Note: Descriptions are shown in the official language in which they were submitted.
AUTOMATIC CLEANING DEVICE
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims priority of Chinese Patent Application No.
202110004713.5 filed
on January 4, 2021 and Chinese Patent Application No. 202110138563.7 filed on
February 1, 2021,
which are incorporated herein by reference in their entireties as a part of
the present application.
TECHNICAL FIELD
[0002] The present invention relates to the field of cleaning robot
technologies, and in particular to
an automatic cleaning apparatus.
BACKGROUND
[0003] At present, there are two main types of cleaning robots, i.e., a
sweeping robot and a
mopping robot, each of which has a single function of only sweeping or mopping
the floor. If
people want to sweep and mop the floor simultaneously, the two apparatuses
have to be prepared
simultaneously, which as a result takes up a double space.
[0004] In the prior art, there may be a combination of a sweeping robot and a
mopping robot by
adding a mop cloth to the tail end of the sweeping robot to realize a sweeping
and mopping
integrated robot. However, the mopping function of the sweeping and mopping
integrated robot is
realized only by translating the mop cloth on the floor, and with the
translation of the mop cloth,
the floor is cleaned just one time in a movement trajectory of the cleaning
robot. As a result, the
mopping effect and the mopping efficiency are both greatly reduced, and
especially for some
environments with more stains and more dirty floors, the floor obviously
cannot be cleaned up by
mopping the floor one time in a moving manner.
SUMMARY
[0005] An object of the present invention is to provide an automatic cleaning
apparatus, which can
solve the technical problem that a floor cannot be cleaned up. The specific
solutions are as below.
[0006] According to specific embodiments of the present invention, an
automatic cleaning
apparatus is provided. The automatic cleaning apparatus includes:
[0007] a mobile platform 100 configured to move automatically on an operation
surface; and
[0008] a cleaning module 150 disposed on the mobile platform 100 and
including:
1
CA 03204126 2023- 7- 4
[0009] a dry cleaning module 151 configured to clean at least part of the
operation surface in a dry
cleaning manner; and
[0010] a wet cleaning module 400 configured to clean at least part of the
operation surface in a wet
cleaning manner, wherein the wet cleaning module 400 includes:
[0011] a cleaning head 410 configured to clean the operation surface, and
[0012] a driving unit 420 configured to drive the cleaning head 410 to
substantially reciprocate
along a target surface that is a part of the operation surface.
[0013] Optionally, the driving unit 420 includes:
[0014] a driving platform 421 connected to the bottom surface of the mobile
platform 100 and
configured to provide a driving force; and
[0015] a supporting platform 422 detachably connected to the driving platform
421 and
configured to support the cleaning head 410.
[0016] Optionally, the driving platform 421 includes:
[0017] a motor 4211 disposed on the side of the driving platform 421 close to
the mobile platform
100 and outputting power by a motor output shaft; and
[0018] a driving wheel 4212 connected to the motor output shaft and being of
an asymmetrical
structure.
[0019] Optionally, the driving platform 421 further includes:
[0020] a vibrator 4213 disposed on the side of the driving platform 421
opposite to the motor 4211,
connected to the driving wheel 4212 and substantially reciprocating under the
asymmetrical
rotation of the driving wheel 4212.
[0021] Optionally, the driving platform 421 further includes:
[0022] a connecting rod 4214 extending along an edge of the driving platform
421 and connecting
the driving wheel 4212 to the vibrator 4213 such that the vibrator 4213
extends to a preset position.
[0023] Optionally, the vibrator 4213 is of a rod-like structure and extends
perpendicular to the
connecting rod 4214.
[0024] Optionally, the driving platform includes a vibration buffering device
4215 disposed on
the connecting rod 4214.
[0025] Optionally, the supporting platform 422 includes:
[0026] a cleaning substrate 4221 freely movably disposed on the supporting
platform 422 and
substantially reciprocating relative to the supporting platform 422 under the
vibration of the
vibrator 4213.
[0027] Optionally, the cleaning substrate 4221 includes:
2
CA 03204126 2023- 7- 4
[0028] an assembly notch disposed at a position in contact with the vibrator
4213, the vibrator
4213 being assembled in the assembly notch when the supporting platform 422 is
connected to the
driving platform 421.
[0029] Optionally, the supporting platform 422 further includes:
[0030] a removal button 422 configured to detachably connect the supporting
platform 422 to the
driving platform 421.
[0031] Optionally, the supporting platform 422 further includes:
[0032] at least one assembly area 4224 disposed on the supporting platform 422
and configured
for assembly of the cleaning head 410.
[0033] Optionally, the cleaning head 410 includes:
[0034] a movable area 412 connected to the cleaning substrate 4221 and
substantially
reciprocating along the target surface under the driving of the cleaning
substrate 4221.
[0035] Optionally, a bonding layer is disposed on the side of the movable area
412 connected to
the cleaning substrate 4221, and the movable area 412 is connected to the
cleaning substrate 4221
by the bonding layer.
[0036] Optionally, the cleaning head 410 further includes:
[0037] a fixed area 411 connected to the bottom of the supporting platform 422
by the at least one
assembly area 4224 and configured to clean at least part of the operation
surface with the
movement of the supporting platform 422.
[0038] Optionally, the cleaning head 410 further includes:
[0039] a flexible connection part 413 disposed between the fixed area 411 and
the movable area
412 and configured to connect the fixed area 411 to the movable area 412.
[0040] Optionally, the cleaning head 410 further includes:
[0041] a sliding buckle 414 extending along an edge of the cleaning head 410
and detachably
mounted on the supporting platform 422.
[0042] Optionally, a lifting module is disposed between the cleaning module
150 and the mobile
platform 100.
[0043] Optionally, the dry cleaning module 151 is connected to the mobile
platform 100 by a
passive lifting module.
[0044] Optionally, the wet cleaning module 400 is connected to the mobile
platform 100 by an
active lifting module.
[0045] Compared with the prior art, the embodiments of the present invention
have the following
technical effects.
3
CA 03204126 2023- 7- 4
[0046] The present invention provides a sweeping and mopping integrated
cleaning apparatus,
which can achieve a more comprehensive cleaning function because the cleaning
module of the
automatic cleaning apparatus is provided with both the dry cleaning module and
the wet cleaning
module. Meanwhile, in the wet cleaning module, by adding the driving unit and
a vibration area,
the cleaning head can reciprocate to repeatedly clean the surface to the
cleaned. Therefore, in the
movement trajectory of the cleaning robot, a certain area can be cleaned
several times when the
cleaning robot passes through this area just one time, thereby greatly
improving the cleaning effect,
and the cleaning effect is obvious especially for areas with more stains.
BRIEF DESCRIPTION OF THE DRAWINGS
[0047] The accompanying drawings herein, which are incorporated in and
constitute a part of the
description, illustrate embodiments consistent with the present invention and,
together with the
description, serve to explain the principles of the present invention.
