TWI885647B - Automatic cleaning device - Google Patents

Abstract

The present invention provides an automatic cleaning device, comprising: a mobile platform configured to automatically move on an operation surface; a cleaning module disposed on the mobile platform, including: a wet cleaning module configured to adopt a wet cleaning mode for cleaning at least a part of the operation surface; a lifting structure connected with the wet cleaning module, configured to enable the wet cleaning module to move up and down relative to the mobile platform; a cleaning liquid module configured to provide cleaning liquid for the wet cleaning module; a driving mechanism including a first driving component and a second driving component. The present invention enables the cleaning device to coordinately control the operation of the wet cleaning module, the lifting structure and the cleaning liquid module.

Description

Automatic cleaning equipment

The present invention relates to the field of cleaning robot technology, and in particular to an automatic cleaning device.

Cleaning robots currently mainly include sweeping robots and mopping robots. The functions of sweeping robots and mopping robots are relatively simple, either they can only sweep the floor or they can only mop the floor. If you want to sweep and mop the floor at the same time, you must prepare two sets of equipment at the same time, which takes up twice the space.

In the prior art, there are also technologies that combine a sweeping robot with a mopping robot, and add a mop to the rear end of the robot to achieve integrated sweeping and mopping. However, the mopping function in the integrated cleaning only uses a mop to move horizontally on the ground. As the mop moves horizontally, a single mop is performed in the moving track of the cleaning robot, and the mopping effect and efficiency are greatly reduced. In particular, for some environments with more stains and a relatively dirty ground, it is obvious that one move and mop cannot clean the ground completely.

The purpose of this disclosure is to provide an automatic cleaning device that can solve the technical problem that the floor cannot be cleaned cleanly. The specific solution is as follows:

According to a first aspect of the present disclosure, there is provided an automatic cleaning device, comprising:

The mobile platform 100 is configured to automatically move on the operating surface;

The cleaning module 150 is disposed on the mobile platform 100 and includes:

The wet cleaning module 400 is configured to clean at least a portion of the operating surface by wet cleaning;

A lifting structure 500, connected to the wet cleaning module 400, and configured to enable the wet cleaning module 400 to move up and down relative to the mobile platform 100;

A cleaning liquid module, providing cleaning liquid for the wet cleaning module 400;

The driving mechanism 900 includes a first driving assembly 901 and a second driving assembly 902, wherein:

The first driving assembly 901 is configured to provide power to at least one of the wet cleaning module 400, the lifting structure 500 and the cleaning liquid module;

The second driving assembly 902 is configured to provide power to at least one of the wet cleaning module 400, the lifting structure 500 and the cleaning liquid module that is not connected to the first driving assembly 901.

Optionally, the driving mechanism 900 further includes: at least two power structures 910, which are respectively connected to the first driving assembly 901 and the second driving assembly 902 to provide driving force.

Optionally, the driving mechanism 900 further includes: a gear set 42193, which is connected to the power structure 910 and is used to output driving force for the first driving assembly 901 and/or the second driving assembly 902.

Optionally, the driving mechanism 900 further comprises:

The clutch 42195 is engaged and connected with the gear set 42193. When the clutch 42195 and the gear set 42193 are reversely engaged, the clutch 42195 provides driving force. When the clutch 42195 and the gear set 42193 are forwardly non-engaged, the clutch 42195 does not provide driving force.

Optionally, the clutch 42195 includes: a first clutch gear 421951 and a second clutch gear 421952 arranged relatively to each other, wherein the second clutch gear 421952 has teeth arranged at an angle inclined in a counterclockwise direction, so that when the second clutch gear 421952 is reversely engaged with the gear set 42193, a driving force is provided, and when the second clutch gear 421952 is forwardly non-engaged with the gear set 42193, no driving force is provided.

Optionally, the driving mechanism 900 further comprises:

The cable gear 42196 is engaged with the first clutch gear 421951 and rotates under the drive of the first clutch gear 421951.

Optionally, the lifting assembly 500 further includes:

The cable 42194 has one end wound around the cable gear 42196 and the other end connected to the lifting structure 500, and is driven by the gear set 42193 to pull the lifting structure 500 up and down.

Optionally, the power structure 910 is a clean water pump 4219, which provides power for the cleaning liquid module and provides cleaning liquid for the wet cleaning module 400.

Optionally, the gear set 42193 includes:

The primary transmission gear 421931 is connected to the output shaft of the motor 4211 and is used to output the driving force of the motor;

The secondary transmission gear 421932 is engaged with the primary transmission gear 421931 and is used to output the driving force of the motor to the cable gear 42196;

The tertiary transmission gear 421933 engages with the secondary transmission gear 421932 to output the driving force of the motor to the clean water pump 4219.

Optionally, the output shaft of the motor 4211 includes an output gear 42111, which engages with the primary transmission gear 421931 to output the driving force of the motor.

Optionally, the driving mechanism 900 further comprises:

A driving wheel 4212 is connected to the output shaft of the motor, and the driving wheel 4212 is an asymmetric structure;

The vibrating member 4213 is connected to the driving wheel 4212 and realizes reciprocating motion under the asymmetric rotation of the driving wheel 4212.

Optionally, the power structure 910 is an electric motor 4211 for providing forward and reverse driving force.

Optionally, the clean water pump 4219 is a peristaltic pump, which engages with the gear set 42193, and provides power to the cleaning liquid module under the drive of the gear set 42193, and provides cleaning liquid to the wet cleaning module 400.

Optionally, the clean water pump 4219 is an air pump, which provides power for the cleaning liquid module and provides cleaning liquid for the wet cleaning module 400.

Optionally, the driving mechanism 900 includes a third driving assembly 903, and the first driving assembly 901, the second driving assembly 902, and the third driving assembly 903 are respectively connected to the wet cleaning module 400, the lifting structure 500, and the cleaning liquid module.

According to a second aspect of the present disclosure, there is provided an automatic cleaning device, comprising:

The mobile platform 100 is configured to automatically move on the operating surface;

The cleaning module 150 is disposed on the mobile platform 100 and includes:

The wet cleaning module 400 is configured to clean at least a portion of the operating surface by wet cleaning;

A lifting structure 500, connected to the wet cleaning module 400, is configured to move the wet cleaning module 400 up and down relative to the mobile platform 100 and the operating surface in response to obstacles or ups and downs on the operating surface;

The wet cleaning module 400 includes: a cleaning head 410 for cleaning the operating surface, and a driving unit 420 for driving the cleaning head 410 to reciprocate along a target surface, wherein the target surface is a part of the operating surface.

Optionally, the lifting structure 500 is a parallelogram structure, comprising:

The first connection end 501 is used to provide active power to switch the dry cleaning module 151 or the wet cleaning module 400 between the rising state and the sinking state;

The second connecting end 502 is disposed opposite to the first connecting end 501 and rotates under the action of the active force.

Optionally, the first connection end 501 includes: a first bracket 5011, fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 includes:

Beam 50111;

The slide groove 50112 extends along the surface of the cross beam 50111, and

The clamping hole 50113 passes through the cross beam 50111 and is arranged at the extended end of the sliding groove 50112.

Optionally, the first connecting end 501 further includes: a first connecting rod pair 5012, one end of which is rotatably connected to the mobile platform 100, and the other end of which is rotatably connected to the dry cleaning module 151 or the wet cleaning module 400; the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 arranged in parallel, the first ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the mobile platform 100 through a movable stud, and the second ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the wet cleaning module 400 through a movable stud.

Optionally, the lifting structure 500 further includes a cable assembly 42194 for providing a pulling force to rotate the first connecting rod pair 5012 within a preset angle; the cable assembly 42194 includes:

The cable motor terminal 50131 is connected to the driving unit 420; the cable bracket terminal 50132 is connected to the first bracket 5011, and the motor causes the second ends of the first connecting rod 50121 and the second connecting rod 50122 to rise or sink through the cable 42194.

According to a third aspect of the present disclosure, there is provided an automatic cleaning device, comprising:

The mobile platform 100 is configured to automatically move on the operating surface;

The cleaning module 150 is disposed on the mobile platform 100 and includes:

The dry cleaning module 151 is configured to clean at least a portion of the operating surface using a dry cleaning method;

The wet cleaning module 400 is configured to clean at least a portion of the operating surface by wet cleaning; wherein, the wet cleaning module 400 is characterized in that:

The wet cleaning module 400 includes:

a cleaning head 410 for cleaning the work surface, and,

A driving unit 420 is used to drive the cleaning head 410 to substantially reciprocate along a target surface, wherein the direction of the reciprocating motion is substantially perpendicular to the direction in which the moving platform moves on the operating surface, and the target surface is a part of the operating surface.

Optionally, the driving unit 420 includes:

The driving platform 421 is connected to the bottom surface of the mobile platform 100 and is used to provide driving force;

The supporting platform 422 is detachably connected to the driving platform 421 and is used to support the cleaning head 410.

Optionally, the driving platform 421 includes:

The motor 4211 is disposed on a side of the driving platform 421 close to the moving platform 100 and outputs power through a motor output shaft;

The driving wheel 4212 is connected to the output shaft of the motor, and the driving wheel 4212 is an asymmetric structure.

Optionally, the driving platform 421 further includes:

The vibrating member 4213 is disposed on the side of the driving platform 421 opposite to the motor 4211 and connected to the driving wheel 4212 to achieve substantially reciprocating motion under the asymmetric rotation of the driving wheel 4212.

Optionally, the driving platform 421 further includes:

The connecting rod 4214 extends along the edge of the driving platform 421 to connect the driving wheel 4212 and the vibrating member 4213, so that the vibrating member 4213 extends to a preset position.

According to a fourth aspect of the present disclosure, there is provided an automatic cleaning device, comprising:

The mobile platform 100 is configured to automatically move on the operating surface;

The cleaning module 150 is disposed on the mobile platform 100 and includes:

The wet cleaning module 400 is configured to clean at least a portion of the operating surface by wet cleaning; wherein the wet cleaning module 400 comprises:

a cleaning head 410 for cleaning the work surface, and,

A driving unit 420 for driving at least a portion of the cleaning head 410 to substantially reciprocate along a target surface, wherein the target surface is a portion of the operating surface, and the reciprocating motion has a frequency greater than 2000 times per minute.

