CN112690713B

Movatterモバイル変換

Info

Publication number: CN112690713B
Application number: CN202110138563.7A
Authority: CN
Inventors: 李行; 成盼; 段传林; 杨志敏; 刘俊刚; 杨帆
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-01-04
Filing date: 2021-02-01
Publication date: 2023-01-13
Anticipated expiration: 2041-02-01
Also published as: AU2021411295A1; CN112690713A; TWM633591U; TWI885647B; CA3204126A1; KR20230125812A; EP4272618A1; JP2024502834A; US20240130595A1; TW202243639A; WO2022227782A1; CN113693499A; JP7701454B2; TWI830202B; US20240057837A1; EP4331461A1; WO2022142147A1; AU2025205585A1; AU2021411295B2; CN115919194A

Abstract

The present invention provides an automatic cleaning apparatus, comprising: a mobile platform configured to automatically move on the operation surface; clean module, set up in on the moving platform, include: a dry cleaning module configured to clean at least a portion of the operating surface using a dry cleaning method; a wet cleaning module configured to clean at least a portion of the operating surface using a wet cleaning method; wherein, the wet cleaning module includes: the cleaning device comprises a cleaning head for cleaning the operation surface and a driving unit for driving the cleaning head to reciprocate along a target surface, wherein the target surface is a part of the operation surface. The cleaning head can basically reciprocate, so that the surface to be cleaned can be repeatedly cleaned, multiple times of cleaning can be realized by passing through a certain area once in the motion track of the cleaning robot, the cleaning effect is greatly enhanced, and the cleaning effect is obvious particularly for the area with more stains.

Description

Translated fromChinese

一种自动清洁设备an automatic cleaning device

技术领域technical field

本发明涉及清洁机器人技术领域，具体而言，涉及一种自动清洁设备。The present invention relates to the technical field of cleaning robots, in particular to an automatic cleaning device.

背景技术Background technique

清洁机器人目前主要包括扫地机器人和拖地机器人两种，扫地机器人和拖地机器人的功能比较单一，要么只能进行扫地要么只能进行拖地。若想同时进行扫地和拖地则必须同时准备两套设备，占用双倍的空间。Cleaning robots currently mainly include sweeping robots and mopping robots. The functions of sweeping robots and mopping robots are relatively single, and they can only sweep or mop. 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 double the space.

现有技术中，也有将扫地机器人和拖地机器人结合，在机器人尾端增设拖布从而实现扫地拖地一体清扫，但该一体清扫中的拖地功能仅采用一块拖布在地面平移，随着拖布的平移，在清洁机器人移动轨迹中进行单次的拖地，拖地效果和效率都大打折扣，特别是对于一些污渍比较多，地面比较脏的环境，一次移动拖地显然不能将地面清洁干净。In the prior art, there is also a combination of a sweeping robot and a mopping robot, and a mop is added at the end of the robot to realize integrated cleaning of the sweeping and mopping the floor. However, the mopping function in this integrated cleaning only uses a piece of mop to move on the ground. Translating, mopping the floor once in the moving track of the cleaning robot, the effect and efficiency of mopping the floor are greatly reduced, especially for some environments with more stains and dirty floors, it is obviously impossible to clean the floor with one movement of mopping the floor.

发明内容Contents of the invention

本发明的目的在于提供一种自动清洁设备，能够解决地面不能清理干净的技术问题。具体方案如下：The purpose of the present invention is to provide an automatic cleaning device, which can solve the technical problem that the ground cannot be cleaned. The specific plan is as follows:

根据本发明的具体实施方式，本发明提供一种自动清洁设备，包括：According to a specific embodiment of the present invention, the present invention provides an automatic cleaning device, comprising:

移动平台100，被配置为在操作面上自动移动；amobile platform 100 configured to automatically move on the operating surface;

清洁模组150，设置于所述移动平台100上，包括：Thecleaning module 150 is arranged on themobile platform 100, including:

干式清洁模组151，被配置为采用干式清洁方式清洁所述操作面的至少一部分；Thedry cleaning module 151 is configured to clean at least a part of the operation surface in a dry cleaning manner;

湿式清洁模组400，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述湿式清洁模组400包括：Thewet cleaning module 400 is configured to clean at least a part of the operating surface in a wet cleaning manner; wherein, thewet cleaning module 400 includes:

用于清洁所述操作面的清洁头410，以及，acleaning head 410 for cleaning the work surface, and,

用于驱动所述清洁头410沿着目标面基本上往复运动的驱动单元420，所述目标面为所述操作面的一部分。Adriving unit 420 for driving thecleaning head 410 to substantially reciprocate along a target surface, which is a part of the operation surface.

可选的，所述驱动单元420包括：Optionally, thedrive unit 420 includes:

驱动平台421，连接于所述移动平台100底面，用于提供驱动力；Thedriving platform 421 is connected to the bottom surface of themobile platform 100 for providing driving force;

支撑平台422，可拆卸的连接于所述驱动平台421，用于支撑所述清洁头410。The supportingplatform 422 is detachably connected to thedriving platform 421 for supporting thecleaning head 410 .

可选的，所述驱动平台421包括：Optionally, thedrive platform 421 includes:

电机4211，设置于所述驱动平台421的靠近所述移动平台100一侧，通过电机输出轴输出动力；Themotor 4211 is arranged on the side of thedriving platform 421 close to themobile platform 100, and outputs power through the output shaft of the motor;

驱动轮4212，与所述电机输出轴连接，所述驱动轮4212为非对称结构。Thedriving wheel 4212 is connected with the output shaft of the motor, and thedriving wheel 4212 has an asymmetric structure.

可选的，所述驱动平台421还包括：Optionally, thedrive platform 421 also includes:

震动件4213，设置于所述驱动平台421的与所述电机4211相反的一侧，与所述驱动轮4212连接，在所述驱动轮4212非对称的转动下实现基本上往复运动。The vibratingelement 4213 is arranged on the side of thedriving platform 421 opposite to themotor 4211 , connected with thedriving wheel 4212 , and basically realizes reciprocating motion under the asymmetrical rotation of thedriving wheel 4212 .

连接杆4214，沿所述驱动平台421边缘延伸，连接所述驱动轮4212与所述震动件4213，使所述震动件4213延伸至预设位置。The connectingrod 4214 extends along the edge of thedriving platform 421 and connects thedriving wheel 4212 and thevibrating element 4213 so that the vibratingelement 4213 extends to a preset position.

可选的，所述震动件4213为杆状结构，其延伸方向与所述连接杆4214垂直。Optionally, the vibratingmember 4213 is a rod-shaped structure, and its extending direction is perpendicular to the connectingrod 4214 .

可选的，所述驱动平台包括，震动缓冲装置4215，设置于所述连接杆4214上。Optionally, the driving platform includes ashock buffer device 4215 disposed on the connectingrod 4214 .

可选的，所述支撑平台422包括：Optionally, thesupport platform 422 includes:

清洁基板4221，可自由活动的设置于所述支撑平台422，所述清洁基板4221在所述震动件4213的震动下相对所述支撑平台422做基本上往复运动。Thecleaning substrate 4221 is freely movable on the supportingplatform 422 , and thecleaning substrate 4221 basically reciprocates relative to the supportingplatform 422 under the vibration of the vibratingmember 4213 .

可选的，所述清洁基板4221包括：Optionally, thecleaning substrate 4221 includes:

装配缺口，设置于与所述震动件4213接触的位置，当所述支撑平台422连接于所述驱动平台421上时，所述震动件4213装配于所述装配缺口。The assembly notch is arranged at a position in contact with the vibratingelement 4213 , and when the supportingplatform 422 is connected to thedriving platform 421 , thevibrating element 4213 is assembled in the assembling notch.

可选的，所述支撑平台422还包括：Optionally, thesupport platform 422 also includes:

拆卸按钮4229，用于使所述支撑平台422可拆卸的连接于所述驱动平台421。Thedisassembly button 4229 is used to detachably connect the supportingplatform 422 to thedriving platform 421 .

至少一个装配区域4224，设置于所述支撑平台422，用于装配所述清洁头410。At least oneassembly area 4224 is provided on thesupport platform 422 for assembling thecleaning head 410 .

可选的，所述清洁头410包括：Optionally, thecleaning head 410 includes:

活动区域412，与所述清洁基板4221连接，在所述清洁基板4221的驱动下沿着所述目标面基本上往复运动。Theactive area 412 is connected with thecleaning substrate 4221 and basically reciprocates along the target surface driven by thecleaning substrate 4221 .

可选的，所述活动区域412与所述清洁基板4221连接的一侧设置有粘结层，所述活动区域412与所述清洁基板4221通过所述粘结层连接。Optionally, an adhesive layer is provided on the side where theactive area 412 is connected to thecleaning substrate 4221 , and theactive area 412 is connected to thecleaning substrate 4221 through the adhesive layer.

可选的，所述清洁头410还包括：Optionally, thecleaning head 410 also includes:

固定区域411，通过所述至少一个装配区域4224连接于所述支撑平台422底部，所述固定区域411随着所述支撑平台422的移动清洁所述操作面的至少一部分。Thefixed area 411 is connected to the bottom of thesupport platform 422 through the at least oneassembly area 4224 , and thefixed area 411 cleans at least a part of the operation surface along with the movement of thesupport platform 422 .

柔性连接部413，设置于所述固定区域411和所述活动区域412之间，用于连接所述固定区域411和所述活动区域412。Theflexible connection part 413 is disposed between thefixed area 411 and themovable area 412 and used for connecting thefixed area 411 and theactive area 412 .