Apparently, the accompanying
drawings in the following descriptions show merely some embodiments of the
present invention,
and a person of ordinary skill in the art may still derive other drawings from
these accompanying
drawings without creative efforts. In the accompanying drawings:
[0048] FIG. 1 is an oblique view of an automatic cleaning apparatus according
to an embodiment
of the present invention;
[0049] FIG. 2 is a schematic diagram of a bottom structure of an automatic
cleaning apparatus
according to an embodiment of the present invention;
[0050] FIG. 3 is an oblique view of a lateral driving wheel assembly according
to an embodiment
of the present invention;
[0051] FIG. 4 is a front view of a lateral driving wheel assembly according to
an embodiment of
the present invention;
[0052] FIG. 5 is an oblique view of a dust box according to an embodiment of
the present
invention;
[0053] FIG. 6 is an oblique view of a fan according to an embodiment of the
present invention;
[0054] FIG. 7 is a schematic diagram of a dust box in an open state according
to an embodiment of
the present invention;
[0055] FIG. 8 is a schematic diagram of a dust box and a fan in an assembled
state according to an
embodiment of the present invention;
[0056] FIG. 9 is an exploded view of an automatic cleaning apparatus according
to an
embodiment of the present invention;
4
CA 03204126 2023- 7- 4
[0057] FIG. 10 is a structural diagram of a supporting platform of an
automatic cleaning apparatus
according to an embodiment of the present invention;
[0058] FIG. 11 is a structural diagram of a vibrator of an automatic cleaning
apparatus according
to an embodiment of the present invention;
[0059] FIG. 12 is a schematic diagram of a cleaning head driving mechanism
based on a crank
-slider mechanism according to another embodiment of the present invention;
[0060] FIG. 13 is a schematic diagram of a cleaning head driving mechanism
based on a
double-crank mechanism according to another embodiment of the present
invention;
[0061] 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;
[0062] FIG. 15 is a structural diagram of a vibrator according to an
embodiment of the present
invention;
[0063] FIG. 16 is a schematic structural diagram of the assembly of a cleaning
substrate according
to an embodiment of the present invention;
[0064] FIG. 17 is a structural diagram of a clean water pump being driven by a
motor according to
an embodiment of the present invention; and
[0065] FIG. 18 is a structural diagram of a lifting module being driven by a
motor according to an
embodiment of the present invention.
[0066] Reference numbers in the drawings are described as below:
[0067] mobile platform 100; backward portion 110; forward portion 111;
perception system 120;
position determining device 121; buffer 122; cliff sensor 123; control system
130; driving system
140; driving wheel assembly 141; steering component 142; elastic element 143;
driving motor 146;
cleaning module 150; dry cleaning module 151; dust box 152; filter screen 153;
dust suction inlet
154; air outlet 155; fan 156; energy system 160; human-machine interaction
system 170; wet
cleaning module 400; cleaning head 410; driving unit 420; driving platform
421; supporting
platform 422; motor 4211; driving wheel 4212; vibrator 4213; connecting rod
4214; vibration
buffering device 4215; clamping jaw 4216; clean water pump pipe 4218; clean
water pump 4219;
cleaning substrate 4221; elastic removal button 4229; assembly area 4224;
clamping position 4225;
first sliding groove 4222; second sliding groove 4223; first slider 525;
second slider 528;
swiveling end 512 (4227); sliding end 514 (4226); first pivot 516 ( 624);
second pivot 518 (626);
and driving mechanism 500 (600, 700).
DETAILED DESCRIPTION
CA 03204126 2023- 7- 4
[0068] For clearer descriptions of the objects, technical solutions, and
advantages of the present
invention, the present invention will be further described in detail with
reference to the
accompanying drawings. Apparently, the described embodiments are merely a part
of the
embodiments of the present invention, rather than all of the embodiments. All
other embodiments
obtained by a person of ordinary skill in the art based on the embodiments of
the present invention
without any creative efforts shall fall within the protection scope of the
present invention.
[0069] The terms used in the embodiments of the present invention are for the
purpose of
describing specific embodiments only, but are not intended to limit the
present invention. The
singular forms "a", "the" and "said" used in the embodiments and the appended
claims of the
present invention are intended to include the plural forms as well, unless
otherwise clearly
specified in the context. "A plurality of' generally includes at least two.
[0070] It should be understood that the term "and/or" used herein only
describes the associated
relationship of the associated objects, indicating three kinds of
relationships. For example, A
and/or B can represent that A exists alone, A and B exist concurrently, and B
exists alone. In
addition, the character "/" herein generally indicates that the contextual
objects are in an "or"
relationship.
[0071] It should be understood that although the terms first, second, third,
etc. may be used in the
embodiments of the present invention to describe certain objects, these
objects should not be
limited by these terms. These terms are merely used to distinguish the
objects. For example, a first
object may also be referred to as a second object, and similarly, a second
object may also be
referred to as a first object, without departing from the scope of the
embodiments of the present
invention.
[0072] It should also be noted that the terms "comprise", "include" or any
other variants are
intended to cover the nonexclusive containing, such that the commodities or
devices including a
series of elements not only include those elements, but also include other
unclearly listed elements,
or also include the inherent elements of such commodities or devices. Without
more limitations,
the element defined by the phrase "comprising a ..." does not exclude the
existence of other
identical elements in the commodity or device that includes such an element.
[0073] Alternative embodiments of the present invention will be described in
detail below with
reference to the accompanying drawings.
[0074] FIGS. 1 and 2 are schematic structural diagrams of an automatic
cleaning apparatus
according to an exemplary embodiment. As shown in FIGS. 1 and 2, the automatic
cleaning
apparatus may be a vacuum cleaning robot, a mopping/brushing robot, a window
climbing robot,
6
CA 03204126 2023- 7- 4
or the like. The automatic cleaning apparatus may include a mobile platform
100, a perception
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.
[0075] The mobile platform 100 may be configured to automatically move on an
operation surface
in a target direction. The operation surface may be a surface to be cleaned by
the automatic
cleaning apparatus. In some embodiments, the automatic cleaning apparatus may
be a mopping
robot, in which case the automatic cleaning apparatus works on a floor, and
the floor serves as the
operation surface; the automatic cleaning apparatus may also be a window
cleaning robot, in which
case the automatic cleaning apparatus works on the exterior surface of glass
of a building, and the
glass serves as the operation surface; and the automatic cleaning apparatus
may also be a pipeline
cleaning robot, in which case the automatic cleaning apparatus works on the
interior surface of a
pipeline, and the interior surface of the pipeline serves as the operation
surface. Merely for the
purpose of illustration, the following descriptions of the present application
are given by taking a
mopping robot as an example.
