Dust Box, Cleaning Apparatus and Cleaning System

This application claims priorities to Chinese Patent Application Nos. 202210731460.6 and 202210730487.3 both of which were filed on Jun. 24, 2022 and which are incorporated herein by reference in their entireties.

The present disclosure relates to the field of smart home technologies, and in particular to a dust box, a cleaning apparatus and a cleaning system.

A cleaning apparatus in the related arts usually collects dust on the ground into a dust box located inside the cleaning apparatus during a cleaning process.

According to an aspect of the present disclosure, a dust box is provided. The dust box includes:

According to another aspect of the present disclosure, there is provided a cleaning apparatus. The cleaning apparatus includes the above dust box and a main body on which the dust box is arranged. According to yet another aspect of the present disclosure, there is provided a cleaning system. The cleaning system includes the above cleaning apparatus and a cleaning base station.

The reference signs are described as below.

Typical embodiments embodying the features and advantages of the present disclosure will be described in detail in the following description. It is to be understood that the present disclosure is subject to various variations in different embodiments, none of which is outside the scope of the present disclosure, and that the description thereof and the accompanying drawings are essentially illustrative and not intended to limit the present disclosure.

In the following description of different exemplary embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part of the present disclosure and which show by way of example different exemplary structures, systems, and steps that may realize various aspects of the present disclosure. It should be understood other that specific solutions of components, structures, exemplary devices, systems and steps may be used, and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, while the terms such as “on”, “between” and “within” may be used in this specification to describe different exemplary features and elements of the present disclosure, these terms are used herein only for convenience, for example, based on the orientations of the examples in the accompanying drawings. Nothing in this specification should be construed as requiring a particular three-dimensional orientation of the structure to fall within the scope of the present disclosure.

As shown in, a cleaning system of embodiments of the present disclosure includes a cleaning robot and a cleaning base station.

As shown in, the cleaning robot includes a main body, a dust box, a cleaning module, a fan assembly, a driving system, a perception system, a control module, an energy system, and a human-machine interaction system.

As shown in, the main bodyincludes a forward-facing portionand a rearward-facing portion, and the cleaning robot has an approximate circular shape (both at front and rear), and may also have other shapes including, but not limited to, an approximate D-shape that is square at the front and rounded at the rear and a rectangular or square shape that is rectangular or square at the front and rear. The cleaning operation direction of the cleaning robot may be considered to be a direction from the rearward-facing portionto the forward-facing portion.

As shown in, the perception system may include a position determining devicelocated on the main body, and sensing devices such as a collision sensor and a proximity sensor both arranged on a bufferof the forward-facing portionof the main body, a cliff sensor arranged at a lower portion of the main body of the cleaning robot, and a magnetometer, an accelerometer, a gyroscope (Gyro), and an odograph (ODO) which are arranged inside the main body of the cleaning robot, for providing various position information and motion state information of the cleaning robot to the control module. The position determining deviceincludes, but is not limited to, a camera and a laser distance sensor (LDS).

As shown in, the forward-facing portionof the main bodymay carry the buffer. The bufferdetects one or more events in a travel path of the cleaning robot via a sensor system (for example, an infrared sensor) arranged on the buffer when the driving systempropels the cleaning robot to travel on the ground in the process of cleaning. The cleaning robot may control, based on the events (such as an obstacle and a wall) detected by the buffer, the driving systemsuch that the cleaning robot may respond to the events, e.g., moving away from the obstacle.

The control module is arranged on a main circuit board within the main bodyand includes a computing processor, such as a central processing unit and an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory and a random-access memory. The application processor is configured to draw a simultaneous map of an environment where the cleaning robot is located based on obstacle information fed back by the laser distance sensor by use of a positioning algorithm, for example, simultaneous localization and mapping (SLAM). In addition, based on the distance and speed information fed back by the sensors arranged on the buffer, the cliff sensor, the magnetometer, the accelerometer, the gyroscope, the odograph, and other sensing devices, a comprehensive judgment may be made on a current working state and a current position of the cleaning robot, and a current posture of the cleaning robot, such as crossing a doorsill, getting on a carpet, at a cliff, being stuck from above or below, having a full dust box, being picked up, etc. For different cases, specific next action strategies may be provided such that the cleaning robot has better cleaning performance and user experience.

