion 2920 of the locking member 292 is brought into alignment with the locking slot 282 on the roller bracket 28, thereby securely engaging the roller cover plate 29 with the roller bracket 28, and the roller 20 is confined between the roller bracket 28 and the roller cover plate 29.
When disassembling the roller 20, the slider 291 is driven to move from the second position to the first position, causing the coupling portion 2920 of the locking member 292 to disengage from the locking slot 282 of the roller bracket 28. Then, the roller cover plate 29 is removed, followed by the removal of the roller 20 from the roller bracket 28.
An auxiliary cleaning component 9 is also provided on the body 1, as shown in
The auxiliary cleaning component 9 includes a nozzle 91, which is oriented towards the roller 20 and is configured to spray water onto the surface of the roller 20.
Specifically, the nozzle 91 can be positioned behind the cleaning device and above the entrance of the first air duct 31. The nozzle 91 can be singular or multiple, and when multiple, they can be arranged along the axial direction of the roller 20. The nozzle 91 can be a misting nozzle, which sprays the cleaning liquid more uniformly and conserves the consumption rate of the cleaning liquid.
In one embodiment, as shown in
To ensure uniform spraying of cleaning fluid by multiple nozzles 91 onto the cleaning device, the multiple nozzles 91 are evenly distributed along the length of the water supply device 90. Additionally, the lengths and widths of multiple water supply channels 902 are identical to ensure equal water pressure and flow rate for each nozzle 91. For example, in the embodiments illustrated in
The water supply channels 902 of the water supply device 90 can be in the form of pipelines or grooves. Groove-shaped water supply channels 902 can be sealed and fit onto the surface of the body 1, forming a closed channel. The connection between the water supply device 90 and the body 1 includes but is not limited to welding, bonding, or screw fixation.
As shown in
The auxiliary cleaning component 9 also includes a squeegee 93, which is constructed to be in contact with the surface of the roller 20. The squeegee 93 is positioned at the rear of the roller 20, above the entrance of the first air duct 31, and below the nozzle 91. During the rotation of the roller 20, the squeegee 93 scrapes off stains and water stains adhered to the roller 20. The dirt and water stains scraped off by the squeegee 93 can fall into the entrance of the first air duct 31 below, and be sucked away by the first air duct 31. The ends of the squeegee 93 extend along the axial direction of the roller 20 and tightly fit with the surface of the roller 20, improving the sealing performance at the entrance of the first air duct 31 and reducing air loss.
As a result, after the roller 20 completes the cleaning operation, it rotates to the position of the squeegee 93. The squeegee 93 then scrapes off the sewage from the surface of the roller 20 and sucks it away through the entrance of the first air duct 31. Here, the squeegee 93 participates in enclosing the upper area of the entrance of the first air duct 31. Referring to
During the rotation of the roller 20, the nozzle 91 sprays cleaning fluid onto the surface of the roller 20. The portion of the roller 20 sprayed with cleaning fluid rotates to the uniform water strip 92, which evenly spreads the cleaning fluid. It then rotates to the lower working surface for wiping. After wiping the working surface of the roller 20, it rotates to the squeegee 93 for cleaning. The dirt and water stains scraped off by the squeegee 93 can be sucked away by the first air duct 31.
The uniform water strip 92 and the squeegee 93 of the auxiliary cleaning component 9 have certain elasticity and can resiliently abut against the surface of the roller 20. After long-term friction with the roller 20, they can still fit the surface of the roller 20. The uniform water strip 92 and the squeegee 93 can be made of elastic materials such as rubber or plastic. The uniform water strip 92 and the squeegee 93 can be detachably connected to the body 1, and the connection method can be snap-in, adhesive, screw fixation, etc. When the uniform water strip 92 and the squeegee 93 are worn out after long-term use, they can be removed and replaced with new ones.
The bottom edge of the lower area of the entrance of the first air duct 31 can be provided with a sealing edge 94. When the body 1 travels along the working surface, the sealing edge 94 fits with the working surface, further improving the sealing of the entrance of the first air duct 31. The sealing edge 94 can be made of clastic materials, which can resiliently abut against the working surface. After wear, it can still fit the working surface. The sealing edge 94 can be detachably connected to the edge of the first air duct 31 by snap-in, adhesive, screw fixation, etc. When severely worn, it can be replaced.
The bottom of the roller 20 fits with the working surface, the squeegee 93 above the entrance of the first air duct 31 fits with the roller 20, and the sealing edge 94 at the bottom edge of the entrance of the first air duct 31 fits with the working surface, forming a closed structure, reducing the air loss in the air duct, thereby improving work efficiency.
After the surface of the roller 20 wears out over time and cannot fit tightly with the working surface, causing significant air loss in the air duct, the entrance of the first air duct 31 cannot suck away the sewage scraped off by the squeegee 93.
To solve the above problems, in one embodiment, as shown in
In another embodiment disclosed herein, the roller assembly 2 is floatably mounted on the body 1. As shown in
Referring to
The body 1 is also equipped with shaft pressure covers 19, which are placed over the support bases 18 in the grooves, limiting the hinge shafts 120 within the grooves and ensuring their coordination with the support bases 18. The shaft pressure covers 19 are detachably connected to the body 1, and the connection method can be screw fixing, plug-in, riveting, etc.
With this structure, the roller assembly 2 including the roller bracket 28 and the roller 20 mounted on it, as well as the roller cover plant 29, can rotate relative to the body 1 as a whole. This ensures that under the influence of its own gravity, the roller 20 of the roller assembly 2 is always in contact with and coordinated with the working surface, thereby improving the cleaning effect.
In one embodiment disclosed herein, to limit the rotation angle of the roller assembly 2, limit buckles 283 are set on the roller bracket 28, and limiting slots 1011 that cooperate with the limit buckles 283 are set on the body 1. Referring to
Of course, the limit buckles 283 can also be set on the body 1, and the limiting slots 1011 can be set on the roller bracket 28, achieving the same function. This is not further elaborated here.
Driving wheels 8 used to support the body 1 are set at the bottom of the body 1, with two driving wheels 8 distributed on opposite sides of the body 1. The body 1 is also equipped with universal wheels 13, which are located near the roller 20 and can support the body 1 together with the driving wheels 8 on the ground to keep the body 1 stable.
In another embodiment of the present disclosure, as shown in
During the movement of the body 1, the roller 20 remains in contact with the working surface, preventing the roller 20 from leaving the working surface due to surface wear or unevenness, thereby ensuring the formation of a sealed space between the entrance of the first air duct 31 and the working surface support.
The water tank or water tank assembly of the self-moving cleaning robot includes a sewage tank 4, a clean water tank 5, a second air duct in the water tank. Specifically, as shown in
The second air duct 32 is located between the second air inlet 320 and the second air outlet 321. The second air inlet 320 is connected to the first air duct 31, while the second air outlet 321 is connected to the third air duct 33 of the fan assembly 7. Both the second air inlet 320 and the second air outlet 321 are positioned at relatively high positions within the sewage tank 4. When the gas carrying liquid enters the spacious interior of the water tank through the second air inlet 320, the airflow velocity decreases, reducing the ability of the gas to carry liquid, thus allowing the liquid to separate from the gas and accumulate in the sewage tank 4. Meanwhile, the gas can exit through the second air outlet 321. Additionally, the second air inlet 320 is positioned at a high level, allowing the airflow to flow upward within the tank. Under the influence of gravity, the liquid also separates from the gas and remains in the sewage tank 4.
It should be noted that the water level inside the sewage tank 4 should not exceed the lowest point of the second air inlet 320 and the second air outlet 321 to prevent overflow. Additionally, a safety distance should be maintained between the water level line inside the sewage tank 4 and the second air outlet 321 to prevent sewage from being drawn into the fan assembly 7 due to the proximity of the second air outlet 321 to the airflow. To maintain the minimum flow of air in the second air duct inside the sewage tank 4 and ensure the separation of sewage after entering the sewage tank 4, the maximum water level inside the sewage tank 4 should be set, and the water level should be controlled not to exceed the maximum value. Therefore, a water level detection device can be installed on the sewage tank 4 to detect the water level, and the water level detection device can send the detection signal to the control unit of the self-moving cleaning robot.
The control unit can be connected to an alarm device. When the water level detection device detects that the water level inside the sewage tank 4 is close to or reaches the maximum value, the control unit controls the alarm device to emit an alarm signal to remind the user. The alarm signal can be a warning light, alarm sound, etc. Furthermore, the control unit can also control the fan assembly 7 to shut down to prevent sewage from entering and damaging the fan assembly 7.