[0076] 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
according to
unexpected environmental inputs, while the non-autonomous mobile platform
itself, instead of
adaptively making operation decisions according to unexpected environmental
inputs, can execute
given programs or run according to a certain logic. Correspondingly, in the
case that the mobile
platform 100 is the autonomous mobile platform, the target direction may be
autonomously
determined by the automatic cleaning apparatus; and in the case that the
mobile platform 100 is the
non-autonomous mobile platform, the target direction may be set systematically
or manually. The
mobile platform 100 includes a forward portion 111 and a backward portion 110
when the mobile
platform 100 is the autonomous mobile platform.
[0077] The perception system 120 includes a position determining device 121
located above the
mobile platform 100, a buffer 122 located on the forward portion 111 of the
mobile platform 100,
and sensing devices such as a cliff sensor 123, an ultrasonic sensor (not
shown in the figures), an
infrared sensor (not shown in the figures), a magnetometer (not shown in the
figures), an
accelerometer (not shown in the figures), a gyroscope (not shown in the
figures) and an odometer
(not shown in the figures), which are located at the bottom of the mobile
platform for providing
various position information and motion state information of the machine for
the control system
130.
7
CA 03204126 2023- 7- 4
[0078] For clearer descriptions of the actions of the automatic cleaning
apparatus, the following
directions are defined: the automatic cleaning apparatus may travel on the
floor by various
combinations of movement relative to the following three perpendicular axes
defined by the
mobile platform 100: a transverse axis x, a front-back axis y, and a central
vertical axis z. A
forward driving direction along the front-back axis y is marked as "forward",
and a backward
driving direction along the front-back axis y is marked as "backward". The
transversal axis x
extends substantially between a right wheel and a left wheel of the automatic
cleaning apparatus
along an axis center defined by the center point of a driving wheel assembly
141. The automatic
cleaning apparatus may rotate about the axis x. It is called "pitch up" when
the forward portion of
the automatic cleaning apparatus is tilted up and the backward portion thereof
is tilted down, and it
is called "pitch down" when the forward portion of the automatic cleaning
apparatus is tilted down
and the backward portion thereof is tilted up. In addition, the automatic
cleaning apparatus may
rotate around the axis z. In the forward direction of the automatic cleaning
apparatus, it is called
"turn right" when the automatic cleaning apparatus is tilted to the right of
the axis y, and it is called
"turn left" when the automatic cleaning apparatus is tilted to the left of the
axis y.
[0079] As shown in FIG. 2, the cliff sensors 123 are disposed at the bottom of
the mobile platform
100 and in front and rear of the driving wheel assembly 141 and configured to
prevent the
automatic cleaning apparatus from falling off when the automatic cleaning
apparatus moves back,
so as to protect the automatic cleaning apparatus against damage. The
aforementioned "front"
refers to the side in the same direction as the travelling direction of the
automatic cleaning
apparatus, and the aforementioned "rear" refers to the side in a direction
opposite to the travelling
direction of the automatic cleaning apparatus.
[0080] The position determining device 121 includes, but is not limited to, a
camera and a laser
distance sensor (LDS).
[0081] The various components in the perception system 120 may work
independently or jointly
to achieve intended functions more accurately. The surface to be cleaned is
identified by the cliff
sensor 123 and the ultrasonic sensor to determine the physical properties
including surface
materials, the degree of cleanliness, etc. of the surface to be cleaned, and
may be more accurately
determined in combination with the camera, and the laser distance sensor, etc.
[0082] For example, whether the surface to be cleaned is a carpet may be
determined by the
ultrasonic sensor, and if the ultrasonic sensor determines that the surface to
be cleaned is made of a
carpet material, the control system 130 controls the automatic cleaning
apparatus to conduct
carpet-mode cleaning.
8
CA 03204126 2023- 7- 4
[0083] The buffer 122 is disposed on the forward portion 111 of the mobile
platform 100. The
buffer 122 detects one or more events (or objects) in a travel path of the
automatic cleaning
apparatus via the perception system (for example, an infrared sensor) when the
driving wheel
assembly 141 propels the automatic cleaning apparatus to walk on the floor in
the process of
cleaning. The automatic cleaning apparatus may control, according to the
events (or objects), such
as an obstacle and a wall, detected by the buffer 122, the driving wheel
assembly 141 to make the
automatic cleaning apparatus respond to the events (or objects), for example,
moving away from
the obstacle.
[0084] The control system 130 is disposed on a main circuit board in the
mobile platform 100, and
includes a computing processor, such as a central processing unit or an
application processor,
which communicates with non-temporary memories, such as a hard disk, a flash
memory and a
random access memory. The application processor is configured to receive
environmental
information sensed by the plurality of sensors and transmitted from the
perception system 120, to
draw, by using a positioning algorithm (for example, SLAM) according to
obstacle information fed
back by the laser distance sensor, a simultaneous map of an environment where
the automatic
cleaning apparatus is located, autonomously determine the travel path
according to the
environmental information and the environmental map, and then control the
driving system 140 to
move forward, backward and/or turn according to the autonomously determined
travel path.
Further, the control system 130 may also determine, according to the
environmental information
and the environmental map, whether to activate the cleaning module 150 to
perform a cleaning
operation.
[0085] Specifically, the control system 130 may comprehensively determine a
current working
state (such as crossing a threshold, getting on a carpet, being at a cliff,
being stuck from above or
below, having a full dust box or being picked up) of the sweeping robot
according to distance
information and speed information fed back by the buffer 122 and the sensing
devices such as the
cliff sensor 123, the ultrasonic sensor, the infrared sensor, the
magnetometer, the accelerometer,
the gyroscope and the odometer, and may also give specific strategies for next
actions according to
different situations, making the work of the automatic cleaning apparatus more
in line with the
requirements of an owner, and achieving a better user experience. Furthermore,
the control system
may plan the most efficient and reasonable cleaning path and cleaning mode
based on the
information of the simultaneous map drawn by SLAM, which greatly improves the
cleaning
efficiency of the automatic cleaning apparatus.
9
CA 03204126 2023- 7- 4
[0086] The driving system 140 may execute a driving command based on specific
distance and
angle information, such as x, y and 0 components and thus control the
automatic cleaning
apparatus to travel across the floor. FIGS. 3 and 4 are an oblique view and a
front view of a lateral
driving wheel assembly 141 according to an embodiment of the present
invention, respectively. As
shown in the figures, the driving system 140 includes a driving wheel assembly
141 and may
control a left wheel and a right wheel simultaneously. In order to control the
movement of the
automatic cleaning apparatus more accurately, the driving system 140
preferably includes a left
driving wheel assembly and a right driving wheel assembly that are
symmetrically arranged along a
transverse axis defined by the mobile platform 100. The driving wheel assembly
includes a body
part, a driving wheel and an elastic element. One end of the body part is
connected to a rack. The
driving wheel is disposed on the body part and driven by a driving motor 146.