滑动卡扣414，沿所述清洁头410边缘延伸，可拆卸的安装于所述支撑平台422。The slidingbuckle 414 extends along the edge of thecleaning head 410 and is detachably installed on the supportingplatform 422 .

可选的，所述清洁模组150与移动平台100间设有升降模组。Optionally, a lifting module is provided between thecleaning module 150 and themobile platform 100 .

可选的，所述干式清洁模组151通过被动式升降模组与所述移动平台100相连接。Optionally, thedry cleaning module 151 is connected to themobile platform 100 through a passive lifting module.

可选的，所述湿式清洁模组400通过主动式升降模组与所述移动平台100相连接。Optionally, thewet cleaning module 400 is connected to themobile platform 100 through an active lifting module.

与现有技术相比，本发明实施例具有如下的技术效果：Compared with the prior art, the embodiments of the present invention have the following technical effects:

本发明提供的扫拖一体清洁设备，由于自动清洁设备的清洁模组设置有干式清洁模组和湿式清洁模组，能够提供更加全面的清洁功能。同时，在湿式清洁模组中，通过增加驱动单元、震动区域，使清洁头可以往复运动，从而可以在待清洁表面进行反复清洁，使得在清洁机器人运动轨迹中，一次通过某一区域可以实现多次清洁，从而大大增强了清洁效果，特别是对于污渍比较多的区域，清洁效果明显。The sweeping and mopping integrated cleaning device provided by the present invention can provide more comprehensive cleaning functions because the cleaning module of the automatic cleaning device is provided with a dry cleaning module and a wet cleaning module. At the same time, in the wet cleaning module, by increasing the drive unit and the vibration area, the cleaning head can reciprocate, so that the surface to be cleaned can be cleaned repeatedly, so that in the trajectory of the cleaning robot, it can pass through a certain area at one time. The cleaning effect is greatly enhanced, especially for areas with more stains, the cleaning effect is obvious.

附图说明Description of drawings

此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention. Apparently, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings according to these drawings without creative efforts. In the attached picture:

图1为本发明的一个实施例的自动清洁设备的斜视图。Fig. 1 is a perspective view of an automatic cleaning device according to an embodiment of the present invention.

图2为本发明的一个实施例的自动清洁设备的底部结构的示意图。Fig. 2 is a schematic diagram of the bottom structure of an automatic cleaning device according to an embodiment of the present invention.

图3为本发明的一个实施例的一侧驱动轮组件的斜视图。Fig. 3 is a perspective view of a drive wheel assembly on one side according to an embodiment of the present invention.

图4为本发明的一个实施例的一侧驱动轮组件的正视图。Fig. 4 is a front view of a side drive wheel assembly according to an embodiment of the present invention.

图5为本发明的一个实施例的尘盒的斜视图。Fig. 5 is a perspective view of a dust box according to an embodiment of the present invention.

图6为本发明的一个实施例的风机的斜视图。Fig. 6 is a perspective view of a fan according to an embodiment of the present invention.

图7为本发明的一个实施例的尘盒的打开状态示意图。Fig. 7 is a schematic diagram of an open state of the dust box according to an embodiment of the present invention.

图8为本发明的一个实施例的尘盒、风机组合状态示意图。Fig. 8 is a schematic diagram of the combined state of the dust box and the blower according to an embodiment of the present invention.

图9为本发明的一个实施例的自动清洁设备的爆炸图。Fig. 9 is an exploded view of an automatic cleaning device according to an embodiment of the present invention.

图10为本发明的一个实施例的自动清洁设备支撑平台的结构图。Fig. 10 is a structural diagram of an automatic cleaning equipment support platform according to an embodiment of the present invention.

图11为本发明的一个实施例的自动清洁设备震动件的结构图。Fig. 11 is a structural diagram of a vibrating element of an automatic cleaning device according to an embodiment of the present invention.

图12为本发明的另一实施例的基于曲柄滑块机构的清洁头驱动机构示意图。Fig. 12 is a schematic diagram of a cleaning head driving mechanism based on a slider crank mechanism according to another embodiment of the present invention.

图13为本发明的另一实施例的基于双曲柄机构的清洁头驱动机构示意图。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.

图14为本发明的另一实施例的基于曲柄机构的清洁头驱动机构示意图。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.

图15为本发明的一个实施例的震动件的结构图。Fig. 15 is a structural diagram of a vibrating element according to an embodiment of the present invention.

图16为本发明的一个实施例的清洁基板装配结构示意图。Fig. 16 is a schematic diagram of an assembly structure of a cleaning substrate according to an embodiment of the present invention.

图17为本发明的一个实施例的电机驱动清水泵的结构图。Fig. 17 is a structural diagram of a motor-driven clean water pump according to an embodiment of the present invention.

图18为本发明的一个实施例的电机驱动升降模组的结构图。Fig. 18 is a structural diagram of a motor-driven lifting module according to an embodiment of the present invention.

附图标记说明：Explanation of reference signs:

移动平台100、后向部分110、前向部分111、感知系统120、位置确定装置121、缓冲器122、悬崖传感器123、控制系统130、驱动系统140、驱动轮组件141、转向组件142、弹性元件143、驱动马达146、清洁模组150、干式清洁模组151、尘盒152、滤网153、吸尘口154、出风口155、风机156、能源系统160、人机交互系统170、湿式清洁组件400、清洁头410、驱动单元420、驱动平台421、支撑平台422、电机4211、驱动轮4212、震动件4213、连接杆4214、震动缓冲装置4215、卡爪4216、清水泵管4218、清水泵4219、清洁基板4221、弹性拆卸按钮4229、装配区域4224、卡接位置4225、第一滑槽4222、第二滑槽4223、第一滑块525、第二滑块528、回转端512(4227)、滑动端514(4226)、第一枢轴516(624)、第二枢轴518(626)、驱动机构500(600、700)。Mobile platform 100,backward part 110,forward part 111,perception system 120,position determination device 121,buffer 122,cliff sensor 123,control system 130,drive system 140,drive wheel assembly 141, steeringassembly 142,elastic element 143.Drive motor 146,cleaning module 150,dry cleaning module 151,dust box 152,filter 153,dust suction port 154,air outlet 155,fan 156,energy system 160, human-computer interaction system 170,wet cleaning Assembly 400, cleaninghead 410, drivingunit 420, drivingplatform 421, supportingplatform 422,motor 4211,driving wheel 4212, vibratingelement 4213, connectingrod 4214,vibration buffer device 4215,claw 4216, cleanwater pump tube 4218,clean water pump 4219, cleaningsubstrate 4221,elastic disassembly button 4229,assembly area 4224, clampingposition 4225,first chute 4222,second chute 4223,first slider 525,second slider 528, rotary end 512 (4227) , the sliding end 514 (4226), the first pivot 516 (624), the second pivot 518 (626), and the driving mechanism 500 (600, 700).

具体实施方式detailed description

为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

在本发明实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。Terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "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 otherwise, "multiple" Generally contain at least two.

应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should be understood that the term "and/or" used herein is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and/or B, which may mean that A exists alone, and A and B exist simultaneously. B, there are three situations of B alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

应当理解，尽管在本发明实施例中可能采用术语第一、第二、第三等来描述，但这些不应限于这些术语。这些术语仅用来将区分开。例如，在不脱离本发明实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。It should be understood that although the terms first, second, third, etc. may be used for description in the embodiments of the present invention, these should not be limited to these terms. These terms are used only to distinguish. For example, without departing from the scope of the embodiments of the present invention, the first can also be called the second, and similarly, the second can also be called the first.

还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that an article or arrangement comprising a list of elements includes not only those elements but also includes items not expressly listed. other elements of the product, or elements inherent in the product or device. Without further limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the article or device comprising said element.

下面结合附图详细说明本发明的可选实施例。Optional embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

图1-2是根据一示例性实施例示出的一种自动清洁设备的结构示意图，如图1-2所示，自动清洁设备可以真空吸地机器人、也可以是拖地/刷地机器人、也可以是爬窗机器人等等，该自动清洁设备可以包含移动平台100、感知系统120、控制系统130、驱动系统140、清洁模组150、能源系统160和人机交互系统170。其中：Fig. 1-2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment. As shown in Fig. It can be a window climbing robot, etc. The automatic cleaning device can include amobile platform 100 , aperception system 120 , acontrol system 130 , adrive system 140 , acleaning module 150 , anenergy system 160 and a human-computer interaction system 170 . in:

移动平台100可以被配置为在操作面上自动沿着目标方向移动。所述操作面可以为自动清洁设备待清洁的表面。在一些实施例中，自动清洁设备可以为拖地机器人，则自动清洁设备在地面上工作，所述地面为所述操作面；自动清洁设备也可以是擦窗机器人，则自动清洁设备在建筑的玻璃外表面工作，所述玻璃为所述操作面；自动清洁设备也可以是管道清洁机器人，则自动清洁设备在管道的内表面工作，所述管道内表面为所述操作面。纯粹是为了展示的需要，本申请中下面的描述以拖地机器人为例进行说明。Themobile platform 100 may be configured to automatically move in a target direction on the operating surface. The operation surface may be the surface to be cleaned by the automatic cleaning equipment. In some embodiments, the automatic cleaning equipment can be a mopping robot, and the automatic cleaning equipment works on the ground, and the ground is the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the ground Working on the outer surface of the glass, the glass is the operating surface; the automatic cleaning equipment can also be a pipeline cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipeline, and the inner surface of the pipeline is the operating surface. Purely for the sake of demonstration, the following description in this application takes a mopping robot as an example.