Additionally, based on the electrical signals detected by the water level detection device, the control unit can control the self-moving cleaning robot to return to the base station and extract the sewage from the sewage tank of the self-moving cleaning robot into the base station.
The water tank can be positioned on the body 1 behind the cleaning device. Referring to
Referring to
In another embodiment disclosed herein, the two driving wheels 8 can also be installed on the body 1 at positions on both sides of the water tank slot 15. Specifically, driving wheel mounting bases 81 are respectively arranged on both sides of the body 1 at positions corresponding to the water tank slot 15. The open ends of the driving wheel mounting bases 81 face downwards towards the body 1. The two battery mounting brackets 160 can be respectively installed above the two driving wheel mounting bases. The two driving wheels 8 are respectively installed inside the driving wheel mounting bases 81, and the body 1 is supported and driven to move by the two driving wheels 8. Referring to
The sewage tank 4 and the clean water tank 5 disclosed herein can be integrally processed and formed, or they can be assembled from multiple parts. In one embodiment, the sewage tank 4 is configured as a split structure, as shown in
In one embodiment, the sewage tank 4 can be configured to surround the fan assembly 7, and the rear region of the second air duct 32 is evenly surrounded around the intake of the fan assembly 7 so that the intake of the fan assembly 7 can uniformly intake air from all directions, avoiding the occurrence of localized high airflow speeds, which may lead to the airflow inside the sewage tank 4 moving too quickly and thus preventing sufficient separation of water and air.
Specifically, a fan chamber 41 can be provided on the lower shell 403, with the open end of the fan chamber 41 facing the bottom of the lower shell 403. The fan chamber 41 extends through the hollow structure of the middle shell 402 towards the upper shell 401, and the second air outlet 321 is set at the top of the fan chamber 41, communicating with the fan chamber 41. There is a gap between the top of the fan chamber 41 and the upper shell 401, where the second air outlet 321 serves as the inlet of the third air duct 33. The fan assembly 7 is installed in the fan chamber 41, with the bottom of the fan chamber 41 open, allowing the fan assembly 7 to be loaded from the bottom of the fan chamber 41. When the fan assembly 7 operates, the airflow sucked from the air duct system can be discharged downward from the bottom of the fan chamber 41. The fan chamber 41 and the lower shell 403 can be integrally formed, for example, by injection molding; or they can be fixedly connected by welding, bonding, hot melting, and other methods, without limitation.
Referring to
In one embodiment of the present disclosure, the second air duct 322 can be a circular passage surrounding the fan chamber 41 in the circumferential direction, or it can be arc-shaped along part of the side wall of the fan chamber 41. The shape and direction of extension of the second air duct 322 are related to the shape of the fan chamber 41. For example, when the circumferential side wall of the fan chamber 41 is rectangular, the second air duct 322 surrounds or partially surrounds the rectangular side wall. Referring to
During operation, the airflow carrying liquid first enters the first channel 323 of the second air duct 32 from the second air inlet 320. While flowing in the first channel 323, the liquid drops to the bottom of the sewage tank 4 for storage due to the lower airflow velocity. The airflow enters the second air duct 322 from the first channel 323 and flows uniformly upward through the second air duct 322, ultimately flowing out from the second air outlet 321 located at the top of the fan chamber 41. Additionally, as the airflow rises in the second air duct 322, its ability to carry liquid decreases, causing the liquid to fall under its own gravity to the bottom of the sewage tank 4 for storage, further improving the efficiency of air-liquid separation.
The configuration of the second air duct 322 allows the airflow to flow uniformly towards the second air outlet 321 from all directions, thereby avoiding issues such as the airflow carrying some liquid flowing into the fan assembly 7 due to excessively high local airflow velocity at the second air outlet 321. The second air duct 322 is formed by the partial side walls of the lower shell 403, the middle shell 402, the upper shell 401, and the side wall of the fan chamber 41.
In one embodiment of the present disclosure, a water tank assembly is provided, comprising the above-mentioned clean water tank 5, sewage tank 4, and fan chamber 41.
The fan chamber 41 is used to install the fan assembly 7, with its opening facing the bottom of the water tank assembly, allowing the fan assembly to be inserted into the chamber from the opening. The sewage tank 4 has an air inlet, and the top of the fan chamber 41 is provided with an air outlet connected to the sewage tank 4. Specifically, the air inlet can be the second air inlet 320, and the air outlet can be the second air outlet 321. A second air duct 322 is provided between the clean water tank 5 and the fan chamber 41, allowing the airflow entering the sewage tank from the air inlet to be discharged from the air outlet through the second air duct 322.
In one embodiment of the present disclosure, to enhance the air-liquid separation capability of the second air duct 32, a wind-blocking mechanism 42 is also provided in the sewage tank 4, as shown in
Specifically, the wind-blocking mechanism 42 can be located at the top of the sewage tank 4, and can be positioned at any location between the second air inlet 320 and the fan chamber 41. The airflow entering from the second air inlet 320 is hindered by the wind-blocking mechanism 42, requiring it to bypass the bottom of the wind-blocking mechanism 42 before flowing to the top of the fan chamber 41 and out of the second air outlet 321. The wind-blocking mechanism 42 elongates the flow path of the airflow in the second air duct 32 and changes the direction of airflow, facilitating the full separation of sewage in the sewage tank 4 from the gas.
Preferably, the wind-blocking mechanism 42 can be positioned near the second air outlet 321 or adjacent to the fan chamber 41, with its bottom extending downward below the top of the fan chamber 41 and above the highest water level in the sewage tank 4. A gap is formed between the wind-blocking mechanism 42 and the side wall of the fan chamber 41 to allow airflow to pass through. As the airflow in the sewage tank 4 bypasses the bottom of the wind-blocking mechanism 42 and flows upward through the gap between the wind-blocking mechanism 42 and the side wall of the fan chamber 41, the ability of the airflow to carry water vapor decreases, allowing for more effective separation of water vapor from the gas.
The wind-blocking mechanism 42 can be in the form of a plate, strip, or other structures, and is fixedly connected in a vertical position at the top of the sewage tank 4. The connection between the wind-blocking mechanism 42 and the sewage tank 4 includes but is not limited to integral molding, adhesion, or insertion.
The clean water tank 5 and sewage tank 4 can be independently installed on the body 1, or installed together to increase the integration of the body 1. The clean water tank 5 and sewage tank 4 can be integrally molded or assembled from multiple parts, without limitation in the present disclosure. The clean water tank 5 can be positioned on one side of the sewage tank 4 or partially surrounding the sewage tank 4, with the above position of the clean water tank being only exemplary, with no limitation in the present disclosure.
In one embodiment of the present disclosure, as shown in
Referring specifically to
The clean water tank 5 can be in a ring-shaped structure or a C-shaped or U-shaped structure. For example, in the structure shown in
The clean water tank 5 is connected to a delivery pipeline, on which a pump 54 is installed, and a nozzle 91 of the auxiliary cleaning component 9 is installed at the end. The delivery pipeline can extract water or cleaning fluid from the clean water tank 5 through the pump 54 and deliver it to the nozzle 91, which then sprays the cleaning fluid or water onto the cleaning device.
In a specific embodiment, as shown in
The clean water interface 102 is connected to the delivery pipeline 53 to deliver water or cleaning fluid from the clean water tank to the position of the nozzle 91 through the delivery pipeline 53. A clean water tank check valve 531, which is in communication with the clean water supply port 501, can be set inside the clean water tank 5. The clean water tank check valve 531 has an elastic valve rod 532 for opening and closing the clean water tank check valve 531, which closes the clean water tank check valve 531 when not subjected to external force. An opening structure, which cooperates with the elastic valve rod 532, is provided on the body 1. When the clean water tank 5 is installed on the body 1, the delivery pipeline 53 is connected to the clean water tank check valve 531, and the opening structure can lift the elastic valve rod 532 to open the clean water tank check valve 531. After the clean water tank 5 is removed from the body 1, the delivery pipeline 53 is disconnected from the clean water tank check valve 531, the elastic valve rod 532 returns to its original position, and the clean water tank check valve 531 is closed to prevent leakage of the cleaning fluid from the clean water tank 5.
As shown in
A waterless detection sensor 103 can also be set on the body 1, which can be used to detect whether there is water passing through the delivery pipeline 53 to detect abnormalities. When an anomaly occurs, the waterless detection sensor 103 can send a detection signal to the control unit, and the control unit can issue an alarm based on this detection signal.