The elastic element
is connected between the body part and the rack, and configured to provide an
elastic force
between the rack and the body part. The driving motor 146 is located on the
outer side of the
driving wheel assembly 141, and an axis of the driving motor 146 is located
within a
cross-sectional projection of the driving wheel. The driving wheel assembly
141 may also be
connected to a circuit for measuring a driving current and an odometer.
[0087] For more stable movement on the floor or higher movement ability of the
automatic
cleaning apparatus, the automatic cleaning apparatus may include one or more
steering
components 142, which may be driven wheels or driving wheels and may
structurally include but
is not limited to universal wheels. The steering component 142 may be located
in front of the
driving wheel assembly 141.
[0088] The driving motor 146 provides power for rotation of the driving wheel
assembly 141
and/or the steering component 142.
[0089] The driving wheel assembly 141 may be detachably connected to the
mobile platform 100,
and thus is convenient to dismount, mount and maintain. The driving wheel may
be provided with
an offset drop suspension system, which is movably fastened, for example,
rotatably attached, to
the mobile platform 100 of the automatic cleaning apparatus, and maintains
contact and traction
with the floor with a certain ground adhering force by the elastic element
143, such as a tension
spring or a compression spring. Meanwhile, with a certain pressure, the
cleaning module 150 of the
automatic cleaning apparatus is also in contact with the surface to be
cleaned.
[0090] The energy system 160 includes a rechargeable battery, such as a nickel-
hydrogen battery
and a lithium battery. The rechargeable battery may be connected to a charging
control circuit, a
battery pack charging temperature detecting circuit, and a battery
undervoltage monitoring circuit
CA 03204126 2023- 7- 4
which are then connected to a single-chip microcomputer control circuit. A
host of the automatic
cleaning apparatus is connected to a charging pile by a charging electrode
disposed on a side of or
below the body of the automatic cleaning apparatus for charging. If the
exposed charging electrode
is covered with dust, due to the accumulative effect of charges in the process
of charging, a plastic
body around the electrode will be melted and deformed and even the electrode
itself will be
deformed and thus is unable to continue to normally charge the automatic
cleaning apparatus.
[0091] The human-machine interaction system 170 includes buttons on a panel of
the host for a
user to select functions, and may further include a display screen and/or an
indicator light and/or a
speaker, as well as a mobile phone client program. The display, the indicator
light and the speaker
show the user the current status or function options of the automatic cleaning
apparatus. For a route
navigation type cleaning apparatus, a mobile phone client may show the user a
map of the
environment where the apparatus is located, as well as the location of the
apparatus, thereby
providing the user with richer and more user-friendly function items.
[0092] The cleaning module 150 may include a dry cleaning module 151 and/or a
wet cleaning
module 400.
[0093] As shown in FIGS. 5-8, the dry cleaning module 151 includes a roller
brush, a dust box, a
fan, and an air outlet. The roller brush with certain interference with the
floor sweeps up debris on
the floor and rolls up it to the front of a dust suction inlet between the
roller brush and the dust box,
and then the debris is sucked into the dust box by a gas with a suction force,
which is generated by
the fan and passes through the dust box. The dust removal capacity of the
sweeping robot can be
characterized by the dust pickup (DPU) efficiency of the debris, which is
affected by the structure
and the material of the roller brush, the utilization rate of air in an air
passage formed by the dust
suction inlet, the dust box, the fan, the air outlet and connecting parts
among the dust suction inlet,
the dust box, the fan and the air outlet, and the type and the power of the
fan, and thus is a complex
problem of system design. The improvement of dust removal capacity is of
greater significance to
the energy-limited automatic cleaning apparatus than an ordinary plug-in
vacuum cleaner. This is
because the improvement of the dust removal capacity directly and effectively
reduces the demand
for energy, i.e., an original cleaning apparatus capable of cleaning 80 square
meters of the floor
with one charge may be improved to clean 180 square meters or more with one
charge. In addition,
the service life of a battery with a reduced number of charging times may be
greatly prolonged,
such that the frequency of replacing the battery by the user may be reduced.
More intuitively and
importantly, the improvement of the dust removal capacity is the most obvious
and important user
experience as the user can directly draw a conclusion about whether the
thorough
11
CA 03204126 2023- 7- 4
sweeping/mopping is achieved. The dry cleaning module may further include a
side brush
provided with a rotating shaft angled with respect to the floor, for moving
the debris into a roller
brush area of the cleaning module 150.
[0094] FIG. 5 is a schematic structural diagram of a dust box 152 in the dry
cleaning module, FIG.
6 is a schematic structural diagram of a fan 156 in the dry cleaning module,
FIG. 7 is a schematic
diagram of the dust box 152 in an open state, and FIG. 8 is a schematic
diagram of the dust box and
the fan in an assembled state.
[0095] The roller brush with certain interference with the floor sweeps up the
debris on the floor
and rolls up it to the front of the dust suction inlet 154 between the roller
brush and the dust box
152, then the debris is sucked into the dust box 152 by a gas with a suction
force, which is
generated by the fan 156 and passes through the dust box 152. The debris is
isolated on the side,
close to the dust suction inlet 154, in the dust box 152 by a filter screen
153. The filter screen 153
completely isolates the dust suction inlet from the air outlet, and air enters
the fan 156 through the
air outlet 155 after being filtered.
[0096] Typically, the dust suction inlet 154 of the dust box 152 is located in
front of the automatic
cleaning apparatus, the air outlet 155 is located on a side of the dust box
152, and an air suction
inlet of the fan 156 is docked with the air outlet of the dust box.
[0097] A front panel of the dust box 152 may be opened for cleaning the debris
inside the dust box
152.
[0098] The filter screen 153 is detachably connected to the body of the dust
box 152 and thus is
convenient to remove and clean.
[0099] According to a specific embodiment of the present invention, as shown
in FIGS. 9-11, the
wet cleaning module 400 provided by the present invention is configured to
clean at least part of
the operation surface in a wet cleaning manner. The wet cleaning module 400
includes a cleaning
head 410 and a driving unit 420. The cleaning head 410 is configured to clean
at least part of the
operation surface, and the driving unit 420 is configured to drive the
cleaning head 410 to
substantially reciprocate along a target surface that is a part of the
operation surface. The cleaning
head 410 reciprocates along the surface to be cleaned. A cleaning cloth or a
cleaning plate is
disposed on a surface of the cleaning head 410 in contact with the surface to
be cleaned, and
generates high-frequency friction with the surface to be cleaned by the
reciprocating motion
thereof, such that stains on the surface to be cleaned are removed.
[00100] The higher the friction frequency is, the larger the number of
friction times per unit time is.