在一些实施例中，移动平台100可以是自主移动平台，也可以是非自主移动平台。所述自主移动平台是指移动平台100本身可以根据预料之外的环境输入自动地及适应性地做出操作决策；所述非自主移动平台本身不能根据预料之外的环境输入适应性地做出操作决策，但可以执行既定的程序或者按照一定的逻辑运行。相应地，当移动平台100为自主移动平台时，所述目标方向可以是自动清洁设备自主决定的；当移动平台100为非自主移动平台时，所述目标方向可以是系统或人工设置的。当所述移动平台100是自主移动平台时，所述移动平台100包括前向部分111和后向部分110。In some embodiments, themobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that themobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions based on unexpected environmental inputs. Operational decision-making, but it can execute established procedures or operate according to certain logic. Correspondingly, when themobile platform 100 is an autonomous mobile platform, the target direction can be determined by the automatic cleaning device; when themobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When themobile platform 100 is an autonomous mobile platform, themobile platform 100 includes aforward portion 111 and arearward portion 110 .

感知系统120包括位于移动平台100上方的位置确定装置121、位于移动平台100的前向部分111的缓冲器122、位于移动平台底部的悬崖传感器123和超声传感器(图中未示出)、红外传感器(图中未示出)、磁力计(图中未示出)、加速度计(图中未示出)、陀螺仪(图中未示出)、里程计(图中未示出)等传感装置，向控制系统130提供机器的各种位置信息和运动状态信息。Theperception system 120 includes aposition determination device 121 located above themobile platform 100, abuffer 122 located at theforward portion 111 of themobile platform 100, acliff sensor 123 located at the bottom of the mobile platform, an ultrasonic sensor (not shown), an infrared sensor (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors The device provides various position information and motion state information of the machine to thecontrol system 130.

为了更加清楚地描述自动清洁设备的行为，进行如下方向定义：自动清洁设备可通过相对于由移动平台100界定的如下三个相互垂直轴的移动的各种组合在地面上行进：横向轴x、前后轴y及中心垂直轴z。沿着前后轴y的前向驱动方向标示为“前向”，且沿着前后轴y的后向驱动方向标示为“后向”。横向轴x实质上是沿着由驱动轮组件141的中心点界定的轴心在自动清洁设备的右轮与左轮之间延伸。其中，自动清洁设备可以绕x轴转动。当自动清洁设备的前向部分向上倾斜，后向部分向下倾斜时为“上仰”，且当自动清洁设备的前向部分向下倾斜，后向部分向上倾斜时为“下俯”。另外，自动清洁设备可以绕z轴转动。在自动清洁设备的前向方向上，当自动清洁设备向Y轴的右侧倾斜为“右转”，当自动清洁设备向y轴的左侧倾斜为“左转”。In order to more clearly describe the behavior of the autonomous cleaning device, the following orientation definitions are made: The autonomous cleaning device can travel on the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis x, The front and rear axis y and the central vertical axis z. The forward driving direction along the front-rear axis y is designated "forward" and the rearward driving direction along the front-rear axis y is designated "rear". The transverse axis x extends substantially along the axis defined by the center point of thedrive wheel assembly 141 between the right and left wheels of the automatic cleaning device. Wherein, the automatic cleaning device can rotate around the x-axis. A self-cleaning device is "pitched" when the forward part is sloped upwards and the rearward part is sloped downwards, and "pitched" is when the forward part of the automatic cleaning device is sloped downwards and the rearward part is sloped upwards. In addition, the automatic cleaning device can be rotated about the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is tilted to the right of the Y axis, it is "right turn", and when the automatic cleaning device is tilted to the left of the y axis, it is "left turn".

如图2所示，在移动平台100底部上并且在驱动轮组件141的前方和后方设置有悬崖传感器123，该悬崖传感器用于防止在自动清洁设备后退时发生跌落，从而能够避免自动清洁设备受到损坏。前述的“前方”是指相对于自动清洁设备行进方向相同的一侧，前述的“后方”是指相对于自动清洁设备行进方向相反的一侧。As shown in Figure 2, on the bottom of themobile platform 100 and at the front and rear of thedrive wheel assembly 141, acliff sensor 123 is provided, and the cliff sensor is used to prevent the automatic cleaning device from falling when it retreats, thereby preventing the automatic cleaning device from being damaged. damage. The aforementioned "front" refers to the side in the same direction of travel relative to the automatic cleaning device, and the aforementioned "rear" refers to the side opposite to the direction of travel of the automatic cleaning device.

位置确定装置121包括但不限于摄像头、激光测距装置(LDS)。Theposition determining device 121 includes but not limited to a camera and a laser distance measuring device (LDS).

感知系统120中的各个组件，既可以独立运作，也可以共同运作以更准确的实现目的功能。通过悬崖传感器123和超声波传感器对待清洁表面进行识别，以确定待清洁表面的物理特性，包括表面材质、清洁程度等等，并可以结合摄像头、激光测距装置等进行更准确的判定。Each component in theperception system 120 can operate independently or jointly to achieve the purpose function more accurately. The surface to be cleaned is identified by thecliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with cameras, laser distance measuring devices, etc. to make more accurate judgments.

例如，可以通过超声波传感器对待清洁表面是否为地毯进行判断，若超声波传感器判断待清洁表面为地毯材质，则控制系统130控制自动清洁设备进行地毯模式清洁。For example, the ultrasonic sensor can 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, thecontrol system 130 controls the automatic cleaning device to perform carpet mode cleaning.

移动平台100的前向部分111设置有缓冲器122，在清洁过程中驱动轮组件141推进自动清洁设备在地面行走时，缓冲器122经由传感器系统，例如红外传感器，检测自动清洁设备的行驶路径中的一或多个事件(或对象)，自动清洁设备可通过由缓冲器122检测到的事件(或对象)，例如障碍物、墙壁，而控制驱动轮组件141使自动清洁设备来对所述事件(或对象)做出响应，例如远离障碍物。Theforward part 111 of themobile platform 100 is provided with abuffer 122. During the cleaning process, when thedriving wheel assembly 141 pushes the automatic cleaning device to walk on the ground, thebuffer 122 detects that the automatic cleaning device is in the driving path through a sensor system, such as an infrared sensor. One or more events (or objects), the automatic cleaning device can pass through the events (or objects) detected by thebuffer 122, such as obstacles, walls, and control thedriving wheel assembly 141 so that the automatic cleaning device can respond to the event (or an object) to respond, such as moving away from an obstacle.

控制系统130设置在移动平台100内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器被配置为接收感知系统120传来的所述多个传感器的感受到的环境信息，根据激光测距装置反馈的障碍物信息等利用定位算法，例如SLAM，绘制自动清洁设备所在环境中的即时地图，并根据所述环境信息和环境地图自主决定行驶路径，然后根据所述自主决定的行驶路径控制驱动系统140进行前进、后退和/或转向等操作。进一步地，控制系统130还可以根据所述环境信息和环境地图决定是否启动清洁模组150进行清洁操作。Thecontrol system 130 is arranged on the circuit board in themobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory. The device is configured to receive the environmental information sensed by the multiple sensors from theperception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving route according to the environmental information and the environmental map, and then control thedrive system 140 to perform forward, backward, and/or steering operations according to the autonomously determined driving route. Further, thecontrol system 130 may also decide whether to activate thecleaning module 150 to perform cleaning operations according to the environmental information and the environmental map.

具体地，控制系统130可以结合缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得自动清洁设备的工作更加符合主人的要求，有更好的用户体验。进一步地，控制系统能基于SLAM绘制的即时地图信息规划最为高效合理的清扫路径和清扫方式，大大提高自动清洁设备的清扫效率。Specifically, thecontrol system 130 can combine the distance information and speed information fed back by thebuffer 122, thecliff sensor 123, and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices to comprehensively judge that the sweeper is currently in What kind of working status, such as over the threshold, on the carpet, on the cliff, stuck above or below, full of dust box, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the requirements of the owner 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 automatic cleaning equipment.

驱动系统140可基于具体的距离和角度信息，例如x、y及θ分量，执行驱动命令而操纵自动清洁设备跨越地面行驶。图3、图4为本发明一实施例中一侧驱动轮组件141的斜视图和正视图，如图所示，驱动系统140包含驱动轮组件141，驱动系统140可以同时控制左轮和右轮，为了更为精确地控制机器的运动，优选驱动系统140分别包括左驱动轮组件和右驱动轮组件。左、右驱动轮组件沿着由移动平台100界定的横轴对称设置。所述驱动轮组件包括本体部、驱动轮和弹性元件，本体部一端连接于机架，驱动轮设置于本体部并由驱动马达146驱动；弹性元件连接于本体部与机架之间，弹性元件被配置为在机架与本体部之间提供弹性力，驱动马达146位于驱动轮组件141外侧，且驱动马达146的轴心位于驱动轮的截面投影内，驱动轮组件141还可以连接测量驱动电流的电路和里程计。Drive system 140 may execute drive commands to steer the autonomous cleaning device across the ground based on specific distance and angular information, such as x, y, and theta components. Fig. 3, Fig. 4 are the oblique view and the front view of one sidedriving wheel assembly 141 in an embodiment of the present invention, as shown in the figure, drivingsystem 140 comprises drivingwheel assembly 141, and drivingsystem 140 can control left wheel and right wheel simultaneously, In order to more precisely control the movement of the machine, it is preferred that thedrive system 140 includes a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by themobile platform 100 . Described driving wheel assembly comprises body portion, driving wheel and elastic element, and one end of body portion is connected to frame, and driving wheel is arranged on body portion and is driven by drivingmotor 146; Elastic element is connected between body portion and frame, and elastic element It is configured to provide elastic force between the frame and the body part, the drivingmotor 146 is located outside thedriving wheel assembly 141, and the axis of the drivingmotor 146 is located in the cross-sectional projection of the driving wheel, and thedriving wheel assembly 141 can also be connected to measure the driving current circuit and odometer.