Continuing to refer to
Continuing to refer to
The fan chamber 41 can be integrally formed with the lower shell 403, extending from the bottom wall 4031 of the lower shell 403 to the direction of the upper shell 401 to form a lower open-ended fan chamber 41. The fan chamber 41 can also be seen as an upwardly extending protrusion formed on the bottom wall 4031 of the lower shell 403. In this structure, the sewage tank 4 is enclosed by the inner walls of the lower shell 403 (including the side wall 4030 and the bottom wall 4031), the enclosed sidewall 410 and the top wall 411 of the fan chamber 41, the second side wall 4021 of the middle shell 402, and the fourth side wall 4011 and its top of the upper shell 401. Among them, the enclosed sidewall 410 of the fan chamber 41 is parallel to and spaced apart from the second side wall 4021 of the middle shell 402 and the fourth side wall 4011 of the upper shell 401, enclosing the second air duct 322 of the second air duct 32.
Since the fan chamber 41 is set on one side of the sewage tank 4 away from the second air inlet 320, the region from the second air inlet 320 to the fan chamber 41 in the sewage tank 4 forms the first channel 323 of the second air duct. That is, the second air duct can be divided into two parts, one part is the first channel 323 adjacent to the second air inlet 320, and the other part is the second air duct 322 adjacent to the second air outlet 321. This allows the airflow entering the first channel 323 through the second air inlet 320 to eventually flow through the second air duct 322 around the fan chamber 41 and flow out from the second air outlet 321 at the top of the fan chamber 41.
In another embodiment disclosed herein, the sewage tank 4 and the clean water tank 5 can also be an integral structure. That is, the sewage tank 4 and the clean water tank 5 can be regarded as a single unitary tank. The first side wall 4020, the third side wall 4010, and the side wall 4030 together form the side walls of the tank, the bottom wall 4031 of the lower shell 403 forms the bottom wall of the tank, and the top wall of the upper shell 401 forms the top wall of the tank. The top wall, side walls, and bottom wall of the tank enclose the inner cavity of the tank.
The fourth side wall 4011 of the upper shell 401, the second side wall 4021, and the bottom wall together form the spacing between the clean water tank 5 and the sewage tank 4, and this spacing divides the inner cavity of the tank into the clean water tank 5 and the sewage tank 4.
In one embodiment disclosed herein, the spacing along with part of the tank's side walls and part of the top wall encloses the clean water tank 5, while the remaining portion of the tank's inner cavity constitutes the sewage tank 4. Of course, it can also be such that the spacing along with part of the tank's side walls and part of the bottom wall 4031 encloses the clean water tank 5, while the remaining portion of the tank's inner cavity constitutes the sewage tank 4.
The bottom wall 4031 of the tank has an upward protrusion away from the position of the second air inlet 320, forming a lower open-ended fan chamber 41. There is a gap between the top wall 411 of the fan chamber 41 and the top of the tank, and the second air outlet 321 is set on the top wall 411 of the fan chamber 41. The enclosed sidewall 410 of the fan chamber 41 restricts the shape of the sewage tank 4, and the enclosed sidewall 410 together with the spacing forms the aforementioned second air duct 322, with the area from the side of the second air inlet 320 in the sewage tank 4 to the position of the fan chamber 41 constituting the first channel 323 of the second air duct 32.
As shown in
A sewage suction pipe 430 can be set inside the sewage tank 4, with its upper end corresponding to the drain outlet 43 and its lower end extending to the bottom of the sewage tank, capable of drawing sewage from the bottom of the sewage tank. After the autonomous mobile robot returns to the base station, the base station's drainpipe extends into and connects with the sewage suction pipe 430 through the drain outlet 43, extracting sewage from the sewage tank 4. Depending on the position of the drain outlet 43 or other structural requirements, the sewage suction pipe 430 can be straight or bent. The upper end of the sewage suction pipe 430 can be equipped with a coupling head 4301 for connecting to the drainpipe. The coupling head 4301 can be made of a material with certain elasticity, such as rubber or plastic, to ensure a sealed connection between the coupling head 4301 and the sewage suction pipe 430, improving drainage efficiency.
In one embodiment disclosed herein, as shown in
Correspondingly, a corresponding structure for docking with the base station water inlet pipe can also be set at the position of the inlet 51 of the clean water tank 5, such as a second active valve 511. When the water inlet pipe docks with the second active valve 511, the second active valve 511 can be pushed to open, establishing a passage between the water inlet pipe and the clean water tank 5, allowing replenishment of water to the clean water tank 5 via the base station. After the water inlet pipe disconnects, the second active valve 511 resets to close the inlet 51 of the clean water tank 5, preventing leakage of water or cleaning fluid from the clean water tank 5. The second active valve 511 can be selected with the same structure as the first gate valve 431, or other structures known to those skilled in the art, and are not further described here.
The cleaning fluid in the clean water tank 5 can also be used for cooling the heating elements on the body 1. The heating elements include at least the chip of the control unit, which has heating resistors, diodes, and other components. When the temperature of the heating elements is too high, it affects the efficiency of the chip. Specifically, as shown in
In one embodiment, the pipeline connecting the heat dissipation module 52 can be the delivery pipeline 53 that supplies cleaning fluid from the clean water tank 5 to the cleaning device. The pump 54 simultaneously supplies cleaning fluid to both the cleaning device and the heating unit via the delivery pipeline 53, which can save costs and increase the integration of the body 1.
In another embodiment, the heat dissipation module 52 can be connected to the clean water tank 5 via a circulation pipeline, where a pump is also installed on the circulation pipeline. This pump pumps the cleaning fluid from the clean water tank 5 to the heat dissipation module 52 through the circulation pipeline, providing water cooling to the heating elements, and then returns it to the clean water tank 5 through the circulation pipeline. In this embodiment, the heat dissipation module 52 of the circulation pipeline and the nozzle 91 of the delivery pipeline 53 can work relatively independently without interfering with each other.
A dust collection device 6 can be installed inside the sewage tank 4, which is designed to filter particles in the air entering the second air duct 32. As shown in
The dust collection device 6 is equipped with an inlet and an outlet, as well as a filter mesh structure for filtering solid dirt. The inlet of the dust collection device 6 is connected to the second air inlet 320, while the outlet is connected to the interior of the sewage tank 4. The airflow carrying liquid first enters the dust collection device 6 through the second air inlet 320, where solid dirt in the airflow is intercepted by the filter mesh structure inside the dust collection device 6, allowing the gas and sewage to enter the sewage tank 4 through the filter mesh structure 62. The dust collection device 6 can be of any shape and structure as long as it can effectively filter solid dirt.
In one embodiment, the dust collection device 6 is installed at the top of the sewage tank 4 and near the second air inlet 320. The dust collection device 6 comprises a fixed bracket 61 and a filter mesh 62 mounted on the bracket. The fixed bracket 61 is detachably connected inside the sewage tank 4, and the inlet of the dust collection device 6 is set on the fixed bracket 61, with the filter mesh 62 serving as the outlet of the dust collection device 6.
Since the dust collection device 6 needs to be frequently disassembled for cleaning, in order to prevent users from forgetting to install the dust collection device 6, an anti-misplacement mechanism 45 can be set in the housing of the sewage tank 4. As shown in
Specifically, the anti-misplacement mechanism 45 includes a cam 451 rotatably connected to the sewage tank 4 and a torsion spring 452 that biases the cam 451 to the first position. The torsion spring 452 can be mounted on the shaft of the cam 451 through the bracket. The cam 451 has a protrusion 4511 protruding from its base circle, which is higher than the installation surface of the cover plate 44 when in the first position. The end of the protrusion 4511 can be flat or curved, preventing the cam 451 from rotating when the cover plate 44 is installed.
The anti-misplacement mechanism 45 also includes a compressed part 453 connected to the cam 451, with the axis of the cam 451 being eccentrically arranged relative to the compressed part 453. The dust collection device 6 is provided with a pressure part 63 corresponding to the compressed part 453; the pressure part 63 is designed to cooperate with the compressed part 453 to rotate the cam 451 from the first position to the second position. The pressure part 63 can be set at the bottom of the fixed bracket 61.