The high-frequency reciprocating motion, also known as reciprocating
vibration, has a cleaning
12
CA 03204126 2023- 7- 4
ability much higher than that of an ordinary reciprocating motion, such as
rotational friction
cleaning. Optionally, the friction frequency is approximate to the frequency
of sound waves, and
the cleaning effect may be much higher than that of rotational friction
cleaning with dozens of
revolutions per minute. On the other hand, tufts on the surface of the
cleaning head may spread
more neatly in the same direction under shaking of high-frequency vibration,
such that the overall
cleaning effect is more uniform, rather than that under the condition of low-
frequency rotation,
only downward pressure is applied to increase a friction force to improve the
cleaning effect since
the downward pressure alone may not make the tufts spread in approximately the
same direction.
Therefore, in terms of the effect, water marks on the operation surface
cleaned by high-frequency
vibration are more uniform, and no chaotic water stains will be left.
[00101] The reciprocating motion may be either repeated motion in any one or
more directions
within the operation surface or vibration motion perpendicular to the
operation surface, which is
not strictly limited. Optionally, the reciprocating direction of the cleaning
module is substantially
perpendicular to the travelling direction of the automatic cleaning apparatus
because the
reciprocating direction parallel to the travelling direction of the automatic
cleaning apparatus may
cause the automatic cleaning apparatus itself, which is traveling, to be
unstable for the reason that
thrust and resistance in the travelling direction may make the driving wheel
skid easily, and the
impact of skid is more obvious when the wet cleaning module is included since
the slippery
operation surface increases the possibility of skid. The skid not only
adversely affects the smooth
travelling for cleaning of the automatic cleaning apparatus, but also leads to
inaccurate distance
measurement by the odometer, the gyroscope and other sensors, and thus
disables the
navigation-type automatic cleaning apparatus from accurately locating and
drawing maps. In the
case of frequent skid, the impact on SLAM may not be ignored, so it is
necessary to prevent the
automatic cleaning apparatus from skidding as much as possible. In addition to
skid, a motion
component of the cleaning head in the travelling direction of the automatic
cleaning apparatus
makes the automatic cleaning apparatus constantly pushed forward and backward
when the
automatic cleaning apparatus travels, and as a result, the automatic cleaning
apparatus may travels
unstably.
[00102] As an alternative embodiment of the present invention, as shown in
FIG. 9, the driving
unit 420 includes: a driving platform 421 connected to the bottom surface of
the mobile platform
100 and configured to provide a driving force; and a supporting platform 422
detachably connected
to the driving platform 421, configured to support the cleaning head 410, and
being capable of
ascending and descending under the driving of the driving platform 421.
13
CA 03204126 2023- 7- 4
[00103] As an alternative embodiment of the present invention, a lifting
module is disposed
between the cleaning module 150 and the mobile platform 100, so that the
cleaning module 150 is
in better contact with the surface to be cleaned or different cleaning
strategies are used for surfaces
to be cleaned made of different materials.
[00104] Optionally, the dry cleaning module 151 may be connected to the mobile
platform 100 by
a passive lifting module, and when the cleaning apparatus encounters an
obstacle, the dry cleaning
module 151 may pass over the obstacle more conveniently by the lifting module.
[00105] Optionally, the wet cleaning module 400 may be connected to the mobile
platform 100 by
an active lifting module. When the wet cleaning module 400 is temporarily not
involved in the
work or encounters a surface to be cleaned that cannot be cleaned by the wet
cleaning module 400,
the wet cleaning module 400 is lifted up by means of the active lifting module
and separated from
the surface to be cleaned, thereby achieving a change of the cleaning means.
[00106] As shown in FIGS. 10-11, the driving platform 421 includes: a motor
4211 disposed on
the side of the driving platform 421 close to the mobile platform 100 and
outputting power by a
motor output shaft; a driving wheel 4212 connected to the motor output shaft
and being of an
asymmetrical structure; a vibrator 4213 disposed on the side of the driving
platform 421 opposite
to the motor 4211, connected to the driving wheel 4212, and reciprocating
under the asymmetric
rotation of the driving wheel 4212.
[00107] The driving platform 421 may further include a gear mechanism. The
gear mechanism
may be connected to the motor 4211 and the driving wheel 4212. The motor 4211
may directly
drive the driving wheel 4212 to swivel, or may indirectly drive the driving
wheel 4212 to swivel by
the gear mechanism. It can be understood by a person of ordinary skill in the
art that the gear
mechanism may be one gear, or a gear set consisting of a plurality of gears.
[00108] The motor 4211 transmits power to the cleaning head 410, the driving
platform 421, the
supporting platform 422, a water delivery mechanism, a water tank, etc.
simultaneously by a power
transmission device. The energy system 160 provides power and energy for the
motor 4211 and is
entirely controlled by the control system 130. The power transmission device
may be a gear drive,
a chain drive, a belt drive, and may also be a worm gear or the like.
[00109] The motor 4211 has 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 may drive, by the
power transmission device, the vibrator 4213 of the driving platform in the
wet cleaning module
400 to substantially reciprocate and the water delivery mechanism to move
synchronously. In the
14
CA 03204126 2023- 7- 4
reverse output mode of the motor 4211, the motor 4211 drives the driving
platform 421 to ascend
and descend by the power transmission device.
[00110] Further, the driving platform 421 further includes a connecting rod
4214 extending along
an edge of the driving platform 421 and connecting the driving wheel 4212 to
the vibrator 4213
such that the vibrator 4213 extends to a preset position. The vibrator 4213
extends perpendicular to
the connecting rod 4214, such that the reciprocating direction of the vibrator
4213 is substantially
perpendicular to the travelling direction of the machine.
[00111] The motor 4211 is connected to the driving wheel 4212, the vibrator
4213, the connecting
rod 4214 and a vibration buffering device 4215 by the power transmission
device. The vibrator
4213 and the connecting rod 4214 constitute an approximately L-shaped
structure, as shown in
FIG. 15, and the vibrator 4213 is driven to reciprocate by the connecting rod
4214. The vibration
buffering device 4215 serves to damp the vibration and reduce the shake of the
motion behavior
driven by the driving wheel 4212, so that the vibrator 4213 vibrate smoothly
within the range of
motion provided by the supporting platform 422. Optionally, the vibration
buffering device 4215
is made of a soft material, is optionally of a rubber structure, and sleeves
the connecting rod 4214.
On the other hand, the vibration buffering device 4215 may also protect the
vibrator 4213 from
being damaged due to collision with the driving platform 421, and in turn
affects the reciprocating
motion of the vibrator 4213. A movable part and a fixed part of the driving
platform 421 are
connected in a less flexible way in the travelling direction of the automatic
cleaning apparatus to
restrict the movement, and connected in a flexible way in a direction (i.e., a
vibration direction of
the vibrator 4213) approximately perpendicular to the travelling direction to
allow the movement.