为了自动清洁设备能够在地面上更为稳定地运动或者更强的运动能力，自动清洁设备可以包括一个或者多个转向组件142，转向组件142可为从动轮，也可为驱动轮，其结构形式包括但不限于万向轮，转向组件142可以位于驱动轮组件141的前方。In order for the automatic cleaning equipment to move more stably on the ground or have a stronger movement ability, the automatic cleaning equipment can include one ormore steering assemblies 142, and thesteering assembly 142 can be a driven wheel or a driving wheel, and its structural form Including but not limited to universal wheels, thesteering assembly 142 may be located in front of thedriving wheel assembly 141 .

驱动马达146为驱动轮组件141和/或转向组件142的转动提供动力。Drive motor 146 provides power for rotation ofdrive wheel assembly 141 and/orsteering assembly 142 .

驱动轮组件141可以可拆卸地连接到移动平台100上，方便拆装和维修。驱动轮可具有偏置下落式悬挂系统，以可移动方式紧固，例如以可旋转方式附接，到自动清洁设备移动平台100，并通过弹性元件143，如拉簧或者压簧以一定的着地力维持与地面的接触及牵引，同时自动清洁设备的清洁模组150也以一定的压力接触待清洁表面。Thedriving wheel assembly 141 can be detachably connected to themobile platform 100 for easy disassembly and maintenance. The driving wheel may have a biased drop suspension system, movably fastened, for example rotatably attached, to the automatic cleaningdevice moving platform 100, and grounded with a certain degree of movement byelastic elements 143, such as tension springs or compression springs. Thecleaning module 150 of the automatic cleaning equipment also contacts the surface to be cleaned with a certain pressure.

能源系统160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。如果裸露的充电电极上沾附有灰尘，会在充电过程中由于电荷的累积效应，导致电极周边的塑料机体融化变形，甚至导致电极本身发生变形，无法继续正常充电。Energy system 160 includes rechargeable batteries, such as NiMH and Lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage. If there is dust on the exposed charging electrodes, due to the cumulative effect of charges during the charging process, the plastic body around the electrodes will be melted and deformed, and even the electrodes themselves will be deformed, making it impossible to continue charging normally.

人机交互系统170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。The human-computer interaction system 170 includes buttons on the panel of the host computer, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator light and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs. For path-guided cleaning equipment, the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and humanized functional items.

清洁模组150可包括干式清洁模组151和/或湿式清洁模组400。Thecleaning module 150 may include adry cleaning module 151 and/or awet cleaning module 400 .

如图5-8所示，干式清洁模组151包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。扫地机的除尘能力可用垃圾的清扫效率DPU(Dustpickup efficiency)进行表征，清扫效率DPU受滚刷结构和材料影响，受吸尘口、尘盒、风机、出风口以及四者之间的连接部件所构成的风道的风力利用率影响，受风机的类型和功率影响，是个复杂的系统设计问题。相比于普通的插电吸尘器，除尘能力的提高对于能源有限的清洁自动清洁设备来说意义更大。因为除尘能力的提高直接有效降低了对于能源要求，也就是说原来充一次电可以清扫80平米地面的机器，可以进化为充一次电清扫180平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加，使得用户更换电池的频率也会增加。更为直观和重要的是，除尘能力的提高是最为明显和重要的用户体验，用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁模组还可包含具有旋转轴的边刷152，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁模组150的滚刷区域中。As shown in Figures 5-8, thedry 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 is sucked into the dust box by the suction gas generated by the fan and passed through the dust box. The dust removal ability of the sweeper can be characterized by the garbage cleaning efficiency DPU (Dustpickup efficiency). The influence of the wind power utilization rate of the formed air duct is affected by the type and power of the fan, which is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can evolve to clean 180 square meters or more with one charge. And the service life of the battery with reduced charging times will also be greatly increased, so that the frequency of user replacement of the battery will also increase. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user will directly draw the conclusion of whether the sweeping/wiping is clean. The dry cleaning module may also include aside brush 152 having an axis of rotation that is angled relative to the ground for moving debris into the area of the roller brush of thecleaning module 150 .

图5为所述干式清洁模组中的尘盒152的结构示意图，图6为所述干式清洁模组中的风机156的结构示意图，图7为尘盒152的打开状态示意图，图8位尘盒、风机组装状态示意图。Fig. 5 is a schematic structural diagram of thedust box 152 in the dry cleaning module, Fig. 6 is a schematic structural diagram of thefan 156 in the dry cleaning module, Fig. 7 is a schematic diagram of the open state of thedust box 152, Fig. 8 Schematic diagram of the dust box and fan assembly state.

与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒152之间的吸尘口154前方，然后被风机156结构产生并经过尘盒152的有吸力的气体吸入尘盒152，垃圾被滤网153隔离在尘盒152内部靠近吸尘口154一侧，滤网153将吸尘口与出风口完全隔离，经过过滤后的空气通过出风口155进入风机156。The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of thedust suction port 154 between the roller brush and thedust box 152, and then is generated by the structure of thefan 156 and passes through the suction gas of thedust box 152 Inhale thedust box 152, and the garbage is isolated by thefilter screen 153 inside thedust box 152 near thedust suction port 154. Thefilter screen 153 completely isolates the dust suction port from the air outlet, and the filtered air enters theblower fan 156 through theair outlet 155.

典型的，尘盒152的吸尘口154位于机器前方，出风口155位于尘盒152侧方，风机156的吸风口与尘盒的出风口相对接。Typically, thedust suction port 154 of thedust box 152 is located in front of the machine, theair outlet 155 is located at the side of thedust box 152, and the air suction port of thefan 156 is connected to the air outlet of the dust box.

尘盒152的前面板可以打开，用于清理尘盒152内的垃圾。The front panel of thedust box 152 can be opened to clean up the rubbish in thedust box 152 .

所述滤网153与尘盒152的盒体为可拆卸连接，方便滤网拆卸和清洗。Thefilter screen 153 is detachably connected to the box body of thedust box 152, which is convenient for the filter screen to be disassembled and cleaned.

根据本发明的具体实施方式，如图9-11所示，本发明提供的湿式清洁模组400，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述湿式清洁模组400包括：清洁头410、驱动单元420，其中，清洁头410用于清洁所述操作面的至少一部分，驱动单元420用于驱动所述清洁头410沿着目标面基本上往复运动的，所述目标面为所述操作面的一部分。所述清洁头410沿待清洁表面做往复运动，清洁头410与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。According to a specific embodiment of the present invention, as shown in FIGS. 9-11 , thewet cleaning module 400 provided by the present invention is configured to clean at least a part of the operating surface in a wet cleaning manner; wherein, thewet cleaning module 400 includes: a cleaninghead 410, adriving unit 420, wherein thecleaning head 410 is used to clean at least a part of the operation surface, and thedriving unit 420 is used to drive the cleaninghead 410 to basically reciprocate along the target surface, the The target surface is part of the operating surface. The cleaninghead 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaninghead 410 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned by reciprocating motion, thereby removing the surface to be cleaned. stains.

摩擦频率越高，代表单位时间内的摩擦次数越多，高频往复运动，也叫往复震动，清洁能力要远大于普通的往复运动，比如转动，摩擦清洗，可选地，摩擦频率接近声波，清洁效果会远高于每分钟几十圈的转动摩擦清洗。另一方面，清洁头表面的毛簇会在高频震动的抖动下更加整齐划一朝同一方向延展，因此整体清洁效果更加均匀，而不是在低频率转动的情况下仅仅被施加下压力增大摩擦力而提高清洁效果，仅仅下压力并不会使毛簇们朝接近同一方向延展，在效果上的体现就是高频震动清洁后的操作面水痕更加均匀，不会留下混乱的水渍。The higher the friction frequency, the more friction times per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a cleaning ability much greater than that of ordinary reciprocating motion, such as rotation and friction cleaning. Optionally, the friction frequency is close to sound waves. The cleaning effect will be much higher than the rotational friction cleaning of dozens of circles per minute. On the other hand, the tufts on the surface of the cleaning head will be more neatly extended in the same direction under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, instead of only being exerted under the condition of low-frequency rotation to increase friction Force to improve the cleaning effect, only the down pressure will not make the hair tufts extend in the same direction. The effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no chaotic water stains will be left.