Optionally, the driving unit 420 includes:

The driving platform 421 is connected to the bottom surface of the mobile platform 100 and is used to provide driving force. The driving platform 421 includes:

The motor 4211 is disposed on a side of the driving platform 421 close to the moving platform 100 and outputs power through a motor output shaft;

The driving wheel 4212 is connected to the output shaft of the motor, and the driving wheel 4212 is an asymmetric structure.

Optionally, the driving unit 420 includes:

The supporting platform 422 is detachably connected to the driving platform 421 and is used to support the cleaning head 410.

Optionally, the driving platform 421 further includes:

The vibrating member 4213 is disposed on the side of the driving platform 421 opposite to the motor 4211 and connected to the driving wheel 4212 to achieve substantially reciprocating motion under the asymmetric rotation of the driving wheel 4212.

Optionally, the reciprocating motion frequency of the vibrating member 4213 is greater than 2000 times per minute.

Compared with the prior art, the embodiments of the present invention have the following technical effects:

The present invention provides an automatic cleaning device, wherein a plurality of driving mechanisms are respectively connected to a wet cleaning device, a lifting structure and a cleaning liquid module, and by providing a clutch, a gear set, etc., a plurality of driving mechanisms synchronously or asynchronously control the working combination of the wet cleaning device, the lifting structure and the cleaning liquid module, thereby achieving a variety of cleaning effects. Furthermore, by connecting a plurality of driving mechanisms separately, the working load of the driving mechanisms is reduced, and the service life of the overall machine is improved.

The present invention provides an automatic cleaning device with a lifting structure. When the automatic cleaning device encounters an obstacle or an undulating surface on the operating surface, the height of the wet cleaning device is adjusted according to the height of the obstacle or the undulation of the surface through the passive lifting structure, which significantly improves the passing performance and cleaning effect of the automatic cleaning device.

An automatic cleaning device provided by the present invention provides a wet cleaning module, and the direction of the reciprocating motion of the vibration cleaning of the wet cleaning module is perpendicular to the moving direction of the automatic cleaning device, thereby avoiding the influence of the movement of the automatic cleaning device on the wet cleaning effect to the greatest extent, realizing the best cleaning efficiency and the shortest cleaning path of the wet cleaning module, and further saving the service life of the automatic cleaning device.

The present invention provides an automatic cleaning device and a wet cleaning module. The reciprocating motion frequency of the vibration cleaning of the wet cleaning module is greater than 2000 times per minute, that is, the frequency exceeds 2000 Hz, and the frequency of 20 Hz and above is the sound frequency audible to the human ear. Such high-frequency vibration greatly improves the cleaning effect and cleaning efficiency.

In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the attached drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative labor are within the scope of protection of the present invention.

The terms used in the embodiments of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The singular forms "one", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "plurality" generally includes at least two.

It should be understood that the term "and/or" used in this article is only a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present invention, these should not be limited to these terms. These terms are only used to distinguish. For example, without departing from the scope of the embodiments of the present invention, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of more restrictions, the elements defined by the phrase "including one" do not exclude the existence of other identical elements in the product or device including the elements.

The optional embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Embodiment 1

FIG1-2 is a schematic diagram of the structure of an automatic cleaning device according to an exemplary embodiment. As shown in FIG1-2, the automatic cleaning device can be a vacuum robot, a mopping/brushing robot, a window climbing robot, etc. The automatic cleaning device can include a mobile platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160 and a human-machine interaction system 170. Among them:

The mobile platform 100 can be configured to automatically move along a target direction on an operating surface. The operating surface can be a surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device can be a mopping robot, in which case the automatic cleaning device works on the ground, which is the operating surface; the automatic cleaning device can also be a window cleaning robot, in which case the automatic cleaning device works on the outer surface of the glass of a building, which is the operating surface; the automatic cleaning device can also be a pipe cleaning robot, in which case the automatic cleaning device works on the inner surface of a pipe, which is the operating surface. Purely for the purpose of demonstration, the following description in this application takes a mopping robot as an example for explanation.

In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operation decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operation decisions based on unexpected environmental inputs, but can execute established procedures or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a backward portion 110 .

The perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located at the forward part 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, and ultrasonic sensors (not shown in the figure), infrared sensors (not shown in the figure), magnetometers (not shown in the figure), accelerometers (not shown in the figure), gyroscopes (not shown in the figure), odometers (not shown in the figure), and other sensing devices, which provide the control system 130 with various position information and motion status information of the machine.

In order to more clearly describe the behavior of the automatic cleaning device, the following directions are defined: the automatic cleaning device can travel on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis x, the front-rear axis y, and the central vertical axis z. The forward drive direction along the front-rear axis y is marked as "forward", and the rearward drive direction along the front-rear axis y is marked as "rearward". The lateral axis x actually extends between the right and left wheels of the automatic cleaning device along the axis defined by the center point of the drive wheel assembly 141. Among them, the automatic cleaning device can rotate around the x axis. When the forward part of the automatic cleaning device is tilted upward and the rearward part is tilted downward, it is "upward tilting", and when the forward part of the automatic cleaning device is tilted downward and the rearward part is tilted upward, it is "downward tilting". In addition, the automatic cleaning device can rotate around the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is tilted to the right side of the y-axis, it is "right turn", and when the automatic cleaning device is tilted to the left side of the y-axis, it is "left turn".

As shown in FIG2 , cliff sensors 123 are provided on the bottom of the mobile platform 100 and in front and rear of the driving wheel assembly 141. The cliff sensors are used to prevent the automatic cleaning device from falling when it moves backward, thereby preventing the automatic cleaning device from being damaged. The aforementioned “front” refers to the side in the same direction as the automatic cleaning device, and the aforementioned “rear” refers to the side in the opposite direction to the automatic cleaning device.

The location determination device 121 includes but is not limited to a camera and a laser ranging device (LDS).

Each component in the sensing system 120 can operate independently or together to achieve the intended function more accurately. The surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including the surface material, the degree of cleaning, etc., and can be combined with a camera, a laser ranging device, etc. for a more accurate judgment.

For example, an ultrasonic sensor may be used to determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is made of carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward portion 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the driving wheel assembly 141 propels the automatic cleaning device to walk on the ground, the buffer 122 detects one or more events (or objects) in the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor. The automatic cleaning device can control the driving wheel assembly 141 to respond to the event (or object), such as an obstacle or a wall, by the event (or object) detected by the buffer 122, such as a wall.

The control system 130 is arranged on a circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit and an application processor, which communicates with a non-temporary storage, such as a hard disk, a flash memory, and a random access memory. The application processor is configured to receive the environmental information sensed by the multiple sensors transmitted from the perception system 120, and use a positioning algorithm, such as SLAM, to draw a real-time map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the drive system 140 to perform forward, backward and/or turning operations according to the autonomously determined driving path. Furthermore, the control system 130 can also determine whether to start the cleaning module 150 to perform a cleaning operation based on the environmental information and the environmental map.

Specifically, the control system 130 can combine the distance information and speed information fed back by the buffer 122, the cliff sensor 123 and the ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices to comprehensively judge the current working state of the sweeper, such as passing the threshold, being on the carpet, being on the cliff, being stuck above or below, the dust box is full, being picked up, etc., and will also provide specific next action strategies for different situations, so that the work of the automatic cleaning device is more in line with the owner's requirements and has a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of the automatic cleaning equipment.

The driving system 140 can execute driving commands based on specific distance and angle information, such as x, y and θ components, to control the automatic cleaning device to travel across the ground. FIG. 3 and FIG. 4 are oblique views and front views of a driving wheel assembly 141 on one side in an embodiment of the present invention. As shown in the figure, the driving system 140 includes a driving wheel assembly 141. The driving system 140 can control the left wheel and the right wheel at the same time. In order to more accurately control the movement of the machine, it is preferred that the driving system 140 includes a left driving wheel assembly and a right driving wheel assembly. The left and right driving wheel assemblies are symmetrically arranged along the transverse axis defined by the mobile platform 100. The driving wheel assembly includes a body, a driving wheel and an elastic element. One end of the body is connected to the frame, and the driving wheel is arranged on the body and driven by a driving motor 146. The elastic element is connected between the body and the frame, and the elastic element is configured to provide an elastic force between the frame and the body. The driving motor 146 is located on the outside of the driving wheel assembly 141, and the axis of the driving motor 146 is located in the cross-sectional projection of the driving wheel. The driving wheel assembly 141 can also be connected to a circuit for measuring the driving current and an odometer.

In order to enable the automatic cleaning device to move more stably or with stronger movement ability on the ground, the automatic cleaning device may include one or more steering assemblies 142. The steering assembly 142 may be a driven wheel or a driving wheel. Its structural form includes but is not limited to a universal wheel. The steering assembly 142 may be located in front of the driving wheel assembly 141.

The driving motor 146 provides power for the rotation of the driving wheel assembly 141 and/or the steering assembly 142 .

The driving wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance. The driving wheel can have an offset drop-down suspension system, which is movably fastened, for example, rotatably attached, to the mobile platform 100 of the automatic cleaning device, and is maintained in contact and traction with the ground with a certain grounding force through an elastic element 143, such as a tension spring or a compression spring, while the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.

The energy system 160 includes a rechargeable battery, such as a nickel-metal hydride battery and a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to the single-chip microcomputer control circuit. The host is charged by connecting the charging electrode disposed on the side or bottom of the fuselage to the charging pile. If dust is attached to the exposed charging electrode, the plastic body around the electrode may melt and deform due to the cumulative effect of the charge during the charging process, and even the electrode itself may deform, making it impossible to continue normal charging.

The human-machine interaction system 170 includes buttons on the main panel for users to select functions; it may also include a display screen and/or indicator lights and/or speakers, which display the current state of the machine or function options to the user; it may also include a mobile client program. For a path navigation cleaning device, a map of the environment where the device is located and the location of the machine can be displayed to the user on the mobile client, which can provide the user with more abundant and humanized functions.

The cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400 .

As shown in Figures 5-8, the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then the suction gas generated by the fan and passing through the dust box is sucked into the dust box. The dust removal ability of the sweeper can be characterized by the garbage collection efficiency DPU (Dust pickup efficiency). The collection efficiency DPU is affected by the roller brush structure and material, the wind utilization rate of the air duct formed by the dust suction port, dust box, fan, air outlet and the connecting parts between the four, and the type and power of the fan. It is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal ability is more meaningful for automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is, a machine that can clean 80 square meters of the ground on a single charge can evolve to clean 180 square meters or even more on a single charge. And the service life of the battery with fewer charging times will also be greatly increased, which will increase the frequency of battery replacement by users. More intuitively and importantly, the improvement of dust removal ability is the most obvious and important user experience, and users will directly draw conclusions on whether the sweeping/wiping is clean. The dry cleaning module may also include a side brush 152 having a rotating shaft that is angled relative to the ground to move debris into the roller brush area of the cleaning module 150.

FIG5 is a schematic diagram of the structure of the dust box 152 in the dry cleaning module, FIG6 is a schematic diagram of the structure of the fan 156 in the dry cleaning module, FIG7 is a schematic diagram of the dust box 152 in the open state, and FIG8 is a schematic diagram of the dust box and the fan in the assembled state.

The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port 154 between the roller brush and the dust box 152, and then is sucked into the dust box 152 by the suction gas generated by the fan 156 structure and passing through the dust box 152. The garbage is isolated by the filter 153 inside the dust box 152 near the dust suction port 154. The filter 153 completely isolates the dust suction port from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.

Typically, the dust suction port 154 of the dust box 152 is located at the front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction port of the fan 156 is connected to the air outlet of the dust box.

The front panel of the dust box 152 can be opened to clean the garbage in the dust box 152.

The filter 153 is detachably connected to the mobile platform box of the dust box 152, which is convenient for disassembly and cleaning of the filter.

According to a specific implementation of the present invention, as shown in Figures 9-11, the wet cleaning module 400 provided by the present invention is configured to clean at least a portion of the operating surface by a wet cleaning method; wherein, the wet cleaning module 400 includes: a cleaning head 410, and a driving unit 420, wherein the cleaning head 410 is used to clean at least a portion of the operating surface, and the driving unit 420 is used to drive the cleaning head 410 to basically reciprocate along the target surface, and the target surface is a portion of the operating surface. The cleaning head 410 reciprocates along the surface to be cleaned. A cleaning cloth or a cleaning plate is provided on the contact surface between the cleaning head 410 and the surface to be cleaned. The reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing dirt on the surface to be cleaned.

Optionally, the reciprocating motion has a frequency greater than 2000 times per minute, that is, a frequency exceeding 2000 Hz, and a frequency of 20 Hz and above is a sound frequency audible to the human ear. Such high-frequency vibration greatly improves the cleaning effect and cleaning efficiency.

The higher the friction frequency, the more friction times per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a much greater cleaning ability than ordinary reciprocating motion, such as rotation and friction cleaning. Optionally, the friction frequency is close to that of sound waves, and the cleaning effect will be much higher than that of rotation and friction cleaning of dozens of revolutions per minute. On the other hand, the hair tufts on the surface of the cleaning head will be more neatly arranged and extended in the same direction under the shaking of high-frequency vibration, so the overall cleaning effect is more uniform, instead of just applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation. The downward pressure alone will not make the hair tufts extend in a direction close to the same direction. The effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no messy water stains are left.

The higher the frequency of the reciprocating motion, the less likely it is to leave water stains. The reciprocating motion frequency is preferably much higher than 20 Hz (120 revolutions per minute), preferably higher than 2000 revolutions per minute. By driving at least a portion of the cleaning head to reciprocate on the operating surface by the drive unit, a higher-speed vibration, i.e., reciprocating motion, can be achieved, because the friction force to be overcome by driving only a portion of the cleaning head is smaller, thereby achieving a better cleaning effect.

Preferably, the area of at least the vibrating portion of the cleaning head can be roughly the same as the cleaning area of the dry cleaning module of the automatic cleaning device. Although reducing the area of at least the vibrating portion of the cleaning head can achieve a better cleaning effect, as the reciprocating motion area decreases, the cleaning efficiency of the cleaning module will also decrease. Therefore, it is necessary to select a suitable area ratio. When the area of at least the vibrating portion of the cleaning head is roughly the same as the cleaning area of the dry cleaning module of the automatic cleaning device, synchronization of dry cleaning and wet cleaning can be achieved, thereby ensuring the cleaning effect and cleaning efficiency of the automatic cleaning device at the same time.

The reciprocating motion may be reciprocating motion in any one or more directions within the operating surface, or vibration perpendicular to the operating surface, and there is no strict restriction on this. Optionally, the reciprocating motion direction of the cleaning module is roughly perpendicular to the machine travel direction, because the reciprocating motion direction parallel to the machine travel direction will bring instability to the moving machine itself, because the thrust and resistance in the travel direction will make the drive wheel slip easily. In the case of a wet cleaning module, the impact of slippage is more obvious, because the wet and slippery operating surface increases the possibility of slippage. In addition to affecting the smooth movement and cleaning of the machine, slippage will cause inaccurate distance measurement of sensors such as odometers and gyroscopes, resulting in the inability of navigation-type automatic cleaning equipment to accurately position and draw maps. In the case of frequent slippage, the impact on SLAM will not be ignored, so it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the movement of the cleaning head in the direction of the machine's travel causes the machine to be constantly pushed forward and backward while traveling, so the machine's travel will be unstable and not smooth.

As an optional implementation of the present invention, as shown in FIG9 , the driving unit 420 includes: a driving platform 421, connected to the bottom surface of the mobile platform 100, for providing a driving force; a supporting platform 422, detachably connected to the driving platform 421, for supporting the cleaning head 410, and can be lifted and lowered under the drive of the driving platform 421.

As an optional implementation of the present invention, a lifting module is provided between the cleaning module 150 and the mobile platform 100, so as to make the cleaning module 150 better contact the surface to be cleaned, or adopt different cleaning strategies for the surfaces to be cleaned of different materials.

Optionally, the dry cleaning module 151 can be connected to the mobile platform 100 via a passive lifting module. When the cleaning device encounters an obstacle or the surface to be cleaned is up and down, the dry cleaning module 151 can more conveniently overcome the obstacle through the lifting module.

Optionally, the wet cleaning module 400 can be connected to the mobile platform 100 via a passive lifting module. When the cleaning device encounters an obstacle or the surface to be cleaned is up and down, the wet cleaning module 400 can more conveniently overcome the obstacle through the lifting module.

Optionally, the wet cleaning module 400 can be connected to the mobile platform 100 via an active lifting module. When the wet cleaning module 400 is not temporarily involved in the work, or when encountering a surface to be cleaned that cannot be cleaned by the wet cleaning module 400, the wet cleaning module 400 is lifted by the active lifting module and separated from the surface to be cleaned, thereby realizing a change in the cleaning method.

As shown in Figures 10-11, the driving platform 421 includes: a motor 4211, which is arranged on the side of the driving platform 421 close to the mobile platform 100 and outputs power through the motor output shaft; a driving wheel 4212, which is connected to the motor output shaft and has an asymmetric structure; a vibrating member 4213, which is arranged on the side of the driving platform 421 opposite to the motor 4211 and connected to the driving wheel 4212, and realizes reciprocating motion under the asymmetric rotation of the driving wheel 4212.

The driving platform 421 may further include a gear mechanism. The gear mechanism may connect the motor 4211 and the driving wheel 4212. The motor 4211 may directly drive the driving wheel 4212 to rotate, or may indirectly drive the driving wheel 4212 to rotate through the gear mechanism. A person skilled in the art may understand that the gear mechanism may be a single gear or a gear set consisting of multiple gears.

The motor 4211 transmits power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water supply mechanism, the water tank, etc. through the power transmission device. The energy system 160 provides power and energy for the motor 4211, and is controlled as a whole by the control system 130. The power transmission device can be a gear transmission, a chain transmission, a belt transmission, or a worm gear, a worm shaft, etc.

The motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates forward, and in the reverse output mode, the motor 4211 rotates reversely. In the forward output mode of the motor 4211, the motor 4211 can drive the driving platform vibrator 4213 in the wet cleaning component 400 to basically reciprocate and the water supply mechanism to move synchronously through the power transmission device. In the reverse output mode of the motor 4211, the motor 4211 drives the driving platform 421 to rise and fall through the power transmission device.

Furthermore, the driving platform 421 also includes: a connecting rod 4214, which extends along the edge of the driving platform 421, connects the driving wheel 4212 and the vibrating member 4213, and extends the vibrating member 4213 to a preset position, wherein the extension direction of the vibrating member 4213 is perpendicular to the connecting rod 4214, so that the reciprocating motion direction of the vibrating member 4213 is approximately perpendicular to the moving direction of the machine.

The motor 4211 is connected to the driving wheel 4212, the vibrating member 4213, the connecting rod 4214 and the vibration buffer device 4215 through the power transmission device. The vibrating member 4213 and the connecting rod 4214 form a structure similar to an L-shaped structure, as shown in FIG15 , and the vibrating member 4213 reciprocates under the drive of the connecting rod 4214. The vibration buffer device 4215 reduces vibration and jitter of the movement driven by the driving wheel 4212, so that the vibrating member 4213 vibrates smoothly within the range of movement that the supporting platform 422 can provide. Optionally, the vibration buffer device 4215 is made of a soft material, and optionally a rubber structure, and the vibration buffer device 4215 is sleeved on the connecting rod 4214. On the other hand, the vibration buffer device 4215 can also protect the vibration member 4213 from collision with the driving platform 421 and cause damage, which also affects the reciprocating motion of the vibration member 4213. The movable member and the fixed member of the driving platform 421 are restricted from moving in the direction of machine travel by a connection method with less elasticity, and are connected in a flexible manner in a direction roughly perpendicular to the direction of travel, that is, in the vibration direction of the vibration member 4213, and movement is allowed. The above two motion restrictions make the movement of the vibration member 4213 not an exact reciprocating motion, but a basic reciprocating motion. When the wet cleaning assembly 400 is started, the motor 4211 starts working and begins to rotate forward. The motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the driving platform 421 through the driving wheel 4212. At the same time, the vibration buffer device 4215 drives the vibration member 4213 to reciprocate along the surface of the driving platform 421. The vibration member 4213 drives the cleaning substrate 4221 to reciprocate along the surface of the supporting platform 422. The cleaning substrate 4221 drives the active area 412 to reciprocate along the surface to be cleaned. At this time, the clean water pump causes clean water to flow out of the clean water tank and sprinkles the clean water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 cleans the surface to be cleaned through reciprocating motion.