The above motion restriction of the two parts enables the vibrator 4213 to
reciprocate substantially
but not exactly. When the wet cleaning module 400 is activated, the motor 4211
starts to rotate
forward, and the motor 4211 drives, by the driving wheel 4212, the connecting
rod 4214 to
reciprocate along the surface of the driving platform 421. At the same time,
the vibration buffering
device 4215 drives the vibrator 4213 to substantially reciprocate along the
surface of the driving
platform 421, the vibrator 4213 drives the cleaning substrate 4221 to
substantially reciprocate
along the surface of the supporting platform 422, and the cleaning substrate
4221 drives the
movable area 412 to substantially reciprocate along the surface to be cleaned.
At this time, clean
water flows out of a clean water tank by means of a clean water pump, and is
sprinkled onto the
cleaning head 410 by a water discharge device 4217, and the surface to be
cleaned is cleaned by the
cleaning head 410 through reciprocating motion.
CA 03204126 2023- 7- 4
[00112] The cleaning intensity/efficiency of the automatic cleaning apparatus
may also be
automatically and dynamically adjusted according to the working environment of
the automatic
cleaning apparatus. For example, the automatic cleaning apparatus may be
dynamically adjusted
according to physical information of the surface to be cleaned detected by the
perception system
120. For example, the perception system 120 may detect such information as the
flatness, the
material and the presence of oil and dust of the surface to be cleaned, and
transmit the information
to the control system 130 of the automatic cleaning apparatus.
Correspondingly, the control system
130 may instruct the automatic cleaning apparatus to automatically and
dynamically adjust the
rotational speed of the motor and the transmission ratio of the power
transmission device
according to the working environment of the automatic cleaning apparatus and
thus to adjust the
preset reciprocation cycle of the reciprocating motion of the cleaning head
410.
[00113] For example, when the automatic cleaning apparatus works on a flat
floor, the preset
reciprocation cycle may be automatically and dynamically adjusted to be
longer, and the water
flow of the water pump may be automatically and dynamically adjusted to be
lower; and when the
automatic cleaning apparatus works on a less flat floor, the preset
reciprocation cycle may be
automatically and dynamically adjusted to be shorter, and the water flow of
the water pump may be
automatically and dynamically adjusted to be higher. This is because it is
easier to clean the flat
floor than the less flat floor, so cleaning the uneven floor requires the
reciprocating motion of the
cleaning head 410 at a higher speed (i.e., higher frequency) and a higher
water flow.
[00114] For another example, when the automatic cleaning apparatus works on a
table, the preset
reciprocation cycle may be automatically and dynamically adjusted to be longer
and the water flow
of the water pump may be automatically and dynamically adjusted to be lower;
and when the
automatic cleaning apparatus 100 works on a floor, the preset reciprocation
cycle may be
automatically and dynamically adjusted to be shorter and the water flow of the
pump may be
automatically and dynamically adjusted to be higher. This is because, compared
with the floor, the
table has less dust and oil and is made of a material easier to clean.
Therefore, the table can be
cleaned up with a fewer number of reciprocating motion of the cleaning head
410 and a lower
water flow of the water pump.
[00115] As an alternative embodiment of the present invention, the supporting
platform 422
includes a cleaning substrate 4221 freely movably disposed on the supporting
platform 422, and
the cleaning substrate 4221 substantially reciprocates under the vibration of
the vibrator 4213.
Optionally, as shown in FIG. 16, the cleaning substrate 4221 includes an
assembly notch 42211
disposed at a position in contact with the vibrator 4213, and the vibrator
4213 is assembled in the
16
CA 03204126 2023- 7- 4
assembly notch 42211 when the supporting platform 422 is connected to the
driving platform 421,
such that the cleaning substrate 4221 may substantially reciprocate
synchronously with the vibrator
4213. Four first limiting positions 42212 are included in the travelling
direction of the cleaning
apparatus of the cleaning substrate 4221, and the four first limiting
positions 42212 are flexibly
connected to the cleaning substrate 4221, with a small elastic scaling space,
thereby limiting the
movement of the cleaning substrate 4221 relative to the supporting platform
422 in the travelling
direction of the cleaning apparatus. Two second limiting positions 42213 are
included in a
direction perpendicular to the travelling direction of the cleaning apparatus
of the cleaning
substrate 4221, and the two second limiting positions 42213 limit the range of
the reciprocating
motion of the cleaning substrate 4221 in the direction perpendicular to the
travelling direction of
the cleaning apparatus. In addition, a water discharge hole 42214 is disposed
near the assembly
notch 42211 of the cleaning substrate 4221, allowing water flowing out of the
water discharge
device 4217 to flow to the cleaning head 410 through the water discharge hole.
The motion of the
cleaning substrate 4221 is substantially reciprocating motion under the impact
of the limiting
positions and the vibration buffering device. The cleaning substrate 4221 is
located on a part of the
supporting platform 422, and the vibration frequency may be made higher by
local vibration, for
example, up to a frequency range of sound waves. The movable part and the
fixed part of the
driving platform 421 are connected in a less flexible way in the travelling
direction of the
automatic cleaning apparatus to restrict the movement, and connected in a
flexible way in a
direction (i.e., a vibration direction of the vibrator 4213) approximately
perpendicular to the
travelling direction to allow the movement.
[00116] FIG. 12 illustrates another cleaning head driving mechanism 500 based
on a crank-slider
mechanism according to various embodiments of the present application. The
driving mechanism
500 is applicable to the driving platform 421. The driving mechanism 500
includes a driving wheel
4212, a vibrator 4213, a cleaning substrate 4221, a sliding groove 4222 (a
first sliding groove), and
a sliding groove 4223 (a second sliding groove).
[00117] The sliding grooves 4222 and 4223 are formed in the supporting
platform 422. A slider
525 (a first slider) and a slider 528 (a second slider) are disposed at two
ends of the cleaning
substrate 4221 respectively. Each of the sliders 525 and 528 is a projection
at each of the two ends
of the cleaning substrate 4221. The slider 525 is inserted into and slidable
along the sliding groove
4222; and the slider 528 is inserted into and slidable along the sliding
groove 4223. In some
embodiments, the sliding groove 4222 is on the same straight line as the
sliding groove 4223. In
some embodiments, the sliding groove 4222 is not on the same straight line as
the sliding groove
17
CA 03204126 2023- 7- 4
4223. In some embodiments, the sliding groove 4222 and the sliding groove 4223
extend in the
same direction. In some embodiments, the sliding groove 4222 and the sliding
groove 4223 extend
in the same direction as the cleaning substrate 4221. In some embodiments, the
sliding groove
4222 and the sliding groove 4223 extend in a different direction from the
cleaning substrate 4221.