往复运动可以是沿操作面内任意一个或多个方向的反复运动，也可以是垂直于操作面的震动，对此不做严格限制。可选地，清洁模组的往复运动方向与机器行进方向大致垂直，因为平行于机器行进方向的往复运动方向会对行进中的机器本身带来不稳定，因为行进方向上的推力和阻力会使驱动轮容易打滑，在包含湿式清洁模组的情况下打滑的影响更为明显，因为操作面的湿滑增加了打滑的可能性，而打滑除了影响机器的平稳行进清洁外，更会造成里程计、陀螺仪等传感器测距不准，从而导致导航型自动清洁设备不能准确定位和画地图，在打滑频发的情况下，对SLAM的影响将不能忽略，因此需要尽量避免打滑的机器行为。除了打滑之外，在机器行进方向上的清洁头运动分量使得机器在行进时不停地受向前向后的推动，因此机器的行走会一顿一顿地不稳定平顺。The reciprocating motion may be repeated motion along any one or multiple directions within the operating surface, or vibration perpendicular to the operating surface, which is not strictly limited. Optionally, the reciprocating direction of the cleaning module is approximately perpendicular to the direction of travel of the machine, because the reciprocating direction parallel to the direction of travel of the machine will cause instability to the machine itself, because the thrust and resistance in the direction of travel will cause The driving wheel is easy to slip, and the effect of slipping is more obvious when the wet cleaning module is included, because the slippery operating surface increases the possibility of slipping, and slipping not only affects the smooth running and cleaning of the machine, but also causes the odometer Sensors such as gyroscopes and gyroscopes are inaccurate in ranging, which leads to the inability of accurate positioning and map drawing of navigation-type automatic cleaning equipment. In the case of frequent slipping, the impact on SLAM will not be ignored. Therefore, it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the movement component of the cleaning head in the direction of machine travel makes the machine constantly pushed forward and backward when it is traveling, so the walking of the machine will be unstable and smooth.

作为本发明可选的实施方式，如图9所示，所述驱动单元420包括：驱动平台421，连接于所述移动平台100底面，用于提供驱动力；支撑平台422，可拆卸的连接于所述驱动平台421，用于支撑所述清洁头410，且可以在驱动平台421的驱动下实现升降。As an optional embodiment of the present invention, as shown in FIG. 9 , thedrive unit 420 includes: adrive platform 421 connected to the bottom surface of themobile platform 100 for providing driving force; asupport platform 422 detachably connected to Thedriving platform 421 is used to support the cleaninghead 410 and can be driven up and down by thedriving platform 421 .

作为本发明可选的实施方式，清洁模组150与移动平台100间设有升降模组，用于使清洁模组150更好的与待清洁表面接触，或者针对不同材质的待清洁表面采用不同的清洁策略。As an optional embodiment of the present invention, a lifting module is provided between thecleaning module 150 and themobile platform 100 to make thecleaning module 150 better contact with the surface to be cleaned, or to use different cleaning strategy.

可选的，所述干式清洁模组151可以通过被动式升降模组与所述移动平台100相连接，当清洁设备遇到障碍时，干式清洁模组151可以通过升降模组更便捷的越过障碍。Optionally, thedry cleaning module 151 can be connected to themobile platform 100 through a passive lifting module. When the cleaning equipment encounters an obstacle, thedry cleaning module 151 can be more conveniently passed through the lifting module. obstacle.

可选的，所述湿式清洁模组400可以通过主动式升降模组与所述移动平台100相连接，当湿式清洁模组400暂时不参与工作，或者遇到无法采用湿式清洁模组400进行清洁的待清洁表面时，通过主动式升降模组将湿式清洁模组400升起，与待清洁表面分离，从而实现清洁手段的变化。Optionally, thewet cleaning module 400 can be connected to themobile platform 100 through an active lifting module. When the surface to be cleaned, thewet cleaning module 400 is raised by the active lifting module and separated from the surface to be cleaned, thereby realizing the change of cleaning methods.

如图10-11所示，所述驱动平台421包括：电机4211，设置于所述驱动平台421的靠近所述移动平台100一侧，通过电机输出轴输出动力；驱动轮4212，与所述电机输出轴连接，所述驱动轮4212为非对称结构；震动件4213，设置于所述驱动平台421的与所述电机4211相反的一侧，与所述驱动轮4212连接，在所述驱动轮4212非对称的转动下实现往复运动。As shown in Figures 10-11, thedriving platform 421 includes: amotor 4211, which is arranged on the side of thedriving platform 421 close to themobile platform 100, and outputs power through the output shaft of the motor; adriving wheel 4212, which is connected to the motor The output shaft is connected, and thedriving wheel 4212 is an asymmetric structure; the vibratingelement 4213 is arranged on the opposite side of thedriving platform 421 to themotor 4211, and is connected to thedriving wheel 4212. Reciprocating motion is realized under asymmetrical rotation.

驱动平台421可以进一步包括齿轮机构。齿轮机构可以连接电机4211和驱动轮4212。电机4211可以直接带动驱动轮4212做回转运动，也可以通过齿轮机构间接带动驱动轮4212做回转运动。本领域普通技术人员可以理解，齿轮机构可以为一个齿轮，也可以是多个齿轮组成的齿轮组。Thedrive platform 421 may further include a gear mechanism. A gear mechanism may connect themotor 4211 and thedrive wheel 4212. Themotor 4211 can directly drive thedriving wheel 4212 to make a rotary motion, and can also indirectly drive thedriving wheel 4212 to make a rotary motion through a gear mechanism. Those skilled in the art can understand that the gear mechanism can be one gear, or a gear set composed of multiple gears.

电机4211通过动力传送装置将动力同时传递给清洁头410、驱动平台421、支撑平台422、送水机构、水箱等。能源系统160为电机4211提供动力和能源，并由控制系统130进行整体控制。所述动力传送装置可以是齿轮传动、链传动、带传动，也可以是蜗轮蜗杆等等。Themotor 4211 transmits power to thecleaning head 410, thedrive platform 421, thesupport platform 422, the water delivery mechanism, the water tank, etc. through the power transmission device. Theenergy system 160 provides power and energy for themotor 4211 and is controlled by thecontrol system 130 as a whole. The power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear or the like.

电机4211包括正向输出模式和反向输出模式，正向输出模式时电机4211正向旋转，反向输出模式时电机4211反向旋转，电机4211的正向输出模式中，电机4211通过动力传送装置能同时带动湿式清洁组件400中的驱动平台震动件4213基本上往复运动、送水机构同步运动，电机4211的反向输出模式中，电机4211通过动力传送装置带动驱动平台421升降。Themotor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, themotor 4211 rotates forward, and in the reverse output mode, themotor 4211 rotates in the reverse direction. In the forward output mode of themotor 4211, themotor 4211 passes through the power transmission device At the same time, it can drive the vibratingpart 4213 of the driving platform in thewet cleaning assembly 400 to basically reciprocate and the water delivery mechanism to move synchronously. In the reverse output mode of themotor 4211, themotor 4211 drives thedriving platform 421 to lift through the power transmission device.

进一步的，所述驱动平台421还包括：连接杆4214，沿所述驱动平台421边缘延伸，连接所述驱动轮4212与所述震动件4213，使所述震动件4213延伸至预设位置，其中，所述震动件4213延伸方向与所述连接杆4214垂直，使得震动件4213的往复运动方向和机器行进方向大致垂直。Further, thedriving platform 421 further includes: a connectingrod 4214 extending along the edge of thedriving platform 421, connecting thedriving wheel 4212 and the vibratingelement 4213 so that the vibratingelement 4213 extends to a preset position, wherein The extending direction of the vibratingmember 4213 is perpendicular to the connectingrod 4214, so that the reciprocating direction of the vibratingmember 4213 is substantially perpendicular to the machine traveling direction.

电机4211通过动力传送装置与驱动轮4212、震动件4213、连接杆4214及震动缓冲装置4215连接。其中，震动件4213以及连接杆4214构成近似于L型结构，如图15所示，震动件4213在连接杆4214的带动下做往复运动。震动缓冲装置4215对驱动轮4212带动的运动行为起到减震减少抖动的作用，使震动件4213在支撑平台422所能提供的运动幅度范围内震动平稳。可选地，震动缓冲装置4215为软性材料，可选地为橡胶结构，震动缓冲装置4215套设于连接杆4214。另一方面，震动缓冲装置4215还能保护震动件4213不与驱动平台421之间磕碰造成损坏，也就还对震动件4213的往复运动产生了影响。驱动平台421的活动件与固定件之间在机器行进方向上通过弹性较小的连接方式限制运动，在与行进方向大致垂直的方向上，即震动件4213的震动方向上通过灵活的方式连接并允许运动。上述两者运动限制使得震动件4213的运动方式不是准确的往复，而是基本上的往复运动。当湿式清洁组件400启动时，电机4211启动工作开始正转，电机4211通过驱动轮4212带动连接杆4214沿着驱动平台421表面做往复运动，同时震动缓冲装置4215带动震动件4213沿着驱动平台421表面做基本上往复运动，震动件4213带着清洁基板4221沿着支撑平台422表面做基本上往复运动，清洁基板4221带着活动区域412沿着待清洁表面做基本上往复运动。此时，清水泵使清水从清水箱流出，并通过出水装置4217将清水洒在清洁头410上，清洁头410则通过往复运动清洁待清洁表面。Themotor 4211 is connected with thedriving wheel 4212, the vibratingelement 4213, the connectingrod 4214 and theshock buffering device 4215 through a power transmission device. Wherein, the vibratingelement 4213 and the connectingrod 4214 constitute an approximate L-shaped structure, as shown in FIG. 15 , the vibratingelement 4213 is driven by the connectingrod 4214 to reciprocate. Thevibration buffer device 4215 plays a role in damping and reducing the vibration of the motion driven by thedriving wheel 4212 , so that thevibration part 4213 can vibrate stably within the range of motion provided by the supportingplatform 422 . Optionally, theshock buffering device 4215 is made of soft material, optionally a rubber structure, and theshock buffering device 4215 is sheathed on the connectingrod 4214 . On the other hand, theshock buffer device 4215 can also protect the vibratingelement 4213 from being damaged due to collision with thedriving platform 421 , which also affects the reciprocating motion of the vibratingelement 4213 . The movement between the movable part and the fixed part of thedriving platform 421 is limited by a less elastic connection in the direction of travel of the machine, and in a direction approximately perpendicular to the direction of travel, that is, the vibration direction of the vibratingpart 4213 is connected in a flexible manner and Movement is allowed. The movement restrictions of the above two make the movement of the vibratingmember 4213 not an accurate reciprocating movement, but a basic reciprocating movement. When thewet cleaning assembly 400 starts, themotor 4211 starts to work and starts to rotate forward. Themotor 4211 drives the connectingrod 4214 to reciprocate along the surface of thedriving platform 421 through thedriving wheel 4212. At the same time, thevibration buffer device 4215 drives thevibration part 4213 along thedriving platform 421 The surface basically reciprocates, the vibratingelement 4213 basically reciprocates along the surface of thesupport platform 422 with thecleaning substrate 4221 , and thecleaning substrate 4221 basically reciprocates along theactive area 412 along the surface to be cleaned. At this time, the clean water pump makes the clean water flow out from the clean water tank, and sprinkles the clean water on thecleaning head 410 through thewater outlet device 4217, and thecleaning head 410 cleans the surface to be cleaned by reciprocating motion.