The cleaning intensity/efficiency of the automatic cleaning device can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning device. For example, the automatic cleaning device can realize dynamic adjustment according to the physical information of the surface to be cleaned detected by the sensing system 120. For example, the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, and other information, and transmit this information to the control system 130 of the automatic cleaning device. Correspondingly, the control system 130 can command the automatic cleaning device to automatically and dynamically adjust the speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning device, thereby adjusting the preset reciprocating cycle of the reciprocating motion of the cleaning head 410.

For example, when the automatic cleaning device is working on a flat ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is working on an uneven ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because, compared with an uneven ground, a flat ground is easier to clean, so cleaning an uneven ground requires a faster reciprocating motion (i.e., a higher frequency) and a larger water volume of the cleaning head 410.

For another example, when the automatic cleaning device is working on a desktop, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is working on the ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because, compared to the ground, the desktop has less dust and oil, and the material constituting the desktop is also easier to clean, so the cleaning head 410 needs to perform fewer reciprocating motions and the water pump provides a relatively small amount of water to clean the desktop.

As an optional embodiment of the present invention, the support platform 422 includes: a cleaning substrate 4221, which is freely disposed on the support platform 422, and the cleaning substrate 4221 performs substantially reciprocating motion under the vibration of the vibration member 4213. Optionally, as shown in FIG16 , the cleaning substrate 4221 includes: an assembly notch 42211, which is disposed at a position in contact with the vibration member 4213, and when the support platform 422 is connected to the driving platform 421, the vibration member 4213 is assembled in the assembly notch 42211, so that the cleaning substrate 4221 can substantially reciprocate synchronously with the vibration member 4213. The cleaning substrate 4221 includes four first limit positions 42212 in the direction of travel of the cleaning device. The four first limit positions 42212 are flexibly connected to the cleaning substrate 4221, but the elastic expansion space is small, thereby limiting the movement of the cleaning substrate 4221 relative to the supporting platform 422 in the direction of travel of the cleaning device; the cleaning substrate 4221 includes two second limit positions 42213 in the direction perpendicular to the direction of travel of the cleaning device. The two second limit positions 42213 limit the range of reciprocating motion of the cleaning substrate 4221 in the direction perpendicular to the direction of travel of the cleaning device. In addition, a water outlet 42214 is provided near the assembly notch 42211 of the cleaning substrate 4221, so that the water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet. Due to the influence of the limiting position and the vibration buffer device, the movement of the cleaning substrate 4221 is basically reciprocating. The cleaning substrate 4221 is located at a part of the supporting platform 422, and the local vibration method can make the vibration frequency larger, such as reaching the sound wave frequency range. The movable part and the fixed part of the driving platform 421 are restricted in the direction of machine travel by a connection method with less elasticity, and are connected in a flexible manner and allow movement in a direction roughly perpendicular to the travel direction, that is, in the vibration direction of the vibration member 4213.

FIG12 shows another vibration drive mechanism 500′ of a cleaning head based on a crank slider mechanism according to multiple embodiments of the present application. The vibration drive mechanism 500′ can be applied to a driving platform 421. The vibration drive mechanism 500′ includes a driving wheel 4212, a vibration member 4213, a cleaning base plate 4221, a slide groove 4222, and a slide groove 4223.

The slide grooves 4222 and 4223 are opened on the support platform 422. The two ends of the cleaning substrate 4221 include a slide block 525 and a slide block 528 respectively. The slide blocks 525 and 528 are respectively a protrusion at the two ends of the cleaning substrate 4221. The slide block 525 is inserted into the slide groove 4222 and can slide along the slide groove 4222; the slide block 4223 is inserted into the slide groove 4223 and can slide along the slide groove 4223. In some embodiments, the slide groove 4222 and the slide groove 4223 are on the same straight line. In some embodiments, the slide groove 4222 and the slide groove 4223 are not on the same straight line. In some embodiments, the slide groove 4222 and the slide groove 4223 extend in the same direction. In some embodiments, the extending direction of the slide groove 4222 and the slide groove 4223 is the same as the extending direction of the cleaning base plate 4221. In some embodiments, the extending direction of the slide groove 4222 and the slide groove 4223 is different from the extending direction of the cleaning base plate 4221. In some embodiments, the extending direction of the slide groove 4222 and the slide groove 4223 is different. For example, as shown in FIG. 12, the extending direction of the slide groove 4222 is the same as the extending direction of the cleaning base plate 4221, while the extending direction of the slide groove 4223 is at a certain angle to the extending direction of the slide groove 4222.

The vibrating member 4213 includes a rotating end 512 and a sliding end 514. The rotating end 512 is connected to the driving wheel 4212 through a first pivot 516, and the sliding end 514 is connected to the cleaning base plate 4221 through a second pivot 518.

The rotation center of the driving wheel 4212 is point O, and the rotation center of the first pivot 516 is point A. Point O and point A do not coincide, and the distance between them is a preset distance d.

When the driving wheel 4212 rotates, point A makes a circular rotation. Correspondingly, the rotating end 512 makes a circular rotating motion following point A; the sliding end 514 drives the cleaning substrate 4221 to make a sliding motion through the second pivot 518 . Correspondingly, the slider 525 of the cleaning substrate 4221 makes a reciprocating linear motion along the chute 4222; the slider 528 makes a reciprocating linear motion along the chute 4223. In Figure 4, the moving speed of the mobile platform 100 is V0, and the moving direction is the target direction. According to some embodiments, when the slide groove 4223 and the slide groove 4222 are respectively approximately perpendicular to the direction of the moving speed V0 of the moving platform 100, the overall displacement of the cleaning substrate 4221 is substantially perpendicular to the target direction. According to other embodiments, when any one of the slide grooves 4223 and 4222 is at an angle other than 90 degrees to the target direction, the overall displacement of the cleaning substrate 4221 includes components perpendicular to the target direction and parallel to the target direction.

Furthermore, a vibration buffer device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.

FIG13 shows another cleaning head vibration drive mechanism 600′ based on a double crank mechanism according to multiple embodiments of the present application. The vibration drive mechanism 600′ can be applied to the driving platform 421. The vibration drive mechanism 600′ includes a driving wheel 4212 (first driving wheel), a driving wheel 4212′ (second driving wheel), and a cleaning substrate 4221.

The cleaning substrate 4221 has two ends. The first end is connected to the driving wheel 4212 through the first pivot 624; the second end is connected to the driving wheel 4212' through the second pivot 626. The rotation center of the driving wheel 4212 is point O, and the rotation center of the first pivot 624 is point A. Point O and point A do not overlap, and the distance between them is a preset distance d. The rotation center of the driving wheel 4212' is point O', and the rotation center of the second pivot 626 is point A'. Point O' and point A' do not overlap, and the distance between them is a preset distance d. In some embodiments, point A, point A', point O, and point O' are located on the same plane. Therefore, the driving wheel 4212, the driving wheel 4212' and the cleaning base plate 4221 can form a double crank mechanism (or a parallelogram mechanism), wherein the cleaning base plate 4221 serves as a coupling rod and the driving wheels 4212 and 4212' serve as two cranks.

Furthermore, a vibration buffer device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.

FIG14 shows a vibration drive mechanism 700′ based on a crank slider mechanism according to multiple embodiments of the present application. The vibration drive mechanism 700′ can be applied to a driving platform 421. The vibration drive mechanism 700′ includes a driving wheel 4212, a cleaning base plate 4221 and a slide groove 4222.

The slide groove 4222 is opened on the support platform 422. The cleaning base plate 4221 includes a rotating end 4227 and a sliding end 4226. The rotating end 4227 is connected to the driving wheel 4212 through a pivot 4228. Among them, the rotation center of the driving wheel 4212 is point O, and the rotation center of the rotating end pivot 4228 is point A. Point O and point A do not overlap, and the distance between them is a preset distance d. The sliding end 4226 includes a slider 42250. The slider 42250 is a protrusion on the sliding end 4226. The slider 42250 is inserted into the slide groove 4222 and can slide along the slide groove 4222. Therefore, the driving wheel 4212, the cleaning base plate 4221, the slider 42250 and the slide groove 4222 form a crank slider mechanism.

When the driving wheel 4212 rotates, point A makes a circular rotation. Correspondingly, the rotary end 4227 of the cleaning substrate 4221 makes a circular rotary motion following point A; and the slider 42250 then slides in the chute 4222 and makes a reciprocating linear motion. As a result, the cleaning substrate 4221 starts to reciprocate. According to some embodiments, the chute 4222 is approximately perpendicular to the direction of the target direction of the moving speed of the mobile platform. Therefore, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular rotational motion of the rotary end 4227 includes both components perpendicular to the target direction and parallel to the target direction.

In Fig. 14, the moving speed of the moving platform is V0, and the moving direction is the target direction; and the slide 4222 is approximately perpendicular to the target direction. At this time, the reciprocating motion of the cleaning substrate 4221 as a whole has both a moving component parallel to the target direction of the automatic cleaning device and a moving component perpendicular to the target direction of the automatic cleaning device.