During installation, the dust collection device 6 is vertically inserted into the housing, and the pressure part 63 can press down the compressed part 453 of the anti-misplacement mechanism 45, thereby driving the cam 451 to rotate from the first position to the second position, allowing the protrusion 4511 of the cam 451 to avoid the installation surface of the cover plate 44. After the dust collection device 6 is removed, the cam 451 resets to the first position under the driving of the torsion spring 452, and the protrusion 4511 rotates to the installation position of the cover plate 44, preventing the cover plate 44 from being installed, thereby preventing users from forgetting to install the dust collection device 6.
In a specific embodiment, the pressure part 63 of the fixed bracket 61 can be set as a downward-extending rib plate, and the compressed part 453 of the anti-misplacement mechanism 45 can be inclinedly arranged. When in the first position, one end of the compressed part 453 near the fixed bracket 61 is raised upward, thereby increasing the rotation angle of the cam 451. The protrusion 4511 of the cam 451 can be set as a curved structure to avoid damaging the cover plate 44. Additionally, a groove for avoiding interference with the cam 451 should be left on one side of the fixed bracket 61 where the pressure part 63 is located to prevent interference when the fixed bracket 61 is inserted into the sewage tank 4.
The anti-misplacement mechanism 45 can be set with two and placed on the opposite sides of the dust collection device 6. Both sides of the fixed bracket 61 are correspondingly equipped with pressure parts 63. When installing the dust collection device 6, the pressure parts 63 on both sides of the fixed bracket 61 simultaneously press the compressed parts 453 of the anti-misplacement mechanisms 45 on both sides, thereby driving the protrusions 4511 of the cams 451 to avoid the installation position of the cover plate 44.
After disassembling the sewage tank 4, to prevent sewage overflow, gates can be installed at the second air inlet 320 and the second air outlet 321. The gates can close the inlet and outlet of the second air duct after disassembling the sewage tank 4 to prevent leakage.
As shown in
The first valve 46 can be made of a material with its own elasticity, such as rubber, metal sheets, etc., to close the second air inlet 320 through its own elastic force. It can also be elastically connected to the sewage tank 4 by installing components such as torsion springs or flaps and close the first valve 46 with the elastic force of the torsion springs or flaps. The first valve 46 can be opened under external force. The second air inlet 320 faces downwards and corresponds to the end set up of the first air duct 31. The first valve 46 is set on the inner side of the second air inlet 320 and can be horizontally or obliquely set up, and its free end can be rotated inward to open the inlet.
A lifting part 17 is installed on the body 1. As shown in
The lifting part 17 can be set as a plate or pillar structure, and its connection with the body 1 includes but is not limited to integral molding, adhesive bonding, screw fixation, etc. At least two lifting parts 17 can be installed, spaced apart and with equal heights to simultaneously lift the first valve 46. The part of the lifting part 17 used to lift the end of the first valve 46 can be set as a curved structure to avoid excessive pressure concentration on the first valve 46.
To improve the sealing effect, a first sealing rubber 460 can be wrapped around the connection between the second air inlet 320 and the first air duct 31. As described in
In one embodiment, a ring of grooves is opened on the outer edge of the second air inlet 320. The first sealing rubber 460 is annular in structure, with one side embedded in the groove and the other side set as an expansion. After the sewage tank 4 is inserted into the body 1, the first sealing rubber 460 resiliently abuts against the opening edge of the first air duct 31, thereby sealing the gap between the second air inlet 320 and the first air duct 31.
A second valve 47 is installed at the second air outlet 321. As shown in
Specifically, one end of the second valve 47 is elastically connected to the sewage tank 4 or the fan chamber 41, and the other end is a free end. The second valve 47 can be made of a material with its own elasticity, such as rubber, metal sheets, etc., or can generate elasticity through the installation of components such as torsion springs or flaps. The second air outlet 321 faces downwards, and the second valve 47 is set on the outer side of the second air outlet 321. The negative pressure generated when the fan assembly 7 is operating can overcome the elastic force of the second valve 47, causing it to move downward and open the second air outlet 321. After the fan assembly 7 is closed, the second valve 47 closes the second air outlet 321 under elastic force to prevent sewage leakage. The second air outlet 321 is set at the top of the fan chamber 41, which has a relatively thin top structure. The second air outlet 321 can be raised upward to provide sufficient space for movement when the second valve 47 is opened. Alternatively, the top wall of the fan chamber 41 can be sloped, allowing the second valve 47 to be inclined and positioned at the location of the second air outlet 321 inside the fan chamber 41.
To improve the sealing effect, a second sealing rubber 470 can be wrapped around the connection between the second air outlet 321 and the air inlet of the fan assembly 7. The second sealing rubber 470 can be set on the edge of the second air outlet 321, such as inside the fan chamber 41 at the position of the second air outlet, or on the fan assembly 7. The second sealing rubber 470 has a certain elasticity to seal the gap between the second air outlet 321 and the air inlet of the fan assembly 7, reducing wind power loss.
The water tank provided herein can be used not only for storing liquid but also for storing sewage. Of course, depending on the application scenario, the water tank may only include a clean water tank or only include a sewage tank. The water tank can be applied to cleaning equipment, such as floor scrubbers, floor sweeping robots, etc., for storing liquids such as clean water, sewage, cleaning agents, etc.; it can also be applied to industrial liquid-containing systems, such as soda water separators, etc. Those skilled in the art can apply the water tank to suitable equipment as needed.
The water tank includes a tank body with an inner cavity in which a duct is provided, and air inlets and air outlets are formed at different positions of the tank body, respectively. As shown in
After the water level in the sewage tank 4 rises to a certain level, under the negative pressure of the second air duct 32, the liquid is pushed up to the outlet of the second air duct 32. In addition, when the water tank is used in equipment such as floor sweeping robots, if the equipment moves or changes speed, the liquid in the sewage tank 4 will sway. When the direction of movement of the equipment is opposite to the direction of airflow in the second air duct 32, the liquid is pushed up to the outlet of the second air duct 321 due to inertia. When the liquid level at the outlet 321 of the second air duct is too high, the liquid is prone to be drawn out from the second air outlet 321. In addition, a water level detection device is usually installed in the water tank, such as a water level detection device used to detect full water levels. When the water level is pushed up, the water level detection device is also easily triggered, causing the water level detection device to emit an incorrect full water signal.
To address this, a water blocking part can be set inside the sewage tank 4, as shown in
As the water level in the sewage tank 4 rises, the space in the second air duct 32 gradually narrows. A preset water level line should be set inside the sewage tank 4, which can be a scale line expressing full water in the sewage tank 4. A safe distance should be left between the preset water level line and the second air outlet 321 to prevent the water level from being too close to the second air outlet 321. In one embodiment, the water baffle 48 can be set at the position of the preset water level line in the sewage tank 4.
Due to the relatively narrow second air duct 322 of the second air duct 32, and it is close to the second air outlet 321, the liquid in the second air duct 322 is pushed up under negative pressure. In one embodiment, the water baffle 48 can be set in the second air duct 322 to block the liquid in the second air duct 322 from being pushed up.
The water baffle 48 is horizontally set and can be shaped to match the second air duct 322. The outer side of the water baffle 48 is connected to the inner wall of the sewage tank 4, and the inner side is connected to the enclosed sidewall 410 of the fan chamber 41, and the connection methods include but are not limited to welding, snap connection, bonding, integral injection molding, and screw connection.
In one embodiment disclosed herein, the water baffle part is constructed to float on the water surface, such as being constructed to float on the sewage in sewage tank 4. As the water level in sewage tank 4 gradually rises, the water baffle part also rises accordingly. The water baffle part can match the shape of the second air duct 322, especially limiting the water baffle part to be confined within the second air duct 322, allowing it to only rise with the increase of sewage in the vertical direction.
In one embodiment disclosed herein, the water baffle part can be made of a material that can float on the liquid surface, such as foam material or plastic material that can float in sewage.
In one embodiment disclosed herein, the water baffle part can be made of flexible material. When the sewage in sewage tank 4 is pushed up, the water baffle part can have a certain deformation ability along with the rise of the water surface. However, the flexible water baffle part can still suppress the extent of water surface elevation, and to some extent, can also prevent the water surface from being pushed up.
In some embodiments disclosed herein, as shown in
The water level detection device 49 disclosed herein can be capacitive or other structures that detect water level through electrical conductivity. Those skilled in the art can choose as needed.
In one embodiment disclosed herein, the water level detection device 49 includes a first detection probe 491 and a second detection probe 492, both of which are conductors. The water level detection device 49 is configured to be triggered when the first detection probe 491 and the second detection probe 492 conduct through the liquid, emitting a detection signal.