自动清洁设备的清洁强度/效率也可以根据自动清洁设备的工作环境自动动态调整。比如自动清洁设备可以根据感知系统120检测待清洁表面的面的物理信息实现动态调整。例如，感知系统120可以检测待清洁表面的平整度、待清洁表面的材质、是否有油污和灰尘，等等信息，并将这些信息传给自动清洁设备的控制系统130。相应地，控制系统130可以指挥自动清洁设备根据自动清洁设备的工作环境自动动态调整电机的转速及动力传送装置的传动比，因而调整所述清洁头410往复运动的预设往复周期。The cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment. For example, the automatic cleaning equipment can realize dynamic adjustment according to the physical information of the surface to be cleaned detected by thesensing system 120 . For example, theperception system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit the information to thecontrol system 130 of the automatic cleaning device. Correspondingly, thecontrol system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotation speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating cycle of the reciprocating motion of thecleaning head 410 .

例如，当自动清洁设备在平坦的地面上工作时，所述预设往复周期可以自动动态调整地较长、水泵的水量可以自动动态调整地较小；当自动清洁设备在不太平坦的地面上工作时，所述预设往复周期可以自动动态调整地较短、水泵的水量可以自动动态调整地较大。这是因为，相对于不太平坦的地面，平面的地面较容易清洁，因此清洁不平坦地面需要清洁头410更快的往复运动(即更高的频率)和更大的水量。For example, when the automatic cleaning equipment works 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 working, 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 a flat floor is easier to clean than a less flat floor, so cleaning an uneven floor requires a faster reciprocating movement (ie, a higher frequency) of thecleaning head 410 and a larger amount of water.

又例如，当自动清洁设备在桌面上工作时，所述预设往复周期可以自动动态调整地较长、水泵的水量可以自动动态调整地较小；当自动清洁设备100在地面工作时，所述预设往复周期可以自动动态调整地较短、水泵的水量可以自动动态调整地较大。这是因为，相对于地面，桌面的灰尘、油污较少，构成桌面的材质也较容易清洁，因此需要清洁头410进行较少次数的往复运动、水泵提供相对较少的水量就能将桌面清理干净。For another example, when theautomatic cleaning device 100 is working on the 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 theautomatic cleaning device 100 is working on the ground, the 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 the ground, the desktop has less dust and oil stains, and the material that constitutes the desktop is also easier to clean. Therefore, the cleaninghead 410 needs to perform fewer reciprocating movements and the water pump provides relatively less water to clean the desktop. clean.

作为本发明可选的实施方式，所述支撑平台422包括：清洁基板4221，可自由活动的设置于所述支撑平台422，所述清洁基板4221在所述震动件4213的震动下做基本上往复运动。可选的，如图16所示，所述清洁基板4221包括：装配缺口42211，设置于与所述震动件4213接触的位置，当所述支撑平台422连接于所述驱动平台421上时，所述震动件4213装配于所述装配缺口42211，使得清洁基板4221可以随着震动件4213同步基本上往复运动。在清洁基板4221的清洁设备行进方向包括4个第一限制位42212，该4个第一限制位42212与清洁基板4221之间软性连接，但弹性缩放空间较小，因此限定清洁基板4221在清洁设备行进方向上的相对于支撑平台422的运动；在清洁基板4221的与清洁设备行进方向垂直的方向包括两个第二限制位42213，该两个第二限制位42213限制了清洁基板4221在与清洁设备行进方向垂直的方向上做往复运动的范围。此外，在清洁基板4221的装配缺口42211附近设置有出水孔42214，用于使得出水装置4217流出的水经过出水孔流至清洁头410。因为受到限制位和震动缓冲装置的影响，清洁基板4221的运动在基本上是往复运动的。清洁基板4221位于支撑平台422的一部分，局部震动的方式可以将震动频率做到更大，比如达到声波频率范围。驱动平台421的活动件与固定件之间在机器行进方向上通过弹性较小的连接方式限制运动，在与行进方向大致垂直的方向上，即震动件4213的震动方向上通过灵活的方式连接并允许运动。As an optional embodiment of the present invention, thesupport platform 422 includes: a cleaningsubstrate 4221, which is freely movable on thesupport platform 422, and thecleaning substrate 4221 basically reciprocates under the vibration of the vibratingmember 4213 sports. Optionally, as shown in FIG. 16 , thecleaning substrate 4221 includes: anassembly notch 42211 disposed at a position in contact with the vibratingelement 4213, when the supportingplatform 422 is connected to thedriving platform 421, theThe vibrating element 4213 is assembled in thefitting notch 42211 , so that thecleaning substrate 4221 can basically reciprocate synchronously with the vibratingelement 4213 . There are four first limitingpositions 42212 in the direction of cleaning equipment for cleaning thesubstrate 4221. The four first limitingpositions 42212 are flexibly connected to thecleaning substrate 4221, but the elastic scaling space is small, so thecleaning substrate 4221 is limited to be cleaned. The movement relative to thesupport platform 422 in the direction of equipment travel; thecleaning substrate 4221 includes two second limitingpositions 42213 in a direction perpendicular to the direction of cleaning equipment traveling, and the two second limitingpositions 42213 limit thecleaning substrate 4221 in the same direction as The range of reciprocating motion in the direction perpendicular to the direction of travel of the cleaning equipment. In addition, awater outlet hole 42214 is provided near theassembly notch 42211 of thecleaning substrate 4221 for allowing the water flowing out of thewater outlet device 4217 to flow to thecleaning head 410 through the water outlet hole. Due to the influence of the limiting position and the vibration buffer device, the movement of thecleaning substrate 4221 is basically reciprocating. Thecleaning substrate 4221 is located on a part of the supportingplatform 422, and the local vibration method can make the vibration frequency higher, such as reaching the range of the sound wave frequency. The movement between the movable part and the fixed part of thedriving platform 421 is limited by a less elastic connection in the direction of travel of the machine, and in a direction approximately perpendicular to the direction of travel, that is, the vibration direction of the vibratingpart 4213 is connected in a flexible manner and Movement is allowed.

图12示出了根据本申请多个实施例的另一种基于曲柄滑块机构的清洁头驱动机构500。驱动机构500可以应用在驱动平台421上。驱动机构500包括驱动轮4212、震动件4213、清洁基板4221、滑槽4222(第一滑槽)和滑槽4223(第二滑槽)。FIG. 12 shows another cleaninghead driving mechanism 500 based on a slider crank mechanism according to various embodiments of the present application. Thedriving mechanism 500 can be applied on thedriving platform 421 . Thedriving mechanism 500 includes adriving wheel 4212, avibration member 4213, acleaning substrate 4221, a chute 4222 (first chute) and a chute 4223 (second chute).

滑槽4222、4223开在支撑平台422上。清洁基板4221的两端分别包括滑块525(第一滑块)和滑块528(第二滑块)。滑块525、528分别为在清洁基板4221两端的一个凸起。滑块525插入在滑槽4222内并且可以沿着滑槽4222滑动；滑块4223插入在滑槽4223内，并且可以沿着滑槽4223滑动。在一些实施例中，滑槽4222同滑槽4223在同一直线上。在一些实施例中，滑槽4222和滑槽4223不在同一直线上。在一些实施例中，滑槽4222同滑槽4223沿着同一方向延伸。在一些实施例中，滑槽4222同滑槽4223的延伸方向同清洁基板4221的延伸方向相同。在一些实施例中，滑槽4222同滑槽4223的延伸方向同清洁基板4221的延伸方向不同。在一些实施例中，滑槽4222同滑槽4223的延伸方向不同。比如，图12所示，滑槽4222的延伸方向同清洁基板4221的延伸方向相同，而滑槽4223的延伸方向同滑槽4222的延伸方向呈一定角度。Thechute 4222, 4223 is opened on the supportingplatform 422. Both ends of thecleaning substrate 4221 include a slider 525 (first slider) and a slider 528 (second slider), respectively. Thesliders 525 and 528 are respectively a protrusion at both ends of thecleaning substrate 4221 . The slidingblock 525 is inserted in the slidingslot 4222 and can slide along the slidingslot 4222 ; the slidingblock 4223 is inserted in the slidingslot 4223 and can slide along the slidingslot 4223 . In some embodiments, the slidinggroove 4222 and the slidinggroove 4223 are on the same straight line. In some embodiments, the slidinggroove 4222 and the slidinggroove 4223 are not on the same straight line. In some embodiments, the slidinggroove 4222 and the slidinggroove 4223 extend along the same direction. In some embodiments, the extending direction of the slidingslot 4222 and the slidingslot 4223 is the same as the extending direction of thecleaning substrate 4221 . In some embodiments, the extending direction of thechute 4222 and thechute 4223 is different from the extending direction of thecleaning substrate 4221 . In some embodiments, the slidingslot 4222 and the slidingslot 4223 extend in different directions. For example, as shown in FIG. 12 , the extending direction of the slidinggroove 4222 is the same as that of thecleaning substrate 4221 , and the extending direction of the slidinggroove 4223 and the extending direction of the slidinggroove 4222 form a certain angle.