As shown in, the driving systemmay control the main bodyto travel across the ground based on a driving command with distance and angle information (e.g., x, y, and θ components). The driving systemincludes a first driving wheel moduleand a second driving wheel module. The first driving wheel moduleand the second driving wheel moduleare arranged along a transverse axis defined by the main body. In order to enable the cleaning robot to move more stably or have a better movement ability on the ground, the cleaning robot may include one or more driven wheels, which include but are not limited to universal wheels. The driving wheel module includes a traveling wheel, a driving motor, and a control circuit for controlling the driving motor, and may also be connected to a circuit for measuring a driving current and an odograph. The driving wheel module may be detachably connected to the main bodyto facilitate disassembly, assembly and maintenance. The driving wheel may be provided with an offset drop suspension system, which is fastened movably to (e.g., attached rotatably to) the main body, and receives a spring offset biased downward and away from the main body. The spring offset allows the driving wheel to maintain contact and traction with the ground with a certain ground attachment force, while cleaning elements of the cleaning robot are also in contact with the ground with certain pressure.

The main bodydefines the transverse axis and a longitudinal axis, which are perpendicular to each other and may be understood as a transverse centerline and a longitudinal centerline of the main bodyrespectively.

The energy system 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 which are then connected to a single chip microcomputer control circuit. A host is connected to a charging pile through a charging electrode arranged on a side or below the main body of the cleaning robot for charging.

The human-computer interaction system 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 state or function options of the cleaning robot. For a route navigation type automatic cleaning apparatus, a mobile phone client may show the user a map of the environment where the apparatus is located, and a position of the apparatus, thereby providing the user with richer and more user-friendly function items.

For the cleaning robot according to an embodiment of the present disclosure, the dust boxis arranged on the main body, and at least a part of the position determining deviceprotrudes from the main body. The top end of the dust boxis not lower than at least a part of the top end of the main body, and the top end of the position determining deviceis higher than the top end of the dust box, which can ensure that the position determining devicetriggers an obstacle first on the basis of ensuring the maximum height of the dust box, thereby indirectly protecting the dust boxor the main bodyfrom getting stuck by the obstacle.

It should be noted that since the top end of the dust boxis not lower than at least a part of the top end of the main body, the height of the dust boxshould be made as high as possible without changing the original height of the main body relative to the height of the main body of a cleaning robot in the related art, so as to increase the dust collection capacity of the dust boxwithout increasing the height of the cleaning robot.

In an embodiment of the present disclosure, as shown in, the main bodyincludes a top main plane, and at least a part of the position determining deviceprotrudes from the top main plane, and the top end of the dust boxis higher than the top main plane. The top main planeis a large upper surface of the cleaning robot, and at least a part of the position determining deviceprotrudes from the top main plane, which can ensure that the position determining devicereliably identifies the obstacle. The top end of the dust boxis higher than the top main plane, which can ensure that the dust boxhas sufficient dust collection capacity. In an embodiment of the present disclosure, as shown in, the main bodyfurther includes a top raised plane, and the top raised planeis higher than the top main planeand lower than the top end of the position determining device. At least a part of the dust boxis located below the top raised plane. The top raised planeis a small upper surface of the cleaning robot. The top end of the position determining deviceis higher than the top raised plane, which can ensure that the position determining devicereliably identifies the obstacle. At least a part of the dust boxis located below the top raised plane, which can prevent the dust boxfrom causing an excessive height of the cleaning robot, and the main bodycan also achieve a protective effect on the dust box.

In an embodiment of the present disclosure, as shown in, the main bodyfurther includes a transition surface, and the transition surfaceconnects the top main planeto the top raised plane. The top main planeand the top raised planeare approximately parallel, and the transition surfaceis inclined to the top raised plane, which not only achieves a more attractive appearance design, but also enables the main bodyto conveniently pass through a low obstacle to prevent the cleaning robot from getting stuck. Specifically, the transition surfacecan effectively prevent the cleaning robot from getting stuck by an obstacle which is lower than the top end of the position determining deviceand higher than the top main plane.

In an embodiment of the present disclosure, a part of the dust boxis located below the top main plane, and a part of the dust boxis located below the top raised plane, such that a part of the dust boxmay be made higher to facilitate the arrangement of other structures, or the dust collection space may be locally increased. The other part of the dust boxmay adapt to the height of the main body of the cleaning robot, so that the main bodycan effectively protect the dust boxto prevent the dust boxfrom the problems such as damage and the like.