The first detection probe 491 and the second detection probe 492 can be arranged adjacent to each other or spaced apart in the cavity of the tank, for example, they can be set at the second air inlet 320 or the second air outlet 321, or in the middle of the tank cavity. Due to the airflow in the second air duct 32, there is a certain fluctuation of the liquid in the direction of extension of the second air duct 32, and the liquid is pushed up towards the second channel outlet 321, causing the water level at the second channel outlet 321 to be higher than that at the second channel inlet 320. To improve the accuracy of the measurement results, in a preferred embodiment, the first detection probe 491 and the second detection probe 492 can be respectively set close to the middle position in the direction of extension of the second air duct 32. Furthermore, the first detection probe 491 and the second detection probe 492 can be respectively set on the opposite sides in the direction of extension of the second air duct 32, which can increase the distance between the two probes and improve the accuracy of the detection results.
In one embodiment, the first detection probe 491 and the second detection probe 492 can be located between the water baffle 48 and the second air inlet 320. The bottom ends of the first detection probe 491 and the second detection probe 492 are set at the position of the preset water level line. Specifically, the first detection probe 491 and the second detection probe 492 can be connected to the top of the tank and extend downward.
In one embodiment, a storage groove 490 deviating from the air duct is provided on the side wall of the tank, the storage groove 490 can be set on the side wall extending from the second air inlet to the second air outlet of the sewage tank, and adjacent to the communication area between the second air duct 322 and the first channel 323. The first detection probe 491 and/or the second detection probe 492 are set in the storage groove 490. The storage groove 490 can be set as a groove-shaped structure or a tube-shaped structure, and extends along the height direction of the side wall of the tank, the storage groove 490 communicates with the second air duct 32, and the liquid in the tank can enter the storage groove 490.
In a specific embodiment, only one storage groove 490 is provided, and one of the first detection probe 491 and the second detection probe 492 is set in the storage groove 490, or both the first detection probe 491 and the second detection probe 492 are set in the storage groove 490. In another specific embodiment, two storage grooves 490 are provided, with one of the first detection probe 491 set in one storage groove 490, and the other in the other storage groove 490.
In detail, with the extension direction of the second channel as the X-axis direction, and the lateral direction perpendicular to the X-axis as the Y-axis direction, the storage groove 490 extends in a direction deviating from the second channel along the Y-axis direction. The storage groove 490 can be cylindrical in shape with a C-shaped cross-section. Since the storage groove 490 deviates from the second air duct 32, the water level in the storage groove 490 is less affected by the airflow, and it is not easily pushed up. Therefore, the detection accuracy of the first detection probe 491 and/or the second detection probe 492 inside is higher.
Since the triggering of the water level signal requires both probes to contact the liquid, one probe can be set in the storage groove 490. Of course, for those skilled in the art, both probes can also be set in the storage groove deviating from the air duct. For example, a storage groove is set on each side of the inner wall of the tank, and the first detection probe 491 and the second detection probe 492 are respectively set in their own storage groove.
The liquid stored in the tank cavity is sewage generated by cleaning equipment during cleaning work, with solid impurities mixed in the sewage. In some embodiments, at least one of the first detection probe 491 and the second detection probe 492 has a gap between it and the side wall of the tank. The inner wall of the tank is in a wet state. If the liquid in the tank is mixed with solid impurities, the solid impurities may get stuck between the first detection probe 491 and the second detection probe 492 and the inner wall of the tank. At least one of the first detection probe 491 and the second detection probe 492 has a gap between it and the side wall of the tank, which can prevent at least one probe from being stuck with solid impurities between the probe and the inner wall of the tank, thereby preventing the first detection probe 491 and the second detection probe 492 from conducting due to solid impurities.
The bottom ends of the first detection probe 491 and the second detection probe 492 can be flush with the preset water level line, or one can be flush with the preset water level line while the other is lower than the preset water level line. Since both the first detection probe 491 and the second detection probe 492 conduct when they simultaneously contact the liquid in the tank, the triggering position of the first detection probe 491 and the second detection probe 492 depends on the higher bottom end. The liquid level in the tank is pushed up towards the second channel outlet under the action of airflow in the passage. In some embodiments, one bottom end of the first detection probe 491 and the second detection probe 492 is not higher than the preset water level line, and the other bottom end is higher than the preset water level line. In this case, one probe ensures contact with the liquid, while the other probe's bottom end is higher than the preset water level line, thereby eliminating the problem of triggering the preset water level due to the rise in water level. Only when the water level in the tank truly reaches the preset water level, the raised water level can trigger the probes under the action of airflow or movement, thereby triggering the alert signal for the preset water level.
The fan assembly can stop working based on the detection signal of the water level detection device of the tank, preventing the sewage level from exceeding the preset water level line and entering the fan assembly.
Embodiments disclosed herein provide a self-moving floor washing robot, comprising the body 1, roller 20, and squeegee 93 of the self-moving cleaning robot as described in the above embodiments. The body 1 has a mounting cavity, and the roller 20 is rotatably connected in the mounting cavity. The squeegee 93 is connected to the body 1 and is constructed to contact the roller 20 to scrape off the liquid from the roller 20. The liquid scraped off by the squeegee 93 is the sewage after cleaning the working surface. The specific structure of the self-moving floor washing robot can be seen in the self-moving cleaning robot of the above embodiments, and the similarities are not repeated here.
The difference between this embodiment of the self-moving floor washing robot and that of the first embodiment lies mainly in: the roller 20 and the squeegee 93 are constructed such that when encountering obstacles, there is relative movement between the roller 20 and the squeegee 93 to detach them.
This is because obstacles such as steps, thresholds, etc., may appear on the working surface, such as household floors. When the robot crosses these obstacles, the roller 20 may hang or be lifted, the entrance of the first air duct 31 cannot form a closed space, resulting in greater airflow loss, and the water streaks scraped off by the squeegee 93 from the roller 20 cannot be sucked away by the first air duct 31, thus falling on the working surface.
When encountering obstacles, the airflow at the entrance of the first air duct 31 is insufficient, causing relative movement between the roller 20 and the squeegee 93 to detach, which can avoid the water streaks scraped off by the squeegee 93 from the roller 20, thereby preventing sewage from remaining on the working surface.
In one embodiment, the roller 20 can be set to move relative to the body 1, and the squeegee 93 is set to be relatively fixed to the body 1. When encountering obstacles, the roller 20 moves away from the squeegee 93. For example, as described in embodiment 1, the roller assembly 2 is rotatably connected to the body 1. When encountering obstacles, the roller assembly 2 is configured to move away from the squeegee 93 to prevent the squeegee 93 from scraping sewage off the roller 20. In another embodiment, the roller 20 is set to be fixed relative to the body 1, and the squeegee 93 is set to be able to move relative to the body 1. When encountering obstacles, the squeegee 93 moves away from the roller 20.
The movement of the roller 20 or the squeegee 93 can be achieved through a driving mechanism. Those skilled in the art can set up a driving mechanism based on existing technology, such as motors, drive shafts, gear assemblies, connecting rods, etc. The movement can be rotation, oscillation, linear motion, etc. There are no specific limitations on the driving mechanism in this embodiment.
In one embodiment provided herein, as shown in
The rotation of the floating part 11-A can be achieved in different ways in the following embodiments.
In one embodiment, the floating part 11-A is configured to rotate relative to the fixed part 11-B under the obstructive force of obstacles. For example, when the obstacle is a threshold, the roller 20 is lifted upward when passing over the threshold, thereby driving the floating part 11-A to rotate upward relative to the fixed part 11-B.
In another embodiment, a driving mechanism is provided between the floating part 11-A and the fixed part 11-B. The driving mechanism is configured to drive the floating part 11-A to rotate relative to the fixed part 11-B.
In another embodiment, an elastic preloading device is provided between the floating part 11-A and the fixed part 11-B, and the floating part 11-A is constructed to be preloaded on the working surface by the elastic preloading device.
In one embodiment, the squeegee 93 can be movably connected to the body 1 and includes a driving mechanism configured to drive the squeegee 93 to move away from the roller 20. Specifically, the squeegee 93 is movably connected to the body 1 through a gear and rack engagement structure. The squeegee 93 is connected to the rack, and the driving mechanism drives the gear to rotate, which in turn drives the rack to move, thereby moving the squeegee 93.
In this embodiment, when the body 1 encounters obstacles, the rotation speed of the roller 20 can also be reduced. After the rotation speed of the roller 20 is reduced, it can avoid the squeegee 93 from scraping off the sewage on the roller 20, thereby preventing sewage residue on the working surface.