震动件4213包括回转端512和滑动端514。回转端512同驱动轮4212通过第一枢轴516连接，滑动端514同清洁基板4221通过第二枢轴518连接。The vibratingelement 4213 includes arotating end 512 and a slidingend 514 . Therotary end 512 is connected with thedriving wheel 4212 through thefirst pivot 516 , and the slidingend 514 is connected with thecleaning substrate 4221 through thesecond pivot 518 .

驱动轮4212的回转中心为O点，第一枢轴516的枢转中心为A点。O点和A点不重合，他们之间的距离为预设距离d。The rotation center of thedriving wheel 4212 is point O, and the pivot center of thefirst pivot 516 is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.

当驱动轮4212转动时，A点随之做圆形回转运动。相应地，回转端512跟着A点做圆形回转运动；滑动端514则通过第二枢轴518带动清洁基板4221做滑动运动。相应地，清洁基板4221的滑块525沿着滑槽4222做往复直线运动；滑块528沿着滑槽4223做往复线性运动。在图4中，移动平台210的移动速度为V0，移动方向为目标方向。根据一些实施例，当滑槽4223和滑槽4222分别近似垂直于移动平台210的移动速度V0的方向时，清洁基板4221的整体位移大体上垂直于所述目标方向。根据另一些实施例，当滑槽4223和滑槽4222中的任意一个滑槽同所述目标方向呈90度以外的其他角度时，清洁基板4221的整体位移同时包括垂直于所述目标方向和平行于所述目标方向的分量。When thedriving wheel 4212 rotates, the A point makes a circular motion thereupon. Correspondingly, therotating end 512 makes a circular turning motion following the point A; the slidingend 514 drives thecleaning substrate 4221 to make a sliding motion through thesecond pivot 518 . Correspondingly, the slidingblock 525 of thecleaning substrate 4221 makes a reciprocating linear motion along thechute 4222 ; the slidingblock 528 makes a reciprocating linear motion along thechute 4223 . In FIG. 4 , the moving speed of the mobile platform 210 is V0, and the moving direction is the target direction. According to some embodiments, when thechute 4223 and thechute 4222 are respectively approximately perpendicular to the direction of the moving speed V0 of the moving platform 210 , the overall displacement of thecleaning substrate 4221 is substantially perpendicular to the target direction. According to some other embodiments, when any one of thechute 4223 and thechute 4222 forms an angle other than 90 degrees with the target direction, the overall displacement of thecleaning substrate 4221 includes both perpendicular to the target direction and parallel to the target direction. Components in the direction of the target.

进一步的，包括震动缓冲装置4215，设置于所述连接杆4214上，用于减轻特定方向上的震动，本实施例中，用于减轻自动清洁设备目标方向垂直的移动分量方向上的震动。Further, it includes avibration buffer device 4215, which is arranged on the connectingrod 4214, and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.

图13示出了根据本申请多个实施例的另一种基于双曲柄机构的清洁头驱动机构600。驱动机构600可以应用在驱动平台421上。驱动机构600包括驱动轮4212(第一驱动轮)、驱动轮4212’(第二驱动轮)、和清洁基板4221。FIG. 13 shows another cleaninghead driving mechanism 600 based on a double crank mechanism according to various embodiments of the present application. Thedriving mechanism 600 can be applied on thedriving platform 421 . Thedriving mechanism 600 includes a driving wheel 4212 (first driving wheel), a driving wheel 4212' (second driving wheel), and acleaning substrate 4221.

清洁基板4221有两端。第一端同驱动轮4212通过枢轴624(第一枢轴)连接；第二端同驱动轮4212’通过枢轴626(第二枢轴)连接。驱动轮4212的回转中心为O点，枢轴624的枢转中心为A点。O点和A点不重合，他们之间的距离为预设距离d。驱动轮236的回转中心为O’点，枢轴626的枢转中心为A’点。O’点和A’点不重合，他们之间的距离为预设距离d。在一些实施例中，A点、A’点、O点和O’点位于同一平面上。因此，驱动轮4212、驱动轮4212’和清洁基板4221可形成双曲轴机构(或平行四边形机构)，其中清洁基板4221用作耦合杆，驱动轮4212和4212’充当两个曲柄。Thecleaning substrate 4221 has both ends. The first end is connected with thedriving wheel 4212 through a pivot 624 (first pivot); the second end is connected with the driving wheel 4212' through a pivot 626 (second pivot). The center of rotation of thedriving wheel 4212 is point O, and the pivot center of thepivot shaft 624 is point A. Point O and point A do not coincide, and the distance between them is the preset distance d. The center of rotation of the driving wheel 236 is point O', and the pivot center of thepivot shaft 626 is point A'. Point O' and point A' do not coincide, and the distance between them is the preset distance d. In some embodiments, point A, point A', point O, and point O' are located on the same plane. Thus,drive wheel 4212, drive wheel 4212', and cleaningbase plate 4221 can form a double crank mechanism (or parallelogram mechanism), where cleaningbase plate 4221 acts as a coupling rod and drivewheels 4212 and 4212' act as two cranks.

图14示出了根据本申请多个实施例的一种基于曲柄滑块机构的驱动机构700。驱动机构700可以应用在驱动平台421上。所述驱动机构700包括驱动轮4212、清洁基板4221和滑槽4222。FIG. 14 shows adrive mechanism 700 based on a slider crank mechanism according to various embodiments of the present application. Thedriving mechanism 700 can be applied on thedriving platform 421 . Thedriving mechanism 700 includes adriving wheel 4212 , acleaning substrate 4221 and achute 4222 .

滑槽4222开在支撑平台422上。清洁基板4221包括回转端4227和滑动端4226。回转端4227通过枢轴4228连接在驱动轮4212上。其中，驱动轮4212的回转中心为O点，回转端枢轴4228枢转中心为A点。O点和A点不重合，他们之间的距离为预设距离d。滑动端4226包括滑块4225。滑块4225为在滑动端4226上的一个凸起。滑块4225插入在滑槽4222内并且可以沿着滑槽4222滑动。因此，驱动轮4221、清洁基板4221和滑块4225和滑槽4222组成曲柄滑块机构。Thechute 4222 is opened on the supportingplatform 422 . Thecleaning substrate 4221 includes aswivel end 4227 and a slidingend 4226 . Theswivel end 4227 is connected to thedriving wheel 4212 through apivot 4228 . Wherein, the turning center of thedriving wheel 4212 is point O, and the pivoting center of the turningend pivot 4228 is point A. Point O and point A do not coincide, and the distance between them is the preset distance d. Slidingend 4226 includesslider 4225 . Theslider 4225 is a protrusion on the slidingend 4226 . The slidingblock 4225 is inserted into the slidinggroove 4222 and can slide along the slidinggroove 4222 . Therefore, thedriving wheel 4221, thecleaning substrate 4221, theslider 4225 and thechute 4222 form a slider crank mechanism.

当驱动轮4212转动时，A点做圆形回转运动。相应地，清洁基板4221的回转端4227跟着A点做圆形回转运动；而滑块4225则跟着在滑槽4222中滑动，做往复线性运动。其结果是清洁基板4221开始做往复运动。根据一些实施例，滑槽4222近似垂直于移动平台的移动速度所述目标方向的方向，因此，滑动端4226的线性移动包括垂直于所述目标方向的分量，回转端4227的圆形回转运动同时包括垂直于所述目标方向和平行于所述目标方向的分量。When thedriving wheel 4212 rotates, point A makes a circular motion. Correspondingly, therotary end 4227 of thecleaning substrate 4221 makes a circular rotary motion following the point A; and theslider 4225 then slides in thechute 4222 to make a reciprocating linear motion. As a result, thecleaning substrate 4221 starts to reciprocate. According to some embodiments, thechute 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 slidingend 4226 includes a component perpendicular to the target direction, and the circular rotary motion of therotary end 4227 is simultaneously Includes components perpendicular to the target direction and parallel to the target direction.

在图14中，移动平台的移动速度为V0，移动方向为目标方向；而滑槽4222近似垂直于目标方向。此时，清洁基板4221整体上做的往复运动既有同自动清洁设备目标方向平行的移动分量，又有同自动清洁设备目标方向垂直的移动分量。In FIG. 14 , the moving speed of the mobile platform is V0, and the moving direction is the target direction; and thechute 4222 is approximately perpendicular to the target direction. At this time, the overall reciprocating motion of thecleaning substrate 4221 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.