In some embodiments, the sliding groove 4222 and the sliding groove 4223
extend in different
directions. For example, as shown in FIG. 12, the sliding groove 4222 and the
cleaning substrate
4221 extend in the same direction, while the extending direction of the
sliding groove 4223 forms
a certain angle with that of the sliding groove 4222.
[00118] The vibrator 4213 includes a swiveling end 512 and a sliding end 514.
The swiveling end
512 is connected to the driving wheel 4212 by a first pivot 516, and the
sliding end 514 is
connected to the cleaning substrate 4221 by a second pivot 518.
[00119] The rotation center of the driving wheel 4212 is a point 0, and the
pivot center of the first
pivot 516 is a point A. The point 0 does not coincide with the point A, and
the distance
therebetween is a preset distance d.
[00120] When the driving wheel 4212 rotates, the point A swivels circularly
with it.
Correspondingly, the swiveling end 512 swivels circularly with the point A;
and the sliding end
514 drives, by the second pivot 518, the cleaning substrate 4221 to slide.
Correspondingly, the
slider 525 of the cleaning substrate 4221 reciprocates linearly along the
sliding groove 4222; and
the slider 528 reciprocates linearly along the sliding groove 4223. In FIG. 4,
the moving speed of
the mobile platform 100 is VO and the moving direction thereof is a target
direction. According to
some embodiments, the overall displacement of the cleaning substrate 4221 is
substantially
perpendicular to the target direction when the sliding grooves 4223 and 4222
are approximately
perpendicular to the moving direction of the mobile platform 100. According to
some other
embodiments, when either of the sliding grooves 4223, 4222 forms an angle
other than 90 degrees
with the target direction, the overall displacement of the cleaning substrate
4221 includes a
component perpendicular to the target direction and a component parallel to
the target direction.
[00121] Further, a vibration buffering device 4215 is included, disposed on
the connecting rod
4214, and configured to mitigate the vibration in a particular direction. In
this embodiment, the
vibration buffering device is configured to reduce the vibration in a moving
component direction
perpendicular to the target direction of the automatic cleaning apparatus.
[00122] FIG. 13 illustrates another cleaning head driving mechanism 600 based
on a double-crank
mechanism according to various embodiments of the present application. The
driving mechanism
600 is applicable to the driving platform 421. The driving mechanism 600
includes a driving wheel
18
CA 03204126 2023- 7- 4
4212 (a first driving wheel), a driving wheel 4212' (a second driving wheel)
and a cleaning
substrate 4221.
[00123] The cleaning substrate 4221 has two ends, a first end thereof is
connected to the driving
wheel 4212 by a pivot 624 (a first pivot); and a second end thereof is
connected to the driving
wheel 4212' by a pivot 626 (a second pivot). The rotation center of the
driving wheel 4212 is a
point 0 and the pivot center of the pivot 624 is a point A. The point 0 does
not coincide with the
point A, and the distance therebetween is a preset distance d. The rotation
center of the driving
wheel 4212' is a point 0' and the pivot center of the pivot axis 626 is a
point A'. The point 0' does
not coincide with the point A', and the distance therebetween is a preset
distance d. In some
embodiments, the point A, the point A', the point 0 and the point 0' are
located on the same plane.
Thus, the driving wheel 4212, the driving wheel 4212' and the cleaning
substrate 4221 may form
the double-crank mechanism (or a parallelogram mechanism) in which the
cleaning substrate 4221
is used as a coupling rod and the driving wheels 4212, 4212' serve as two
cranks.
[00124] Further, a vibration buffering device 4215 is included, disposed on
the connecting rod
4214, and configured to mitigate the vibration in a particular direction. In
this embodiment, the
vibration buffering device is configured to reduce the vibration in a moving
component direction
perpendicular to the target direction of the automatic cleaning apparatus.
[00125] FIG. 14 illustrates a driving mechanism 700 based on a crank-slider
mechanism according
to various embodiments of the present application. The driving mechanism 700
is applicable to the
driving platform 421. The driving mechanism 700 includes a driving wheel 4212,
a cleaning
substrate 4221 and a sliding groove 4222.
[00126] The sliding groove 4222 is formed in the supporting platform 422. The
cleaning substrate
4221 includes a swiveling end 4227 and a sliding end 4226. The swiveling end
4227 is connected
to the driving wheel 4212 by a pivot 4228. The rotation center of of the
driving wheel 4212 is a
point 0, and the pivot center of the pivot 4228 is a point A. The point 0 does
not coincide with the
point A, and the distance therebetween is a preset distance d. The sliding end
4226 includes a slider
4225, which is a projection on the sliding end 4226. The slider 4225 is
inserted into and slidable
along the sliding groove 4222. Thus, the driving wheel 4221, the cleaning
substrate 4221, the slider
4225 and the sliding groove 4222 constitute the crank-slider mechanism.
[00127] When the driving wheel 4212 rotates, the point A swivels circularly.
Correspondingly, the
swiveling end 4227 of the cleaning substrate 4221 swivels circularly with the
point A; and the
slider 4225 slides in the sliding groove 4222 and reciprocates linearly. As a
result, the cleaning
substrate 4221 starts to reciprocate. According to some embodiments, the
sliding groove 4222 is
19
CA 03204126 2023- 7- 4
approximately perpendicular to the target direction of the mobile platform,
such that the linear
motion of the sliding end 4226 includes a component perpendicular to the
target direction, and the
circular swiveling motion of the swiveling end 4227 includes both a component
perpendicular to
the target direction and a component parallel to the target direction.
[00128] In FIG. 14, the moving speed of the mobile platform is VO and the
moving direction
thereof is the target direction; and the sliding groove 4222 is approximately
perpendicular to the
target direction. At this time, the overall reciprocating motion of the
cleaning substrate 4221
includes not only a moving component parallel to the target direction of the
automatic cleaning
apparatus but also a moving component perpendicular to the target direction of
the automatic
cleaning apparatus.
[00129] Further, the supporting platform 422 further includes an elastic
removal button 4229,
which is disposed on at least one side of the supporting platform 422 and
configured to detachably
connect the supporting platform 422 to a clamping jaw 4216 of the driving
platform 421, such that
the supporting platform 422 is detachably and mechanically secured to the
driving platform 421
and fixed relative to the driving platform and the automatic cleaning
apparatus. At least one
assembly area 4224 is disposed on the supporting platform 422 and configured
for assembly of the
cleaning head 410. The assembly area 4224 may be made from a bonding material
having a
bonding layer.
[00130] As an alternative embodiment of the present invention, as shown in
FIG. 9, the cleaning
head 410 includes a movable area 412 connected to the cleaning substrate 4221
and substantially
reciprocating along a surface to be cleaned under the driving of the cleaning
substrate 4221. The
movable area 412 is disposed at a substantially central position of the
cleaning head 410.