The body 1 further includes an identification device, which is configured to identify obstacles ahead. The driving mechanism responds to the signal of the identification device recognizing the obstacles ahead by driving the squeegee 93 away from the roller 20. The identification device can be a camera or radar device.
The self-moving floor washing robot also includes a control unit, which can accept signals emitted by the identification device and send control signals to the driving mechanism on the body 1 to control its actions.
The identification device can send detection signals of obstacles ahead to the control unit. After receiving the detection signal, the control unit sends a control signal to the driving mechanism. Upon receiving the control signal, the driving mechanism drives relative movement between the roller 20 and the squeegee 93 to separate them.
In one embodiment, after the control unit receives the detection signal of obstacles ahead from the identification device, it sends a control signal to the driving mechanism. Upon receiving the control signal, the driving mechanism drives relative movement between the roller 20 and the squeegee 93 to separate them, thereby avoiding scraping off sewage. In this case, the driving mechanism can move the floating part 11-A to separate from the squeegee 93 or move the squeegee 93 to separate from the roller 20.
In one embodiment, after the control unit receives the detection signal of obstacles ahead from the identification device, it controls the rotation speed of the roller 20 to decrease. Specifically, the control unit can control the speed of the roller 20 to be reduced to 0-150 rpm, avoiding the squeegee 93 from scraping off the sewage on the roller 20.
In one embodiment disclosed herein, as shown in
This disclosure also provides a control method for a robot, which is the aforementioned self-moving floor washing robot, comprising an identification device and a control unit. The control method includes the following steps:
In step S1001, after the control unit receives the detection signal of obstacles ahead obtained by the identification device, it can control the speed of the roller to decrease to 0-150 rpm. With the roller rotating at a slower speed, less sewage is scraped off by the squeegee, or it may not be able to scrape off the sewage. At this time, the driving mechanism controlled by the control unit is the drive assembly connected to the roller.
The driving mechanism can drive the floating part 11-A of the body 1 to rotate relative to the fixed part 11-B, thereby separating the roller 20 on the floating part 11-A from the squeegee 93 on the fixed part 11-B. Alternatively, the driving mechanism can directly drive the squeegee 93 to move, causing it to move away from the roller 20.
In step S2001, the driving mechanism drives the floating part to move away from the squeegee; or, the driving mechanism drives the squeegee to move away from the roller.
This disclosure also provides a cleaning system, comprising a cleaning device and a base station. The cleaning device is equipped with a cleaning apparatus constructed to clean the working surface. During the cleaning process, the cleaning device generates sewage. The cleaning device is capable of extracting the sewage after cleaning the working surface to prevent sewage residue on the working surface. The cleaning device can be a currently available cleaning function-equipped self-moving robot or a handheld device, such as a handheld cleaning machine, the self-moving cleaning robot described in the above embodiments, or other household or commercial cleaning devices equipped with wet mopping functions, such as vacuum cleaners.
The cleaning device also includes an air duct system and a sewage tank. The sewage tank is constructed to contain the sewage after cleaning the working surface. The air duct system communicates with the sewage tank and is constructed to extract the sewage from the cleaning apparatus to the sewage tank after cleaning the working surface. After extracting the sewage, water stains will remain inside the cleaning device, which are difficult to clean directly. If not dried in time, bacteria will grow inside the cleaning device, causing odor.
The base station can integrate functions such as charging, dust collection, drainage, water replenishment, and drying, and can charge the self-moving robot, remove dirt and sewage, replenish cleaning fluid, and dry it. When the water level detection device detects that the water level in the sewage tank 4 reaches the highest value, the control unit can control the body 1 to return to the base station and discharge the sewage in the sewage tank 4 into the base station.
The base station includes a base station body, which has a housing cavity for accommodating the cleaning device. The base station body also has a drying duct, which can blow dry airflow into the housing cavity. After the cleaning device pauses or finishes cleaning, it enters the housing cavity of the base station and undergoes drying with the dry airflow. The air duct system of the cleaning device is configured to extract the dry airflow sent out by the drying system, which can dry the water stains remaining inside the cleaning device.
The housing cavity of the base station can be set at the top, middle, or bottom of the base station body, adapted to the corresponding cleaning device. For example, in one embodiment disclosed herein, the cleaning device is a handheld vacuum cleaner, and the housing cavity can be set at the top of the base station body to facilitate the user to take or put the handheld vacuum cleaner from the top of the base station body. In another embodiment disclosed herein, the cleaning device is the aforementioned self-moving cleaning robot, which can walk on the ground independently to clean the floor. The housing cavity can be set at the bottom of the base station body so that the self-moving robot can enter the housing cavity from the ground or walk through a slope to reach the housing cavity located at a certain height.
The bottom of the housing cavity 1211 shown in
In detail, the direction of the air outlet should be close to and facing the cleaning device. There can be multiple air outlets distributed around the cleaning device to improve the stable drying efficiency of the cleaning device. The cleaning device can include but is not limited to a cloth, a roller, a cleaning brush, a scraper, etc., and other conventional cleaning devices fall within the scope of the present disclosure. In the embodiment shown in
In one embodiment, as shown in
Because the groove 1212 is set at the bottom of the housing cavity 1211, when the cleaning device A enters the base station's housing cavity 1211, the cleaning apparatus can cooperate with the groove 1212 to position the cleaning device A, preventing the cleaning device A from shaking or slipping out of the base station B's housing cavity 1211.
In some embodiments disclosed herein, as shown in
The drying duct 1222 can be a pipeline or a duct formed by an opening in the base station body 121. The air outlet 1221 and the base station fan 1223 are respectively set at both ends of the drying duct 1222. Additionally, the drying duct 1222 can have multiple branches to form multiple air outlets in the housing cavity 1211. Alternatively, the air outlet 1221 can have a single channel, and multiple channels of the drying duct 1222 can be connected to the same air outlet 1221. The structural settings of the drying duct 1222 and the air outlet 1221 are merely examples and do not limit the disclosure herein. Those skilled in the art can make adjustments to the actual structural settings or assemblies as needed.
The base station fan 1223 can include but is not limited to an axial fan or a centrifugal fan, and it can be fixedly mounted on the base station body 121. The heating device 1224 includes but is not limited to electric heating wires, heating plates, heat exchange tubes, etc. The airflow flowing through the drying duct 1222 is heated by the heating device 1224, forming dry airflow directed towards the air outlet. The temperature of the dry airflow can be related to the power and airflow rate of the heating device 1224. Additionally, the heating device 1224 can be singular or plural, but this is not specifically mentioned here.
Referring to
The cleaning device A disclosed herein can also be equipped with a clean water tank, which is used to store clean water, detergents, and other cleaning liquids. During the cleaning process of the cleaning device A, the clean water tank can supply the cleaning liquid to the cleaning apparatus, thereby improving the cleaning efficiency of the cleaning apparatus. After the cleaning apparatus wipes the floor, the cleaning liquid becomes sewage. The air duct system of the cleaning device A is located near the cleaning device A and can suction the sewage into the sewage tank of the cleaning device A.
In some embodiments, as shown in
In a specific embodiment, as shown in
For example, in a specific embodiment disclosed herein, a vacuum negative pressure port can be set on the sewage bucket 124. This vacuum negative pressure port is connected to the waterway component 123 through a pipeline. When the waterway component 123 is connected to the sewage tank of the cleaning device A, the motor can create negative pressure at the vacuum negative pressure port in the sewage bucket 124, extracting the sewage stored in the sewage tank of the cleaning device A into the sewage bucket 124.
To enable the cleaning device A to smoothly enter the housing cavity 1211 of the base station B, in some embodiments, as shown in
In other embodiments, guide wheels 1214 can be installed on the inner walls relative to both sides of the housing cavity 1211. The axis of rotation of the guide wheels 1214 is perpendicular to the direction of movement when the cleaning device A enters the housing cavity 1211. When the cleaning device A enters the housing cavity 1211, the side walls roll in conjunction with the guide wheels 1214. The guide wheels 1214 can guide the cleaning device A and reduce the friction resistance between them.
Furthermore, positioning structures can be installed inside the housing cavity 1211 to limit the position of the cleaning device A. The positioning structures can partially match the cleaning device A, such as the corners of the cleaning device A, the universal wheels, or driving wheels used for movement, etc. The positioning structures include but are not limited to grooves, steps, protrusions, etc.