Furthermore, the support platform 422 further includes: an elastic disassembly button 4229, which is arranged on at least one side of the support platform 422, and is used to make the support platform 422 detachably connected to the claw 4216 of the driving platform 421, so that the support platform 422 is detachably mechanically fixed on the driving platform 421, relative to the driving platform and the automatic cleaning device itself. At least one assembly area 4224, which is arranged on the support platform 422, is used to assemble the cleaning head 410. The assembly area 4224 can be formed of an adhesive material having an adhesive layer.

As an optional embodiment of the present invention, as shown in FIG9 , the cleaning head 410 includes: an active area 412 connected to the cleaning substrate 4221, and substantially reciprocating along the cleaning surface under the drive of the cleaning substrate 4221. The active area 412 is disposed at a substantially central position of the cleaning head 410.

Optionally, a bonding layer is provided on one side of the active area 412 connected to the cleaning substrate 4221, and the active area 412 and the cleaning substrate 4221 are connected via the bonding layer.

Optionally, the cleaning head 410 further includes: a fixed area 411, which is connected to the bottom of the supporting platform 422 through the at least one assembly area 4224, and the fixed area 411 cleans at least a portion of the operating surface as the supporting platform 422 moves.

Furthermore, the cleaning head 410 further includes: a flexible connection portion 413, disposed between the fixed area 411 and the movable area 412, for connecting the fixed area 411 and the movable area 412. The cleaning head 410 further includes: a sliding buckle 414, extending along the edge of the cleaning head 410, and detachably mounted on the clamping position 4225 of the supporting platform 422.

In this embodiment, as shown in Fig. 9, the cleaning head 410 can be made of a material with a certain elasticity, and the cleaning head 410 is fixed to the surface of the supporting platform 422 through an adhesive layer, thereby realizing reciprocating motion. When the cleaning head 410 is working, the cleaning head 410 always contacts the surface to be cleaned.

The water delivery mechanism includes a water outlet device 4217, which can be directly or indirectly connected to the cleaning liquid outlet of the water tank (not shown), that is, the liquid outlet of the clean water tank, wherein the cleaning liquid can flow to the water outlet device 4217 through the cleaning liquid outlet of the water tank, and can be evenly applied to the surface to be cleaned through the water outlet device. The water outlet device can be provided with a connector (not shown in the figure), and the water outlet device is connected to the cleaning liquid outlet of the water tank through the connector. The water outlet device is provided with a distribution port, which can be a continuous opening or a combination of several disconnected small openings, and a plurality of nozzles can be provided at the distribution port. The cleaning liquid flows to the distribution port through the cleaning liquid outlet of the water tank and the connector of the water outlet device, and is evenly applied to the operating surface through the distribution port.

The water supply mechanism may further include a clean water pump 4219 and/or a clean water pump pipe 4218. The clean water pump 4219 may be directly connected to the cleaning liquid outlet of the water tank or may be connected through the clean water pump pipe 4218.

The clean water pump 4219 can be connected to the connector of the water outlet device and can be configured to extract the cleaning liquid from the water tank to the water outlet device. The clean water pump can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, etc.

The water delivery mechanism extracts the cleaning liquid in the clean water tank through the clean water pump 4219 and the clean water pump pipe 4218, and transports it to the water outlet device, which can be a nozzle, a drip hole, a soaking cloth, etc., and evenly spreads the water on the cleaning head, thereby wetting the cleaning head and the surface to be cleaned. The dirt on the wetted surface to be cleaned can be cleaned more easily. In the wet cleaning assembly 400, the power/flow of the clean water pump can be adjusted.

Furthermore, as shown in FIG. 17 , the motor 4211 drives the clean water pump 4219 to peristalsize through the gear set 42193. The clean water enters from the water inlet 42191 and flows out from the water outlet 42192 through the peristalsis of the clean water pump 4219. The clean water is then transported to the water outlet device 4217 through the clean water pump pipe 4218. The water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.

Further, as shown in FIG18 , the motor 4211 drives the cable gear 42196 to rotate through the gear set 42193, the cable gear 42196 is wound with a cable 42194, the cable 42194 is wound on the driving platform 421, and the cable gear 42196 pulls the cable 42194 to rise and fall, thereby realizing the rise and fall of the driving platform 421. The cable gear 42196 and the cable 42194 are the core components of the lifting module.

The gear set 42193 and the cable gear 42196 are provided with a clutch 42195, which includes a spring and a sheet-like member. The clutch 42195 is controlled to control the three motion modules by the motor 4211. The motor 4211 rotates in one direction to drive the vibration of the vibration member and realize the water supply of the clean water pump 4219 at the same time. The motor 4211 rotates in the opposite direction to drive the lifting module to rise and fall through the cable 42194. Optionally, the combination design of the gear set can realize the control of different combinations of the three motion modules, such as rotating the clean water pump in one direction to supply water and realizing the control of lifting and vibration in the opposite direction. Optionally, two motors can also be used to realize the control of the three motion modules, but using one more motor also increases the cost.

Since the cleaning module of the automatic cleaning equipment is equipped with a dry cleaning module and a wet cleaning module, it can provide a more comprehensive cleaning function. At the same time, in the wet cleaning module, by adding a driving unit and a vibration area, the cleaning head can move back and forth, so that the surface to be cleaned can be repeatedly cleaned, so that in the movement trajectory of the cleaning robot, a certain area can be cleaned multiple times at a time, thereby greatly enhancing the cleaning effect, especially for areas with more dirt, the cleaning effect is obvious.

As shown in Figures 19-20, the wet cleaning module 400 is movably connected to the mobile platform 100 through a four-link lifting structure 500, and is configured to clean at least a portion of the operating surface by wet cleaning; wherein the four-link lifting structure 500 is a parallelogram structure, which is used to switch the wet cleaning module 400 between an ascending state and a sinking state, wherein the ascending state is when the wet cleaning module 400 leaves the operating surface, as shown in Figure 19; and the sinking state is when the wet cleaning module 400 adheres to the operating surface, as shown in Figure 20.

As shown in Figures 21-22, the four-link lifting structure 500 includes: a first connecting end 501 and a second connecting end 502, the first connecting end 501 and the second connecting end 502 are respectively located on both sides of the wet cleaning module 400, and are configured to respond to obstacles or ups and downs on the operating surface, so that the wet cleaning module 400 moves up and down relative to the mobile platform 100 and the operating surface.

Preferably, the first connection end 501 can provide an active force to switch the wet cleaning module 400 between a state capable of rising and a state capable of sinking; the second connection end 502 is arranged opposite to the first connection end 501 and rotates under the action of the active force. The first connection end 501 and the second connection end 502 are respectively located on both sides of the wet cleaning module 400, and the wet cleaning module 400 is raised or lowered by providing a stable lifting force.

Specifically, the first connection end 501 includes a first bracket 5011, which is fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 is roughly a "J"-shaped structure, and the first bracket 5011 includes: a crossbeam 50111, a first longitudinal beam 50114 and a second longitudinal beam 50115, and the tail ends of the first longitudinal beam 50114 and the second longitudinal beam 50115 are respectively fixedly connected to the mobile platform 100 and the wet cleaning module 400 by bolts, providing support force for the wet cleaning module 400 when it is raised or lowered.

The first connecting end 501 further includes a first connecting rod pair 5012, one end of the first connecting rod pair 5012 is rotatably connected to the first bracket 5011, and the other end is rotatably connected to the wet cleaning module 400. The first connecting rod pair 5012 can be a hollow structure to reduce the overall weight of the lifting end.

Optionally, the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 arranged in parallel, wherein the first ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the first longitudinal beam 50114 through a movable stud, and the second ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the wet cleaning module 400 through a movable stud. For example, both ends of the first connecting rod 50121 and the second connecting rod 50122 are respectively provided with through holes with a diameter greater than that of the movable stud, so that the movable stud can rotate freely in the through hole, and the movable stud is fixedly connected to the first longitudinal beam 50114 after passing through the through hole. When the motor 4211 provides a pulling force to the second end through the cable, the first ends of the first connecting rod 50121 and the second connecting rod 50122 simultaneously rotate around the active stud at the first end, and the second ends rise under the pulling force of the cable, so that the wet cleaning module 400 rises. When the motor 4211 releases the pulling force to the second end through the cable, the first ends of the first connecting rod 50121 and the second connecting rod 50122 simultaneously rotate in opposite directions around the active stud at the first end, and the second ends descend under the action of gravity, so that the wet cleaning module 400 sinks.

The lifting structure 500 further includes a cable 42194 for providing a pulling force to rotate the first connecting rod pair 5012 within a preset angle. The cable 42194 includes:

The cable motor terminal 50131 is connected to the driving unit 420, for example, it is connected to the gear connected to the motor output shaft, and realizes the extension and contraction movement under the rotation of the motor. The cable bracket terminal 50132 is connected to the first bracket 5011, and the motor makes the second ends of the first connecting rod 50121 and the second connecting rod 50122 rise or sink through the cable 42194.

Optionally, the first bracket 5011 further includes: a slide groove 50112 extending along the surface of the cross beam 50111, and a clamping hole 50113 penetrating the cross beam 50111 and arranged at the extended end of the slide groove 50112, for receiving and clamping the cable bracket terminal 50132. The cable 42194 is connected to the second end of the first connecting rod 50121 and the second connecting rod 50122 through the slide groove 50112 and the clamping hole 50113. The slide groove 50112 can limit the moving direction of the cable to ensure the stability of the module lifting and lowering. The width of the slide groove should be matched with the thickness of the cable.

As shown in FIG. 23 , the second connecting end 502 includes: a second bracket 5021 fixedly connected to the bottom of the mobile platform 100; a second connecting rod pair 5022, one end of which is rotatably connected to the second bracket 5021 and the other end of which is rotatably connected to the wet cleaning module 400; the second connecting rod pair 5022 rotates with the rotation of the first connecting rod pair 5012. The second connecting rod pair 5022 can be a hollow structure to reduce the overall weight of the lifting end.