As an optional embodiment of the present disclosure, the top end of the position determining deviceis 0.2 mm-10 mm higher than the top end of the dust box, which can not only ensure that the position determining devicetriggers the obstacle first, but also make the height of the dust boxrelatively maximum, thereby being conductive to improving the dust collection capacity.

In an embodiment of the present disclosure, the dust boxis located behind the position determining devicein the cleaning operation direction of the cleaning robot. The position determining deviceis located in the middle of the cleaning robot, while the dust boxis located at the rear part of the cleaning robot. Vertical projections of the position determining deviceand the dust boxmay have no overlapping area, such that the height of at least a part of the dust boxmay be greater than that of the top main plane, regardless of the interference between the position determining deviceand the dust box, which can further ensure the height of the dust box.

The cleaning robot according to the embodiment of the present disclosure is configured to cooperate with a cleaning base station to discharge dust therein into the cleaning base station. The cleaning robot includes: a dust storage chamberand a door body. The dust storage chamberincludes an opening. The door bodyis movably arranged relative to the dust storage chamberto release or block the opening. The door bodymay release the opening after the cleaning robot is docked with the cleaning base station, such that the opening is communicated with a dust inlet of the cleaning base station.

In the cleaning robot provided according to the embodiment of the present disclosure, the door bodyis arranged at the opening of the dust storage chamber, and the door bodyis movably arranged relative to the dust storage chamber. The door bodymay release the opening after the cleaning robot is docked with the cleaning base station, such that the opening is communicated with the dust inlet of the cleaning base station, and dust inside the dust storage chamberis discharged into the cleaning base station, which improves the dust discharge efficiency of the cleaning robot and the service performance of the cleaning robot.

In an embodiment of the present disclosure, the dust storage chambermay be formed by the main body, i.e., a cavity is formed inside the main body, and the cavity is used for collecting dust, so as to be used as the dust storage chamber. The door bodymay be arranged on the main bodyto block the opening of the dust storage chamber, so as to avoid dust leakage. When the dust in the dust storage chamberis discharged, the door bodymay be opened to release the opening of the dust storage chamber, such that the dust in the dust storage chambercan be discharged, for example, the dust in the dust storage chambercan be discharged into the cleaning base station.

In an embodiment of the present disclosure, the dust storage chambermay be formed by the dust boxon the main body, the dust boxis arranged on the main body, the dust boxand the main bodyconstitute a robot body, and the door bodyis arranged on the dust box, so as to release or block the opening of the dust storage chamber.

In an embodiment of the present disclosure, the dust boxincludes a dust storage chamber, and the dust storage chamberincludes a first chamber, a second chamberand a transition channel. The first chamberincludes a waste inlet. The second chamberincludes an air outlet. The first chamberis communicated with the second chamberthrough the transition channel.

With reference to, in an embodiment of the present disclosure, the dust boxincludes a first chamberand a second chamberarranged independently, and the first chamberis communicated with the second chamberthrough a transition channel, such that preliminary separation of dust in the first chambercan be realized, which reduces the probability that the dust blocks the transition channeland can reliably achieve dust collection to improve the dust collection capacity of the dust box.

Dust entering from the cleaning moduleenters the first chamberthrough the waste inletfor preliminary separation, and enters the second chamberthrough the transition channel, thereby realizing effective recovery of the dust. Filtered air is discharged out of the dust boxthrough the air outlet.

In an embodiment of the present disclosure, the transition channelis approximately tangent to the second chamber, such that dust can reliably enter the second chamberthrough the transition channel, and the flow of air can be facilitated, thereby improving the fluidity of dust in the dust storage chamberand hence improving the dust collection capacity of the dust box.

As an optional embodiment of the present disclosure, the transition channelis approximately tangent to the first chamber, such that dust can reliably enter the transition channelfrom the first chamber, and the flow of air can be facilitated, thereby improving the fluidity of dust in the dust storage chamber.

A cyclone separatoris arranged in the second chamber, and air entering the second chambertangentially may be separated from fine dust by the cyclone separatorto ensure the cleanliness of a filter screen. The cyclone separatormay be a cone-shaped tube for cyclone separation.

In an embodiment of the present disclosure, a side wall of the transition channelincludes a curved surface, such that dust can flow smoothly within the transition channel, thereby avoiding dust obstruction and other problems.

In an embodiment of the present disclosure, an extension length of the transition channelis greater than the minimum thickness of a wall between the first chamberand the second chamber, such that the airflow carrying dust may pass through the transition channelfor a long period of time, thereby avoiding the problem that the transition channelis blocked due to accumulation of a large amount of dust.