In one embodiment, as shown in the embodiment of
The overall shape of the cleaning device A can be circular, rectangular, triangular, etc., without limitation herein. When entering the housing cavity 1211, the cleaning device A can enter by advancing or retreating.
In a specific embodiment disclosed herein, as shown in
Usually, the front end of a self-moving cleaning robot is equipped with a bumper sensor structure. When the self-moving cleaning robot collides with an obstacle, the bumper sensor is triggered, thereby controlling the self-moving cleaning robot to retreat to avoid the obstacle ahead. After the self-moving cleaning robot enters the station in a forward manner, it needs to close or shield the signal of the bumper sensor.
For example, in one embodiment disclosed herein, the charging contacts of the self-moving cleaning robot are set on the bumper structure. When the self-moving cleaning robot returns to the station for charging, the charging contacts on the bumper structure need to dock with the corresponding charging contacts on the base station. At this time, the signal of the bumper sensor should be turned off to avoid mis-operations such as the self-moving cleaning robot retreating.
As described above, when the cleaning device A enters the housing cavity of the base station B, the cleaning device A can be charged, the stored sewage can be pumped out, the water tank can be filled with water, and the cleaning device A's cleaning apparatus can be cleaned.
To this end, the present disclosure also provides a cleaning method implemented by the above-mentioned cleaning system, as shown in
When the cleaning device finishes its work and enters the housing cavity of the base station, corresponding operations can be performed as needed. For example, when the cleaning device is severely low on battery, priority can be given to charging the cleaning device before proceeding with the cleaning work.
In one embodiment disclosed herein, before cleaning the cleaning apparatus, it is preferable to extract the sewage from the cleaning device's sewage tank to the base station's sewage bucket based on the current situation, and replenish the cleaning device's water tank with water from the base station's water bucket.
For example, when there is a lot of sewage in the cleaning device's sewage tank, reaching the designed full water level, the sewage should be first pumped out through the drain pipe set on the base station. When there is not much water in the cleaning device's water tank, water should also be first replenished into the cleaning device's water tank through the filling pipe set on the base station.
Alternatively, regardless of the current state of the cleaning device's water tank or sewage tank, the sewage in the sewage tank is extracted and the water tank is replenished before the cleaning device enters the base station for cleaning. This is conducive to subsequent cleaning of the cleaning apparatus.
When the cleaning mode is activated, water is supplied to the cleaning apparatus's cleaning apparatus, and the cleaning apparatus is opened to clean the cleaning apparatus. Water can be supplied to the cleaning apparatus through the cleaning device's own water tank to clean the cleaning apparatus. Alternatively, water can be supplied to the cleaning apparatus through the base station's water bucket to clean the cleaning apparatus. Alternatively, both can supply water to the cleaning apparatus simultaneously, and the cleaning apparatus can complete its own cleaning work during its own rotation.
In one embodiment disclosed herein, during the cleaning process, the main fan of the cleaning device is not turned on, that is, the airflow system of the cleaning device does not operate, so that the water supplied to the cleaning apparatus will fall into the groove of the base station, allowing some cleaning apparatuses to be immersed in the water in the groove.
For example, when the cleaning device is the self-moving cleaning robot disclosed herein, during the rotation of the cleaning apparatus, the water on the cleaning apparatus can be scraped off by the scraper plate, and the scraped-off water will fall into the groove coordinated with the cleaning apparatus. When a certain amount of water is deposited in the groove, the cleaning apparatus will be immersed in the water. As the cleaning apparatus continues to rotate, it can be cleaned by the water in the groove.
After the cleaning apparatus finishes cleaning, the main fan of the cleaning device is turned on, and the cleaned sewage is extracted to the sewage tank for storage through the cleaning device's airflow system. When the cleaning device enters the base station, a seal is formed between the soft rubber at the inlet end of its airflow system and the bottom of the base station's housing cavity, allowing the cleaning apparatus and the water in the groove to be sucked into the sewage tank through the airflow system.
When the cleaning device is the self-moving cleaning robot disclosed herein, the water scraped off by the scraper plate of the cleaning apparatus can be directly sucked into the sewage tank by the airflow system. After scraping off the water, the cleaning apparatus can absorb the water in the groove, continue to scrape off the water absorbed on the cleaning apparatus with the scraper plate, and be sucked into the sewage tank by the airflow system, so that the cleaning apparatus and the water in the groove can be completely sucked into the sewage tank.
In one embodiment disclosed herein, steps S1000 and S2000 can be repeated multiple times to repeatedly clean the cleaning apparatus. The specific number of cleaning times can be set according to actual needs, for example, steps S1000 and S2000 can be performed twice.
By opening the base station's drying system, the base station's fan blows heated dry airflow through the drying duct to the cleaning apparatus for drying. Additionally, at this time, the main fan of the cleaning device is turned on, and the dry airflow blown out by the drying duct can be sucked in through its airflow system to dry the cleaning device's airflow system.
Before the base station fan starts working or just starts working, the main fan of the cleaning device operates at the first power level, for example, it can work at full power for 1-3 minutes, which can suck out the moisture contained in the solid waste in the dust collection device, achieving further separation of solid waste and moisture. After completing this step, the main fan of the cleaning device can operate at the second power level, for example, it can enter the low-power mode to gradually dry the entire duct by sucking in the dry airflow blown out by the base station.
In one embodiment disclosed herein, before step S3000, there is also a step of extracting the sewage from the cleaning device's sewage tank to the base station's sewage bucket. This allows the sewage tank to be dried as well, avoiding the generation of bacteria and odors in the sewage tank.
When the cleaning device is the self-moving cleaning robot disclosed herein, the dry airflow sucked in by the first air inlet can flow through the first air duct, sewage tank, and third air duct to dry the entire duct system.
After the above cleaning and drying are completed, the cleaning device can enter the charging mode for charging by the base station.
The control system of the self-moving floor washing robot starts operating after receiving work instructions, walking on the ground through the driving wheels, and rolling the roller to clean dust, water stains, etc. on the floor. The nozzle sprays the cleaning solution from the clean water tank onto the top of the roller, and the water distribution bar evenly spreads the cleaning solution on the roller, improving the cleaning effect of the roller. After the roller wipes the floor, it rotates to the scraper plate. The water stains and dirt on the surface of the roller are scraped off by the scraper plate and fall into the entrance of the first air duct. The edge of the entrance of the first air duct, the roller, the scraper plate, and the ground form a closed space, and the fan assembly creates a negative pressure in the air duct, thereby directly sucking the water stains and dirt scraped off by the scraper plate into the sewage tank through the entrance of the first air duct. The sewage does not fall on the ground, let alone accumulate on the working surface, greatly improving the cleaning and dirt suction effect.
Solid particles sucked into the air duct are filtered through the dust collection device and retained in the dust collection device. The gases and liquids sucked into the air duct are separated in the sewage tank. Among them, the liquid remains at the bottom of the sewage tank, and the gas enters the second channel of the second air duct, flowing uniformly towards the outlet of the second air duct from all directions in the second channel, avoiding the situation where the local airflow is too fast and causes the airflow to suck out the liquid in the sewage tank. The airflow from the outlet of the second air duct enters the third air duct, and the fan assembly blows the gas in the third air duct from the bottom of the machine body to the ground, thereby accelerating the evaporation of residual water stains on the ground.
The roller assembly of the self-moving robot is installed in the mounting cavity at the bottom of the machine body, and the roller of the roller assembly can be detachably mounted on the roller bracket.
When installing the roller, insert the roller into the roller bracket, and then restrict the roller on the roller bracket with the roller cover plate. When installing the roller cover plate, first push the slider from the first position to the second position, and then assemble the roller cover plate on the roller bracket. After releasing the slider, the slider returns from the second position to the first position under the action of the elastic device. The slider drives the locking member on the roller cover plate to move, so that the engaging portion of the locking member can match with the locking groove on the roller bracket, thereby locking the roller cover plate to the roller bracket, and the roller is restricted between the roller bracket and the roller cover plate.
When disassembling the roller, push the slider from the first position to the second position to disengage the engaging portion of the locking member from the locking groove of the roller bracket, and then remove the roller cover plate so that the roller on the roller bracket can be taken out.
The self-moving robot walks on the ground, and the roller rotates and rubs against the ground to perform cleaning work. The scraper plate can scrape off the dirt and sewage on the roller. After using for a period of time, the surface of the roller shows wear and tear. The roller assembly is connected to the body through a pivot axis, allowing the roller assembly to maintain contact with the ground under the action of gravity. That is, the roller assembly is floatingly arranged and can rotate relative to the body up and down.