Specifically, the second connecting rod pair 5022 includes a third connecting rod 50221 and a fourth connecting rod 50222 arranged in parallel, the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatably connected to the second bracket 5021 through a movable stud, and the second ends of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatably connected to the wet cleaning module 400 through a movable stud. For example, both ends of the third connecting rod 50221 and the fourth connecting rod 50222 are respectively provided with a clamping hole with a diameter greater than that of the movable stud, so that the movable stud can rotate freely in the clamping hole, and the movable stud is fixedly connected to the second bracket 5021 after passing through the clamping hole. When the first connecting end 501 rotates under the drive of the motor 4211, the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 rotate around the active stud at the first end at the same time, and the second ends of the third connecting rod 50221 and the fourth connecting rod 50222 rotate around the active stud at the second end at the same time, so that the wet cleaning module 400 rises. When the first connecting end 501 releases the tension, the third connecting rod 50221 and the fourth connecting rod 50222 rotate in the opposite direction around the active stud at the same time, and descend under the action of gravity, so that the wet cleaning module 400 sinks.

The four-link lifting structure disposed between the wet cleaning module and the mobile platform enables the wet cleaning module to be lifted relative to the mobile platform. When performing a mopping task, the wet cleaning module is lowered to make the wet cleaning module contact the ground. When the mopping task is completed, the wet cleaning module is lifted to separate the wet cleaning module from the ground, thereby preventing the cleaning device from freely moving on the cleaned surface and increasing resistance due to the presence of the cleaning module.

In conjunction with sensors such as surface media sensors that can detect the surface type of the surface to be cleaned, the lifting module can clean the wet cleaning module according to different surfaces to be cleaned, such as lifting the wet cleaning module on the carpet surface and lowering the wet cleaning module on the floor/tile surface for cleaning, thereby achieving a more comprehensive cleaning effect.

As shown in FIG. 24 , which is a state diagram of the dry cleaning module 151 when it is raised, the floating lifting structure 600 is connected to the dry cleaning module 151 and is configured to enable the dry cleaning module 151 to passively move up and down relative to the mobile platform 100. Specifically, the floating lifting structure 600 is a parallelogram four-link lifting structure, which is configured to passively switch the dry cleaning module 151 between the rising state and the sinking state under the action of an external force.

Optionally, the floating lifting structure 600 includes: a first fixed bracket 601, the first fixed bracket 601 is fixedly connected to the mobile platform 100; a second fixed bracket 602, the second fixed bracket 602 is fixedly connected to the dry cleaning module 151; a connecting rod pair 603, one end of which is rotatably connected to the first fixed bracket 601 through a movable stud, and the other end of which is rotatably connected to the second fixed bracket 602 through a movable stud. The first fixed bracket 601 and the second fixed bracket 602 are connected by a flexible connector. When encountering an obstacle, the dry cleaning module 151 is lifted up, and the first fixed bracket 601 rotates around the connecting rod pair 603 and is retracted upward relative to the second fixed bracket 602 to achieve passive lifting. After passing the obstacle, the dry cleaning module 151 falls under the action of gravity and contacts the operating surface, and the cleaning device continues to move forward to perform the cleaning task. The parallelogram four-link lifting structure can make the cleaning device more flexible in passing over obstacles and less prone to damage.

Optionally, the connecting rod pair 603 includes: a first connecting rod pair 6031, one end of which is rotatably connected to the first end of the first fixing bracket 601 through a movable stud, and the other end of which is rotatably connected to the first end of the second fixing bracket 602 through a movable stud; a second connecting rod pair 6032, which is arranged opposite to the first connecting rod pair 6031, one end of which is rotatably connected to the second end of the first fixing bracket 601 through a movable stud, and the other end of which is rotatably connected to the second end of the second fixing bracket 602 through a movable stud. The first connecting rod pair 6031 or the second connecting rod pair 6032 can be a hollow structure, which can reduce the overall weight of the lifting end.

Optionally, the first connecting rod pair 6031 includes a first connecting rod 60311 and a second connecting rod 60312 arranged in parallel, and one end of the first connecting rod 60311 and the second connecting rod 60312 is provided with a first axial hole, and the other end is provided with a second axial hole; the movable stud passes through the first axial hole and can be rotatably fixed to the first end of the first fixed bracket 601, and the movable stud passes through the second axial hole and can be rotatably fixed to the first end of the second fixed bracket 602. For example, the two ends of the first connecting rod 60311 and the second connecting rod 60312 are respectively provided with a clamping hole (not shown) with a diameter larger than that of the movable stud, so that the movable stud can rotate freely in the clamping hole, and the movable stud passes through the clamping hole and is fixedly connected to the first fixing bracket 601. When encountering a protruding obstacle, the dry cleaning module 151 is pushed up by the obstacle, and the first ends of the first connecting rod 60311 and the second connecting rod 60312 rotate around the movable stud at the first end at the same time, and the second ends of the first connecting rod 60311 and the second connecting rod 60312 rotate around the movable stud at the second end at the same time, so that the dry cleaning module 151 rises. When crossing the obstacle, the dry cleaning module 151 falls under the action of gravity and contacts the operating surface.

Optionally, as shown in Figure 25, which is a state diagram of the dry cleaning module 151 when it is raised, the second connecting rod pair 6032 includes a third connecting rod 60321 and a fourth connecting rod 60322 arranged in parallel, and one end of the third connecting rod 60321 and the fourth connecting rod 60322 is provided with a third axial hole, and the other end is provided with a fourth axial hole; the movable stud passes through the third axial hole and can be rotatably fixed to the third connecting rod 60321 and the fourth connecting rod 60322 to the second end of the first fixed bracket 601, and the movable stud passes through the fourth axial hole and can be rotatably fixed to the third connecting rod 60321 and the fourth connecting rod 60322 to the second end of the second fixed bracket 602. For example, the two ends of the third connecting rod 60321 and the fourth connecting rod 60322 are respectively provided with a clamping hole (not shown) with a diameter larger than that of the movable stud, so that the movable stud can rotate freely in the clamping hole, and the movable stud passes through the clamping hole and is fixedly connected to the first fixing bracket 601. When encountering a protruding obstacle, the dry cleaning module 151 is pushed up by the obstacle, and the first ends of the third connecting rod 60321 and the fourth connecting rod 60322 rotate around the movable stud at the first end at the same time, and the second ends of the third connecting rod 60321 and the fourth connecting rod 60322 rotate around the movable stud at the second end at the same time, so that the dry cleaning module 151 rises. When passing over the obstacle, the dry cleaning module 151 falls down under the action of gravity and contacts the operating surface.

As an optional implementation, the first fixing bracket 601 includes: a first fixing portion 6011, protruding from the first fixing bracket 601 and extending outward in a horizontal direction, and used to carry the first connecting rod pair 6031. A second fixing portion 6012, symmetrically arranged with the first fixing portion 6011, and used to carry the second connecting rod pair 6032. The first fixing portion 6011 and the second fixing portion 6012 are used to protrude and support the connecting rod pair, so that the connecting rod pair can rotate freely, ensuring the free lifting and lowering of the dry cleaning module 151.

Optionally, the floating lifting structure 600 further includes a flexible connector (not shown) connected between the first fixed bracket 601 and the second fixed bracket 602. When the operating surface is uneven, the second fixed bracket 602 moves up and down relative to the first fixed bracket 601 through the flexible connector.

In the dry cleaning module, a four-link floating lifting structure is provided so that the dry cleaning module can passively move up and down relative to the mobile platform. When the cleaning equipment encounters an obstacle during operation, the four-link floating lifting structure can easily overcome the obstacle, thereby avoiding damage to the cleaning equipment caused by the obstacle.

Optionally, the wet cleaning module 400 and the dry cleaning module 151 may also be directly connected to the floating lifting structure 600 (not shown), and are configured to enable the wet cleaning module 400 and the dry cleaning module 151 to passively move up and down relative to the mobile platform 100. Further optionally, the floating lifting structure includes a first fixed bracket and a second fixed bracket, which are movably connected, and the wet cleaning module 400 and the dry cleaning module 151 are passively switched between the rising state and the sinking state under the action of external force. Further optionally, the floating lifting structure is the same as the aforementioned four-link floating lifting structure. When the cleaning equipment encounters an obstacle during operation, the four-link floating lifting structure can easily pass over the obstacle to avoid damage to the cleaning equipment caused by the obstacle.

Embodiment 2

According to the specific implementation of the present invention, as shown in FIG9 , the present invention provides an automatic cleaning device. This embodiment is based on the above embodiment, and the same structure has the same function and technical effect, which will not be elaborated here. Specifically, the cleaning device includes: a mobile platform 100, which is configured to automatically move on the operating surface; a cleaning module 150, which is arranged on the mobile platform 100, and the cleaning module 150 includes: a wet cleaning module 400, which is configured to clean at least a portion of the operating surface by wet cleaning; a lifting structure 500, which is connected to the wet cleaning module 400 and is configured to enable the wet cleaning module 400 to move up and down relative to the mobile platform 100; a driving mechanism 900, which is connected to the lifting structure 500 and is configured to provide power for the lifting of the lifting structure 500, and/or provide a cleaning liquid for the wet cleaning module 400.

As an optional implementation, as shown in FIG. 26 , the driving mechanism 900 includes: a motor 4211 for providing forward and reverse driving force; a gear set 42193 connected to the output shaft of the motor 4211 for outputting the forward and reverse driving force of the motor 4211.

Optionally, the driving mechanism 900 further includes: a clutch 42195, which is engaged and connected with the gear set 42193, and provides driving force when the clutch 42195 and the gear set 42193 are reversely engaged, and does not provide driving force when the clutch 42195 and the gear set 42193 are forwardly non-engaged. Wherein, the clutch 42195 includes: a first clutch gear 421951 and a second clutch gear 421952 arranged back to back, wherein the second clutch gear 421952 has teeth arranged at an inclination angle in the counterclockwise direction, and the inclination angle is not limited, so that when the second clutch gear 421952 is reversely engaged with the gear set 42193, a driving force is provided, and when the second clutch gear 421952 is forwardly non-engaged with the gear set 42193, no driving force is provided due to slippage.