进一步的，所述支撑平台422还包括：弹性拆卸按钮4229，设置于所述支撑平台422的至少一侧，用于使所述支撑平台422可拆卸的连接于所述驱动平台421的卡爪4216，使得支撑平台422可拆卸地机械固定在驱动平台421上，相对于驱动平台和自动清洁设备本身固定。至少一个装配区域4224，设置于所述支撑平台422，用于装配所述清洁头410。装配区域4224可以为具有粘结层的粘结材料形成。Further, thesupport platform 422 also includes: anelastic detachment button 4229, which is arranged on at least one side of thesupport platform 422, and is used to detachably connect thesupport platform 422 to theclaw 4216 of thedrive platform 421 , so that the supportingplatform 422 is detachably fixed mechanically on thedriving platform 421, fixed relative to the driving platform and the automatic cleaning device itself. At least oneassembly area 4224 is provided on thesupport platform 422 for assembling thecleaning head 410 .Fitting area 4224 may be formed of an adhesive material with an adhesive layer.

作为本发明可选的实施方式，如图9所示，所述清洁头410包括：活动区域412，与所述清洁基板4221连接，在所述清洁基板4221的驱动下沿着所述清洁表面基本上往复运动。活动区域412设置于清洁头410大致中央位置。As an optional embodiment of the present invention, as shown in FIG. 9 , the cleaninghead 410 includes: anactive area 412 connected to thecleaning substrate 4221 and driven by thecleaning substrate 4221 along the cleaning surface. Up and down. Theactive area 412 is disposed approximately at the center of thecleaning head 410 .

可选的，所述清洁头410还包括：固定区域411，通过所述至少一个装配区域4224连接于所述支撑平台422底部，所述固定区域411随着所述支撑平台422的移动清洁所述操作面的至少一部分。Optionally, the cleaninghead 410 further includes: a fixedarea 411, which is connected to the bottom of thesupport platform 422 through the at least oneassembly area 4224, and the fixedarea 411 cleans the at least a portion of the operating surface.

进一步的，所述清洁头410还包括：柔性连接部413，设置于所述固定区域411和所述活动区域412之间，用于连接所述固定区域411和所述活动区域412。所述清洁头410还包括：滑动卡扣414，沿所述清洁头410边缘延伸，可拆卸的安装于所述支撑平台422的卡接位置4225。Further, the cleaninghead 410 further includes: aflexible connection part 413 disposed between the fixedarea 411 and themovable area 412 for connecting the fixedarea 411 and theactive area 412 . The cleaninghead 410 further includes: a slidingbuckle 414 extending along the edge of thecleaning head 410 and detachably installed at thelocking position 4225 of the supportingplatform 422 .

本实施例中，如图9所示，清洁头410可以用有一定弹性的材料制成，清洁头410通过粘贴层固定于支撑平台422的表面，从而实现往复运动。在清洁头410工作时，清洁头410始终接触待清洁表面。In this embodiment, as shown in FIG. 9 , the cleaninghead 410 can be made of a material with certain elasticity, and thecleaning head 410 is fixed on the surface of thesupport platform 422 through an adhesive layer, so as to realize reciprocating motion. When thecleaning head 410 is working, the cleaninghead 410 is always in contact with the surface to be cleaned.

所述送水机构包括出水装置4217，出水装置4217可以与水箱(未图示)的清洁液出口即清水箱的出液口直接或间接连接，其中，所述清洁液可以经水箱的所述清洁液出口流向出水装置4217，并可以通过出水装置均匀地涂在所述待清洁表面上。出水装置上可以设有连接件(图中未示出)，出水装置通过所述连接件与水箱的清洁液出口连接。出水装置上设有分配口，分配口可以是连续的开口，也可以由若干断开的小开口组合而成，分配口处可以设有若干喷嘴。所述清洁液经水箱的所述清洁液出口和出水装置的所述连接件流向分配口，经所述分配口均匀地涂在所述操作面上。The water delivery mechanism includes awater outlet device 4217, and thewater outlet device 4217 can be directly or indirectly connected with the cleaning liquid outlet of the water tank (not shown), that is, the liquid outlet of the clean water tank, wherein the cleaning liquid can pass through the cleaning liquid of the water tank The outlet flows to thewater outlet device 4217, and can be evenly coated on the surface to be cleaned by the water outlet device. A connecting piece (not shown in the figure) may be provided on the water outlet device, through which the water outlet device is connected with the cleaning liquid outlet of the water tank. A distribution port is provided on the water outlet device, and the distribution port can be a continuous opening or a combination of several disconnected small openings, and several nozzles can be arranged at the distribution port. The cleaning liquid flows to the distribution port through the cleaning liquid outlet of the water tank and the connecting piece of the water outlet device, and is evenly coated on the operation surface through the distribution port.

送水机构还可以包括清水泵4219和/或清水泵管4218，清水泵4219与水箱的清洁液出口可以直接连通，也可以通过清水泵管4218连通。The water delivery mechanism can also include aclean water pump 4219 and/or a cleanwater pump pipe 4218, and theclean water pump 4219 can be directly connected to the cleaning solution outlet of the water tank, or can be connected through the cleanwater pump pipe 4218.

清水泵4219可以同出水装置的所述连接件连接，并且可以被配置为从水箱中抽取所述清洁液至出水装置。清水泵可为齿轮泵、叶片泵、柱塞泵、蠕动泵等等。Theclean water pump 4219 can be connected with the connection part of the water outlet device, and can be configured to pump the cleaning liquid from the water tank to the water outlet device. The clean water pump can be gear pump, vane pump, plunger pump, peristaltic pump and so on.

送水机构通过清水泵4219和清水泵管4218将清水箱中的清洁液抽出，并运送到出水装置，所述出水装置4217可以为喷头、滴水孔、浸润布等，并将水均匀散布在清洁头上，从而湿润清洁头与待清洁表面。湿润后的待清洁表面上的污渍能够更容易的被清洁干净。在湿式清洁组件400中，清水泵的功率/流量可以调整。The water delivery mechanism pumps out the cleaning solution in the clean water tank through theclean water pump 4219 and the cleanwater pump pipe 4218, and transports it to the water outlet device. Thewater outlet device 4217 can be a nozzle, a drip hole, a soaking cloth, etc., and spreads the water evenly on the cleaning head to moisten the cleaning head and the surface to be cleaned. Stains on the surface to be cleaned can be cleaned more easily after wetting. In thewet cleaning assembly 400, the power/flow rate of the clean water pump can be adjusted.

进一步的，如图17所示，电机4211通过齿轮组42193带动清水泵4219蠕动，通过清水泵4219的蠕动实现清水从进水口42191进入，从出水口42192流出，再通过清水泵管4218运送到出水装置4217，经出水装置4217流出的水经过出水孔流至清洁头410。Further, as shown in Figure 17, themotor 4211 drives theclean water pump 4219 to peristalize through the gear set 42193, and through the peristalsis of theclean water pump 4219, the clean water enters from thewater inlet 42191, flows out from thewater outlet 42192, and is transported to the water outlet through the cleanwater pump tube 4218device 4217, the water flowing out of thewater outlet device 4217 flows to thecleaning head 410 through the water outlet hole.

进一步的，如图18所示，电机4211通过齿轮组42193带动拉索齿轮42196转动，拉索齿轮42196上缠绕有拉索42194，拉索42194缠挂在驱动平台421上，拉索齿轮42196拉动拉索42194提升和下落从而实现驱动平台421的上升和下降。拉索齿轮42196和拉索42194是升降模组的核心组成部件。Further, as shown in Figure 18, themotor 4211 drives thecable gear 42196 to rotate through the gear set 42193, thecable gear 42196 is wound with acable 42194, thecable 42194 is wound on thedrive platform 421, and thecable gear 42196 pullsCable 42194 lifts and falls so as to realize the rise and fall ofdrive platform 421 .Cable gear 42196 andcable 42194 are the core components of the lifting module.

齿轮组42193和拉索齿轮42196上设置有离合器42195，离合器42195包括一个弹簧和片状件，通过控制离合器42195的离合实现电机4211对三个运动模组的控制，在一个方向旋转，驱动震动件的震动，同时实现清水泵4219的供水，在反方向旋转通过拉索42194驱动升降模组升降。可选地，对齿轮组的组合设计实现对三个运动模组的不同组合形式的控制，例如一个方向旋转清水泵供水，反方向实现升降和震动的控制。可选地，也可以用两个电机实现对三个运动模组的控制，但多使用一个电机也是成本的增加。A clutch 42195 is provided on the gear set 42193 and thecable gear 42196. The clutch 42195 includes a spring and a plate. By controlling the clutch 42195, themotor 4211 controls the three motion modules, and rotates in one direction to drive the vibration. Vibration, while realizing the water supply of theclean water pump 4219, rotating in the opposite direction through thecable 42194 to drive the lifting module up and down. Optionally, the combination design of the gear set realizes 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 control the three motion modules, but using one more motor also increases the cost.

配合表面介质传感器等能够检测待清洁表面的表面类型的传感器，升降模组能够将湿式清洁模组根据不同的待清洁表面进行清洁操作，如在地毯表面将湿式清洁模组抬升，并在地板/地砖等表面将湿式清洁模组放下进行清洁，从而实现更为全面的清洁效果。最后应说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的系统或装置而言，由于其与实施例公开的方法相对应，所以描述比较简单，相关之处参见方法部分说明即可。Cooperating with surface media sensors and other sensors that can detect the surface type of the surface to be cleaned, the lifting module can perform cleaning operations on the wet cleaning module according to different surfaces to be cleaned, such as lifting the wet cleaning module on the carpet surface, and on the floor/ Surfaces such as floor tiles are cleaned by putting down the wet cleaning module to achieve a more comprehensive cleaning effect. Finally, it should be noted that each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As 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 for relevant details, please refer to the description of the method part.

以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be described in the foregoing embodiments The recorded technical solutions are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.