During the long working process of the self-moving robot, when the roller wears out or when the ground becomes uneven, the roller can always be in contact with the ground and roll under the action of gravity, thereby avoiding gaps between the roller and the ground. This ensures a seal between the entrance of the first air duct and the ground, preventing air loss in the air duct, which would otherwise prevent the first air duct from sucking away the sewage not scraped off by the scraper plate. Additionally, maintaining contact between the roller and the ground can improve the cleaning effect of the roller on the ground. Even if the roller is worn out, it can still maintain its cleaning ability on the ground.
When the sewage tank is installed on the body, the outlet of the first air duct on the body docks with the entrance of the second air duct on the sewage tank. The lifting part on the body can push open the first gate at the entrance of the second air duct, so that the first air duct and the second air duct are connected. The entrance of the third air duct on the body docks with the outlet of the second air duct on the sewage tank. When the fan assembly on the body is turned on, a negative pressure is formed in the third air duct, and the second gate at the outlet of the second air duct can be opened under the negative pressure, allowing the second air duct and the third air duct to be connected, thereby connecting the first air duct, the second air duct, and the third air duct to each other, and airflow is formed in the air duct. After the sewage tank is removed from the body, the first gate and the second gate can automatically close to prevent the liquid inside from overflowing through the entrance or exit of the second air duct.
The dust collection device in the sewage tank needs to be cleaned regularly. When disassembling, first open the cover plate on the top of the sewage tank, then remove the dust collection device inside the containment chamber, clean the garbage inside the dust collection device, or replace a new dust collection device. After removing the dust collection device, the anti-error mechanism in the containment chamber, under the action of the torsion spring, rotates its cam from the second position to the first position, occupying the installation position of the cover plate. At this time, the cover plate cannot be installed. This prevents users from forgetting to install the dust collection device and directly installing the cover plate, which would result in solid particles in the second air duct not being collected, or even the robot working without the cover plate installed, causing the second air duct to fail to seal, greatly reducing the suction effect of the air duct.
Only when the dust collection device is installed, the pressure part of the dust collection device can drive the pressed part of the anti-error mechanism to move, causing the cam to rotate from the first position to the second position, making room for installing the cover plate. At this time, the cover plate can be installed in the corresponding position, ensuring the collection of solid particles in the air duct and the sealing of the second air duct.
When the self-moving robot is working, it walks forward on the ground, cleans the ground with the cleaning device, and the fan of the self-moving robot provides negative pressure to the air duct. The sewage generated after cleaning the ground is sucked into the first air duct by the airflow, then enters the cavity inside the water tank through the entrance of the second air duct. The sewage and airflow are separated inside the water tank, with the sewage remaining in the cavity of the water tank and the airflow being discharged from the exit of the second air duct. Under the action of the airflow, the sewage tends to be pushed up toward the exit of the second air duct. In addition, the entrance of the second air duct is near the front end of the water tank, and the exit of the second air duct is near the rear end of the water tank. Under conditions such as startup and acceleration, the sewage will also tend to be pushed up toward the exit of the second air duct due to inertia, causing the sewage to be easily sucked into the exit of the second air duct by the airflow or causing the water level detection device to be mistakenly triggered.
The baffle in the water tank can prevent the sewage from being pushed up. The airflow in the second air duct can flow to the exit of the second air duct through the through-hole of the baffle, thereby avoiding the sewage around the second air duct from being sucked into the exit of the second air duct by the airflow, and also preventing the water level detection device from being mistakenly triggered.
The water tank is used to store sewage generated by the cleaning device. The cavity inside the water tank sucks in liquid-carrying sewage through the entrance of the second air duct. Sewage and airflow separate inside the water tank, with sewage remaining in the cavity of the water tank and airflow discharged from the exit of the second air duct. The sewage is stored in the cavity of the water tank, and the water level detection device set in the cavity of the water tank can detect the water level height. When the sewage level reaches the preset water level line, the first detection probe and the second detection probe of the water level detection device can be conductive through the sewage, thereby generating a detection signal. The fan assembly stops working based on the detection signal to prevent the water level of the sewage from being too high and being sucked into the fan assembly.
In the first detection probe and the second detection probe, the bottom of one detection probe is higher than the preset water level line, and the other end is lower than or equal to the preset water level line. In this way, only when the water level in the sewage tank reaches the preset water level line, under the action of the robot walking or the air duct, the raised water level can touch the detection probe whose bottom is higher than the preset water level line, thereby causing both detection probes to emit a signal indicating that the water is full.
During the cleaning process of the self-moving floor washing robot on the ground, the recognition device at the front of the body detects obstacles on the ground. When obstacles are detected on the ground, the recognition device sends a detection signal to the control system. Based on the control signal, the control system can control the scraper plate to move away from the roller, stopping the scraping of sewage from the roller to prevent water stains and dirt from remaining on the ground at the entrance of the first air duct when the roller crosses obstacles.
In another application scenario, when obstacles are detected on the ground, the control system can control the roller to reduce speed based on the control signal, greatly reducing the amount of sewage scraped from the roller by the scraper plate. This also prevents water stains and dirt from remaining on the ground.
When the cleaning device completes its cleaning work and enters the chamber of the base station, the drainage pipe and water inlet pipe on the base station respectively dock with the drainage outlet and water inlet of the cleaning device to extract the sewage from the cleaning device's sewage tank to the base station's sewage bucket for processing, and replenish the water tank of the cleaning device with water through the base station's clean water bucket.
Subsequently, the cleaning device's water tank and/or the base station's clean water bucket can supply water to the cleaning device's cleaning device for cleaning. After cleaning, the main fan of the cleaning device is turned on to extract the sewage from the cleaning into the sewage tank, and then extract the sewage from the sewage tank into the base station's sewage bucket for storage again.
The base station fan is turned on to blow dry airflow from the base station's air drying duct to the cleaning device's cleaning device, and the cleaning device's duct system inhales the blown dry airflow to dry the air duct system and sewage tank of the cleaning device.
The above describes various embodiments of the present disclosure. The foregoing description is illustrative and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles, practical applications, or technological improvements in the market of the disclosed embodiments, or to enable other ordinary skilled artisans in this technical field to understand the disclosed embodiments. The scope of the present disclosure is defined by the appended claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202111363992.0 | Nov 2021 | CN | national |
| 202111365272.8 | Nov 2021 | CN | national |
| 202111365281.7 | Nov 2021 | CN | national |
| 202111365285.5 | Nov 2021 | CN | national |
| 202111365286.X | Nov 2021 | CN | national |
| 202111365290.6 | Nov 2021 | CN | national |
| 202122822600.4 | Nov 2021 | CN | national |
| 202122822726.1 | Nov 2021 | CN | national |
| 202122822729.5 | Nov 2021 | CN | national |
| 202122824860.5 | Nov 2021 | CN | national |
| 202122858778.4 | Nov 2021 | CN | national |
This application is a continuation application of International Patent Application No. PCT/CN2022/121120, filed on Sep. 23, 2022, which is based on and claims priority to and benefits of Chinese patent applications submitted to the China National Intellectual Property Administration on Nov. 17, 2021, with application Ser. No. 20/2111365286.X, titled “Water Tank and Self-moving Cleaning Robot,” application Ser. No. 20/2122822726.1, titled “Water Tank and Self-moving Cleaning Robot,” application Ser. No. 20/2111365285.5, titled “Self-moving Cleaning Robot and Cleaning System,” application Ser. No. 20/2122822600.4, titled “Self-moving Cleaning Robot and Cleaning System,” application Ser. No. 20/2111365272.8, titled “Roller assembly and Self-moving Cleaning Robot,” application Ser. No. 20/2122824860.5, titled “Roller assembly and Self-moving Cleaning Robot,” application Ser. No. 20/2111365281.7, titled “Self-moving Floor Washing Robot and Control Method,” application Ser. No. 20/2111365290.6, titled “Cleaning System, Base Station, and Cleaning Method,” application Ser. No. 20/2122822729.5, titled “Cleaning System and Base Station,” application Ser. No. 20/2111363992.0, titled “Water Tank and Cleaning Equipment,” and application Ser. No. 20/2122858778.4, titled “Water Tank and Cleaning Equipment.” All of the above-referenced applications are incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/CN2022/121120 | Sep 2022 | WO |
| Child | 18664433 | US |