It should be noted that the extension length of the transition channelmay be considered as a distance by which air flows within the transition channel, and the first chamberand the second chamberare separated by a wall of the dust box. Therefore, the extension length of the transition channelis greater than the minimum thickness of the wall between the first chamberand the second chamber, which can avoid the problem that the transition channelis blocked due to accumulation of dust.

In an embodiment of the present disclosure, the door bodyis rotatably arranged on the dust box, such that the door bodycan conveniently release or block the opening of the dust storage chamber.

The door bodymay be connected to a driving mechanism which drives the door bodyto rotate relative to the dust box. Alternatively, after the cleaning robot is docked with the cleaning base station, the door bodymay be driven to open or close by the airflow generated by a fan assemblyof the cleaning robot. Alternatively, after the cleaning robot is docked with the cleaning base station, the door bodymay be driven to open or close by a suction force generated by a power assembly of the cleaning base station.

As an optional embodiment of the present disclosure, the door bodyis movably arranged relative to the dust box, and the door bodymay be driven by the driving mechanism to realize horizontal movement of the door body. For example, the driving mechanism may be an electric push rod, and the door bodyis driven to move horizontally relative to the dust boxby the electric push rod.

In an embodiment of the present disclosure, at least a part of the dust boxis located outside the main body, such that the opening can be directly communicated with the dust inlet when the door bodyreleases the opening, thereby allowing for easy discharge of dust from the dust box into the cleaning base station.

A part of the door bodymay extend to the inside of the dust inlet for storage after the door bodyreleases the opening, so as to ensure reliable docking between the opening of the dust storage chamberand the dust inlet, thereby ensuring that dust can be effectively collected into the cleaning base station.

The dust boxand the main bodyform at least a part of an outer surface of the cleaning robot, such that the dust boxis directly docked with the cleaning base station after the cleaning robot is docked with the cleaning base station. Therefore, the opening of the dust storage chambermay be reliably docked with the dust inlet after the door bodyis opened.

In an embodiment of the present disclosure, as shown in, the dust storage chamberincludes a first chamberand a second chamber, and the door bodyselectively releases the first chamberand the second chamber, such that the first chamberand the second chambermay be selectively communicated with the dust inlet, thereby discharging dust in the dust storage chamberby stages, avoiding blockage and other problems due to discharge of a large amount of dust, and improving the dust collection efficiency.

The first chamberand the second chambermay be arranged independently, such that dust may be stored in both the first chamberand the second chamber. However, dust in the first chamberand the second chambermay be dust in different stages. For example, during the cleaning of the cleaning robot, dust first enters the first chamber, and then part of dust enters the second chamber. Therefore, dust in the first chamberand the second chambermay be of different particle sizes.

As an optional embodiment of the present disclosure, there may be one door body, and the door bodymay be movably arranged relative to the dust box, such that the door bodycan selectively release the first chamberand the second chamber.

In an embodiment of the present disclosure, as shown in, the door bodyincludes a first door body pieceand a second door body piece. The first door body pieceand the second door body pieceare separated from each other and correspond to the first chamberand the second chamberrespectively, such that the first chamberand the second chambercan be conveniently released by opening the first door body pieceand the second door bodypiece respectively.

The first door body pieceand the second door body pieceboth are rotatably arranged on the dust box. By controlling the first door body pieceand the second door body pieceto be opened respectively, the first chamberand the second chambercan be controlled to be released respectively. For example, the first door body pieceand the second door body pieceare driven to move by two different driving mechanisms, so as to control the opening times of the first door body pieceand the second door body piece.

In an embodiment of the present disclosure, as shown in, the dust boxfurther includes a cyclone separator, and the cyclone separatoris arranged in the second chamber. It should be noted that the cyclone separatormay be a cyclone separator known in the related art. The working principle of the cyclone separator is described below: a rotary motion is caused by tangential introduction of the airflow; when particles rotate at a high speed in the airflow, a centrifugal force is much greater than the gravity, and the higher the speed is, the higher a centrifugal settling speed of the particles is; and when the particles containing solids enter a cone-shaped cylinder in a tangential direction along with air and rotate in the cylinder, the airflow strikes the cylinder wall, and the particles strike the cylinder wall and rotationally fall down to achieve the purpose of separating the solids from air.