[00131] Optionally, a bonding layer is disposed on the side of the movable
area 412 connected to
the cleaning substrate 4221, and the movable area 412 is connected to the
cleaning substrate 4221
by the bonding layer.
[00132] Optionally, the cleaning head 419 further includes a fixed area 411
connected to the
bottom of the supporting platform 422 by the at least one assembly area 4224
and cleaning at least
part of the operation surface with the movement of the supporting platform
422.
[00133] Further, the cleaning head 410 further includes a flexible connection
part 413 disposed
between the fixed area 411 and the movable area 412 and configured to connect
the fixed area 411
to the movable area 412. The cleaning head 410 further includes a sliding
buckle 414 extending
along an edge of the cleaning head 410 and detachably mounted in a clamping
position 4225 of the
supporting platform 422.
CA 03204126 2023- 7- 4
[00134] In this embodiment, as shown in FIG. 9, the cleaning head 410 may be
made of a material
having certain elasticity, and the cleaning head 410 is secured to the surface
of the supporting
platform 422 by the bonding layer, so as to reciprocate. When the cleaning
head 410 works, the
cleaning head 410 is always in contact with the surface to be cleaned.
[00135] The water delivery mechanism includes a water discharge device 4217
that may be
directly or indirectly connected to a cleaning fluid outlet of the water tank
(not shown in the figure)
(i.e., a liquid outlet of the clean water tank). A cleaning fluid may flow to
the water discharge
device 4217 through the cleaning fluid outlet of the water tank and may be
evenly applied by the
water discharge device to the surface to be cleaned. The water discharge
device may be provided
with a connector (not shown in the figure), and connected to the cleaning
fluid outlet of the water
tank by means of the connector. The water discharge device is provided with a
dispensing opening,
which may be a continuous opening or a combination of a plurality of
discontinuous small
openings, and a plurality of of nozzles may be disposed at the dispensing
opening. The cleaning
fluid flows to the dispensing opening through the cleaning fluid outlet of the
water tank and the
connector of the water discharge device and is evenly applied to the operation
surface through the
dispensing opening.
[00136] The water delivery mechanism may further include a clean water pump
4219 and/or a
clean water pump pipe 4218, and the clean water pump 4219 may be communicated
with the
cleaning fluid outlet of the water tank directly or by the clean water pump
pipe 4218.
[00137] The clean water pump 4219 may be connected to the connector of the
water discharge
device, and may be configured to pump the cleaning fluid from the water tank
to the water
discharge device. The clean water pump may be a gear pump, a vane pump, a
plunger pump, a
peristaltic pump, or the like.
[00138] The water delivery mechanism pumps the cleaning fluid from the clean
water tank by the
clean water pump 4219 and the clean water pump pipe 4218, and delivers the
cleaning fluid to the
water discharge device. The water discharge device 4217 may be a nozzle, a
dripping hole, a wet
cloth, or the like, and evenly distributes water on the cleaning head, so as
to wet the cleaning head
and the surface to be cleaned. Therefore, stains on the wetted surface to be
cleaned may be cleaned
more easily. In the wet cleaning module 400, the power/flow rate of the clean
water pump is
adjustable.
[00139] Further, as shown in FIG. 17, the motor 4211 drives, by a gear set
42193, the clean water
pump 4219 to creep, and through the creeping of the clean water pump 4219,
clean water enters
from a water inlet 42191, flows out from a water outlet 42192, and is then
delivered to the water
21
CA 03204126 2023- 7- 4
discharge device 4217 by the clean water pump pipe 4218, and water flowing out
from the water
discharge device 4217 flows to the cleaning head 410 through the water
discharge hole.
[00140] Further, as shown in FIG. 18, the motor 4211 drives, by the gear set
42193, a cable gear
42196 to rotate. The cable gear 42196 is wound with a cable 42194, and the
cable 42194 is wound
around the driving platform 421. The cable gear 42196 pulls the cable 42194 to
ascend and
descend so as to realize ascending and descending of the driving platform 421.
The cable gear
42196 and the cable 42194 are core components of the lifting module.
[00141] A clutch 42195 is disposed on the gear set 42193 and the cable gear
42196. The clutch
42195 includes a spring and a sheet-like component. By controlling the clutch
42195 to engage and
disengage, the motor 4211 controls the three moving modules to rotate in one
direction so as to
drive the vibrator to vibrate and simultaneously realize water supply of the
clean water pump 4219;
and to rotate in the opposite directions to drive, by the cable 42194, the
lifting module to ascend
and descend. Optionally, owing to the combined design of the gear set,
different combinations of
the three moving modules can be controlled. For example, rotation in one
direction realizes that
the clean water pump supplies water, and rotation in the opposite directions
realizes control on
lifting and vibration. Optionally, two motors may be employed to control the
three moving
modules, but using one more motor may lead to cost increase.
[00142] The sweeping and mopping integrated cleaning apparatus provided by the
present
invention can achieve a more comprehensive cleaning function because the
cleaning module of the
automatic cleaning apparatus is provided with both the dry cleaning module and
the wet cleaning
module. Meanwhile, in the wet cleaning module, by adding the driving unit and
a vibration area,
the cleaning head can reciprocate to repeatedly clean the surface to the
cleaned. Therefore, in the
movement trajectory of the cleaning robot, a certain area can be cleaned
several times when the
cleaning robot passes through this area just one time, thereby greatly
improving the cleaning effect,
and the cleaning effect is obvious especially for areas with more stains.
[00143] In cooperation with sensors (for example, a surface medium sensor)
that can detect the
surface type of the surface to be cleaned, the lifting module enables the wet
cleaning module to
perform a cleaning operation according to different surfaces to be cleaned,
such as lifting up the
wet cleaning module on a carpet surface and lowering the wet cleaning module
on the surfaces of
floors/floor tiles, for cleaning, thereby achieving a more comprehensive
cleaning effect. Finally, it
should be noted that the various embodiments in the description are described
in a progressive
manner, each embodiment focuses on the differences from the other embodiments,
and the same or
similar parts between the various embodiments may be referred to each other.
As for the system or
22
CA 03204126 2023- 7- 4
device disclosed by the embodiments, since it corresponds to the method
disclosed by the
embodiments, its description is relatively simple, and for the relevant parts,
reference may be made
to the descriptions of the method embodiment.
[00144] The above embodiments are only used to illustrate, instead of
limiting, the technical
solutions of the present disclosure. Although the present disclosure is
described in detail with
reference to the foregoing embodiments, those of ordinary skill in the art
shall be understood that
they can still modify the technical solutions described in the foregoing
embodiments, or make
equivalent substitutions for some of the technical features; these
modifications or substitutions do
not deviate the nature of the corresponding technical solutions from the
spirit and scope of the
technical solutions of the embodiments of the present disclosure.
23
CA 03204126 2023- 7- 4