As an optional implementation, the driving mechanism 900 further includes: a cable gear 42196, which is engaged with the first clutch gear 421951 and rotates under the drive of the first clutch gear 421951. A cable 42194, one end of which is wound around the cable gear 42196 and the other end is connected to the lifting structure 500, and pulls the lifting structure 500 up and down under the drive of the gear set 42193.

As an optional implementation, the driving mechanism 900 further includes: a clean water pump 4219, which is engaged with the gear set 42193 and provides cleaning liquid to the wet cleaning module 400 under the drive of the gear set 42193. In one implementation, for example, the clean water pump peristaltically rolls the water pipe under the clean water pump to squeeze water out of the water tank from the water pipe.

As an optional implementation, the gear set 42193 includes: a first-stage transmission gear 421931, which is connected to the output shaft of the motor 4211 and is used to output the driving force of the motor; a second-stage transmission gear 421932, which is engaged with the first-stage transmission gear 421931 and is used to output the driving force of the motor to the cable gear 42196; a third-stage transmission gear 421933, which is engaged with the second-stage transmission gear 421932 and is used to output the driving force of the motor to the clean water pump 4219. Optionally, the output shaft of the motor 4211 includes an output gear 42111, which engages with the primary transmission gear 421931 to output the driving force of the motor.

As an optional implementation, the driving mechanism 900 further includes: a driving wheel 4212 connected to the motor output shaft, the driving wheel 4212 is an asymmetric structure; a vibrating member 4213 connected to the driving wheel 4212, realizing reciprocating motion under the asymmetric rotation of the driving wheel 4212.

In the sweeping and mopping integrated cleaning device provided by the present invention, the motor 4211 transmits power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water supply mechanism, the water tank, etc. through the power transmission device. The energy system 160 provides power and energy for the motor 4211, and is controlled as a whole by the control system 130. The power transmission device can be a gear transmission, a chain transmission, a belt transmission, or a worm gear, etc., such as the driving mechanism 900 and its related structures described in this embodiment.

The motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates forward, and in the reverse output mode, the motor 4211 rotates reversely. In the forward output mode of the motor 4211, the motor 4211 can drive the cleaning head 410 and the water supply mechanism in the wet cleaning assembly 400 to move synchronously through the power transmission device. Among them, the driving mechanism is connected to the lifting structure, and through the coordination of the clutch, gear set, etc., when the motor rotates forward, the motor drives the vibration output shaft to rotate, and drives the vibration part to vibrate to achieve a rough reciprocating motion, thereby achieving repeated cleaning of the ground. At the same time, through the transmission of the gear set, the clean water pump peristalsis and synchronously discharges water. At this time, the clutch gear is in a slipping state and does not transmit, and the lifting mechanism cannot be lifted; when the motor rotates reversely, the clutch gear is in a working state, driving the lifting turntable to lift. When it is lifted into place, the cable is tightened. At this time, the motor is stopped due to the limit. At this time, the vibration output and the clean water pump both stop working. At this time, the mopping function is stopped, and the mopping module is lifted. Therefore, the cleaning device of the present invention can coordinately control the water discharge of the clean water pump, the lifting and lowering of the lifting mechanism, and the vibration of the vibrating member, thereby improving work efficiency.

Optionally, more than one drive assembly can be used to control the wet cleaning module, cleaning liquid module and lifting structure separately. Although this control method increases the cost to a certain extent, it has the flexibility of discrete control and can set flexible and changeable working coordination methods according to the actual working scene requirements. For example, after the lifting structure completes the landing, spraying cleaning liquid for a period of time before starting the vibration mopping work of the wet cleaning module can reduce dry wiping to a certain extent and increase the life of the vibration module. The specific discrete control method is as follows:

Embodiment 3

According to the specific implementation of the present invention, as shown in FIG9 , the present invention provides an automatic cleaning device. This embodiment is based on the above embodiment, and the same structure has the same function and technical effect, which will not be elaborated here. Specifically, the cleaning device includes: a mobile platform 100, which is configured to automatically move on the operating surface; a cleaning module 150, which is arranged on the mobile platform 100, and the cleaning module 150 includes: a wet cleaning module 400, which is configured to clean at least a part of the operating surface by wet cleaning; a cleaning liquid module, which provides cleaning liquid for the wet cleaning module 400; a lifting structure 500, which is connected to the wet cleaning module 400 and is configured to enable the wet cleaning module 400 to move up and down relative to the mobile platform 100;

The driving mechanism 900 includes a first driving assembly 901 and a second driving assembly 902, wherein: the first driving assembly 901 is configured to provide power to at least one of the wet cleaning module 400, the lifting structure 500 and the cleaning liquid module; the second driving assembly 902 is configured to provide power to at least one of the wet cleaning module 400, the lifting structure 500 and the cleaning liquid module that is not connected to the first driving assembly 901.

In one embodiment of the present invention, as shown in FIG. 27 , the first drive assembly 901 is a motor, which is connected to the wet cleaning module 400 through the output gear 42111, and drives the wet cleaning module 400 to perform a cleaning operation; at the same time, the first drive assembly 901 is connected to the clean water pump 4219 through the gear set and the third-stage transmission gear 421933, and drives the clean water pump 4219 to provide power for the cleaning liquid module.

At this time, the second driving assembly 902 can be directly connected to the lifting structure 500.

When the first driving assembly 901 is started, the wet cleaning module 400 and the cleaning liquid module are driven to work simultaneously; the second driving assembly 902 can control the lifting structure 500 according to the signal automatically sensed by the sensing system 120 or the signal sent by the human-machine interaction system 170 to further realize the lifting of the wet cleaning module.

In one embodiment of the present invention, as shown in Figure 28, the first drive assembly 901 is a motor, which is connected to the wet cleaning module 400 through the output gear 42111 and drives the wet cleaning module 400 to perform a cleaning operation; at the same time, the drive mechanism 900 also includes: a clutch 42195 and a cable gear 42196, the first drive assembly 901 is connected to the clutch 42195 through a gear set, the clutch 42195 is engaged with the cable gear 42196, and rotates under the drive of the clutch 42195. The cable 42194 has one end wound around the cable gear 42196 and the other end connected to the lifting structure 500, and is driven by the gear set 42193 to pull the lifting structure 500 up and down.

At this time, the second driving assembly 902 can be directly connected to the cleaning liquid module and directly control the cleaning liquid module to provide cleaning liquid to the wet cleaning module 400.

When the first drive assembly 901 starts to rotate forward, the wet cleaning module 400 is driven to work. At this time, under the action of the clutch 42195, the cable gear 42196 does not rotate, so that the cable 42194 is loosened, and the lifting structure 500 is lowered; when the first drive assembly 901 starts to rotate reversely, the wet cleaning module 400 does not work. At this time, under the action of the clutch 42195, the cable gear 42196 rotates, so that the cable 42194 is pulled in, and the lifting structure 500 is raised.

The second driving component 902 can control the cleaning liquid module according to the signal automatically sensed by the sensing system 120 or the signal sent by the human-machine interaction system 170, and decide whether to continue to control the cleaning liquid module to provide cleaning liquid to the wet cleaning module 400 according to the working condition of the automatic cleaning device.

In one embodiment of the present invention, as shown in FIG. 29 , the first drive assembly 901 is a motor, which is connected to the cable gear 42196 through the clutch 42195; at the same time, the first drive assembly 901 is connected to the clean water pump 4219 through the gear set and the three-stage transmission gear 421933, and drives the clean water pump 4219 to provide power for the cleaning liquid module. The first drive assembly 901 is connected to the clutch 42195 through the gear set, and the clutch 42195 is engaged with the cable gear 42196, and rotates under the drive of the clutch 42195. The cable 42194 has one end wound around the cable gear 42196 and the other end connected to the lifting structure 500, and is driven by the gear set 42193 to pull the lifting structure 500 up and down.

At this time, the second driving assembly 902 can be directly connected to the wet cleaning module 400 and directly control the operation of the wet cleaning module 400.

When the second drive assembly 902 is working, the wet cleaning module 400 enters the working state; the coordinated working state of the first drive assembly 901 and the second drive assembly 902 can be determined according to the signal automatically sensed by the sensing system 120 or the signal sent by the human-computer interaction system 170. When the first drive assembly 901 starts to rotate forward, it drives the cleaning liquid module to work and provide cleaning liquid for the wet cleaning module 400. At this time, under the action of the clutch 42195, the cable gear 42196 does not rotate, so that the cable 42194 is loosened, and the lifting structure 500 is lowered. After the descent, the second drive assembly 902 can enter the working state; when the first drive assembly 901 starts to rotate reversely, the cleaning liquid module does not work. At this time, under the action of the clutch 42195, the cable gear 42196 rotates, so that the cable 42194 is pulled in, and the lifting structure 500 is raised. At this time, the second drive assembly 902 is usually also in a non-working state.

In one embodiment of the present invention, as shown in Figure 30, the first drive assembly 901 is a motor, which is connected to the cable gear 42196 through the clutch 42195; the second drive assembly 902 is an air pump, which does not need to output power through the gear structure, and can be directly connected to the cleaning liquid module and control the cleaning liquid module to provide cleaning liquid to the wet cleaning module 400.

In one embodiment of the present invention, as shown in Figure 31, the driving assembly 900 includes a first driving assembly 901, a second driving assembly 902 and a third driving assembly 903; the first driving assembly 901 is connected to the wet cleaning module 400 and is used to control the operation of the wet cleaning module 400, the second driving assembly 902 is connected to the cleaning liquid module and is used to control the operation of the cleaning liquid module, and the third driving assembly 903 is connected to the lifting structure 500 and is used to control the operation of the lifting structure 500.

The first drive assembly 901, the second drive assembly 902 and the third drive assembly 903 can control their respective working states according to the signals automatically sensed by the sensing system 120 or the signals sent by the human-computer interaction system 170, and dynamically adjust their respective starting, shutting down, power size and other working values based on the usage environment, user commands, cleaning type, stain intensity, etc., so as to better complete the cleaning work.

Embodiment 4

In one embodiment of the present invention, an automatic cleaning device comprises:

The mobile platform 100 is configured to automatically move on the operating surface;

The cleaning module 150 is disposed on the mobile platform 100 and includes:

The wet cleaning module 400 is configured to clean at least a portion of the operating surface by wet cleaning;

A lifting structure 500, connected to the wet cleaning module 400, is configured to move the wet cleaning module 400 up and down relative to the mobile platform 100 and the operating surface in response to obstacles or ups and downs on the operating surface;

The wet cleaning module 400 includes: a cleaning head 410 for cleaning the operating surface, and a driving unit 420 for driving the cleaning head 410 to reciprocate along a target surface, wherein the target surface is a part of the operating surface.

Finally, it should be noted that the embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure is described in detail with reference to the above embodiments, ordinary technical personnel in this field should understand that they can still modify the technical solutions described in the above embodiments, or replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

100: mobile platform 110: rearward part 111: forward part 120: sensing system 121: position determination device 122: buffer 123: cliff sensor 130: control system 140: drive system 141: drive wheel assembly 142: steering assembly 143: elastic element 146: drive motor 150: cleaning module 151: dry cleaning module 152: dust box 153: filter 154: dust suction port 155: air outlet 156: fan 160: energy system 170: human-machine interaction system 400: Wet cleaning module 410: Cleaning head 411: Fixed area 412: Active area 413: Flexible connection part 414: Sliding buckle 420: Driving unit 421: Driving platform 422: Support platform 500: Four-link lifting structure 500': Vibration driving mechanism 501: First connecting end 502: Second connecting end 512: Rotating end 514: Sliding end 516: First pivot 518: Second pivot 525: Slider 528: Slider 600: Floating lifting structure 600': Vibration driving mechanism 601: First fixed bracket 602: Second fixed bracket 603: Connecting rod pair 624: First pivot 626: Second pivot 700': Vibration drive mechanism 900: Drive mechanism 901: First drive assembly 902: Second drive assembly 903: Third drive assembly 910: Power structure 4211: Motor 4212: Drive wheel 4212': Drive wheel 4213: Vibration member 4214: Connecting rod 4215: Vibration buffer device 4216: Clamping claw 4217: Water outlet device 4218: Clean water pump pipe 4219: Clean water pump 4221: Cleaning base plate 4222: Slideway 4223: Slideway 4224: Assembly area 4225: Clamping position 42250: Slide block 4226: Sliding end 4227: Rotating end 4228: Pivot 4229: Elastic disassembly button 5011: First bracket 5012: First connecting rod pair 5021: Second bracket 5022: Second connecting rod pair 6011: First fixing part 6012: Second fixing part 6031: First connecting rod pair 6032: Second connecting rod pair 42111: Output gear 42191: Water inlet 42192: Water outlet 42193: Gear assembly 42194: Cable 42195: Clutch 42196: Cable gear 42211: Assembly notch 42212: First limit position 42213: Second limit position 42214: Water outlet 50111: Crossbeam 50112: Slideway 50113: Clamping hole 50114: First longitudinal beam 50115: Second longitudinal beam 50121: First connecting rod 50122: Second connecting rod 50131: Cable motor terminal 50132: Cable bracket terminal 50221: Third connecting rod 50222: Fourth connecting rod 60311: First connecting rod 60312: Second connecting rod 60321: Third connecting rod 60322: Fourth connecting rod 421931: Primary transmission gear 421932: Secondary transmission gear 421933: Thirdary transmission gear 421951: First clutch gear 421952: Second clutch gear

The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. In the drawings:

FIG. 1 is an oblique view of an automatic cleaning device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of the bottom structure of an automatic cleaning device according to an embodiment of the present invention.

FIG. 3 is an oblique view of a drive wheel assembly on one side of an embodiment of the present invention.

FIG. 4 is a front view of a drive wheel assembly on one side of an embodiment of the present invention.

FIG. 5 is an oblique view of a dust box according to an embodiment of the present invention.

FIG. 6 is an oblique view of a fan according to an embodiment of the present invention.

FIG. 7 is a schematic diagram of an open state of a dust box according to an embodiment of the present invention.

FIG8 is a schematic diagram of a dust box and a fan assembly state according to an embodiment of the present invention.

FIG. 9 is an exploded view of an automatic cleaning device according to an embodiment of the present invention.

FIG. 10 is a structural diagram of an automatic cleaning equipment support platform according to an embodiment of the present invention.

FIG. 11 is a structural diagram of a vibrating member of an automatic cleaning device according to an embodiment of the present invention.

FIG12 is a schematic diagram of a cleaning head driving mechanism based on a crank slider mechanism according to another embodiment of the present invention.

FIG13 is a schematic diagram of a cleaning head driving mechanism based on a double crank mechanism according to another embodiment of the present invention.

FIG. 14 is a schematic diagram of a cleaning head driving mechanism based on a crank mechanism according to another embodiment of the present invention.

FIG. 15 is a structural diagram of a vibrating member according to an embodiment of the present invention.

FIG. 16 is a schematic diagram of a cleaning substrate assembly structure according to an embodiment of the present invention.

FIG. 17 is a structural diagram of a motor-driven clean water pump according to an embodiment of the present invention.

FIG. 18 is a structural diagram of a motor-driven lifting module according to an embodiment of the present invention.

FIG. 19 is a schematic diagram of the raised state of the automatic cleaning device of an embodiment of the present invention.

FIG. 20 is a schematic diagram of the sinking state of an automatic cleaning device according to an embodiment of the present invention.

FIG. 21 is a schematic diagram of a four-link lifting structure in a lifting state according to an embodiment of the present invention.

FIG. 22 is a schematic diagram of a four-link lifting structure in a sinking state according to an embodiment of the present invention.

FIG. 23 is a schematic diagram of the second end structure of a four-link lifting structure of an embodiment of the present invention.

FIG. 24 is a schematic diagram of the structure of a dry cleaning module in a sinking state according to an embodiment of the present invention.

FIG. 25 is a schematic diagram of the structure of a dry cleaning module in an ascending state according to an embodiment of the present invention.

FIG26 is a schematic diagram of the structure of a first driving assembly of an embodiment of the present invention.

FIG27 is a schematic structural diagram of another first drive assembly of an embodiment of the present invention.

FIG28 is a schematic structural diagram of another first drive assembly of an embodiment of the present invention.

Figure 29 is a structural schematic diagram of a first driving assembly with a peristaltic pump according to an embodiment of the present invention.

Figure 30 is a structural schematic diagram of a first drive assembly with an air pump according to an embodiment of the present invention.

FIG31 is a schematic structural diagram of a driving mechanism having a first driving assembly, a second driving assembly and a third driving assembly according to an embodiment of the present invention.

410: Cleaning head

411: Fixed area

412:Activity area

413: Flexible connection part

414: Sliding buckle

420: Drive unit

421:Driver Platform

422: Support platform

4213:Vibrating parts

4219: Clean water pump

4221: Cleaning substrate

4224:Assembly area

4225: Snap-on position

4229: Elastic disassembly button

Claims (10)

An automatic cleaning device comprises: A mobile platform (100) configured to automatically move on an operating surface; and A cleaning module (150) disposed on the mobile platform (100) and comprising: A wet cleaning module (400) configured to clean at least a portion of the operating surface by wet cleaning; A lifting structure (500) connected to the wet cleaning module (400) and configured to enable the wet cleaning module (400) to move up and down relative to the mobile platform (100); A cleaning liquid module providing cleaning liquid to the wet cleaning module (400); and The driving mechanism (900) comprises a first driving assembly (901), wherein: The first driving assembly (901) is configured to provide power to at least one of the wet cleaning module (400), the lifting structure (500) and the cleaning liquid module; and The driving mechanism (900) comprises: A gear set (42193); and A clutch (42195) is engaged and connected with the gear set (42193), and provides driving force when the clutch (42195) and the gear set (42193) are reversely engaged, and does not provide driving force when the clutch (42195) and the gear set (42193) are forwardly non-engaged. An automatic cleaning device as claimed in claim 1, wherein the clutch (42195) comprises: a first clutch gear (421951) and a second clutch gear (421952) arranged relatively to each other, wherein the second clutch gear (421952) has teeth arranged at an angle inclined in a counterclockwise direction, so that when the second clutch gear (421952) is reversely engaged with the gear set (42193), a driving force is provided, and when the second clutch gear (421952) is forwardly non-engaged with the gear set (42193), no driving force is provided. The automatic cleaning device of claim 1, wherein the driving mechanism (900) comprises: A power structure (910), which is connected to the first driving component (901) and is used to provide driving force. The automatic cleaning device of claim 2, wherein the driving mechanism (900) further comprises: A cable gear (42196) is engaged with the first clutch gear (421951) and rotates under the drive of the first clutch gear (421951). The automatic cleaning device of claim 4, wherein the lifting structure (500) further comprises: A cable (42194), one end of which is wound around the cable gear (42196) and the other end is connected to the lifting structure (500), and the lifting structure (500) is pulled up and down under the drive of the gear set (42193). As in claim 3, the power structure (910) is a motor (4211) for providing forward and reverse driving force. An automatic cleaning device as claimed in claim 3, wherein the power structure (910) is a clean water pump (4219), which provides power to the cleaning liquid module and provides cleaning liquid to the wet cleaning module (400). An automatic cleaning device as claimed in claim 7, wherein the clean water pump (4219) is a peristaltic pump, and the clean water pump is engaged with the gear set (42193), and is driven by the gear set (42193) to provide power to the cleaning liquid module and provide cleaning liquid to the wet cleaning module (400). An automatic cleaning device as claimed in claim 8, wherein the clean water pump (4219) is an air pump, which provides power to the cleaning liquid module and provides cleaning liquid to the wet cleaning module (400). An automatic cleaning device as claimed in claim 1, wherein the driving mechanism (900) further comprises a second driving assembly (902), wherein the second driving assembly (902) is configured to provide power to one or more of the wet cleaning module (400), the lifting structure (500) and the cleaning liquid module that are not powered by the first driving assembly.