Cleaning robot and motion control method thereof

Abstract

A cleaning robot includes a cleaning element, which is configured to be in contact with a surface to be cleaned and form a chamber with the surface to be cleaned; a suction module; a driving module, which is connected with the cleaning element and drives the cleaning element to rotate with the axis perpendicular to the surface to be cleaned as the rotation axis; a controller, which is coupled to and controls the suction module and the driving module; and a bridge, which connects a plurality of cleaning elements and the driving module, wherein at least one of the cleaning elements is configured to be able to deflect with respect to the bridge, so as to enable the rotation axis corresponding to the cleaning element to be staggered with the rotation axes corresponding to other cleaning elements to form an included angle.

1 . A cleaning robot for removing particles, comprising:
 a cleaning element ( 1 ), configured to be in contact with a surface to be cleaned and forms at least one chamber ( 1   a ) with the surface to be cleaned;   a suction module ( 2 ), in communication with the chamber ( 1   a ) and configured to draw air in the chamber ( 1   a ) to form negative pressure in the chamber ( 1   a ) causing the cleaning element ( 1 ) to adhere on the surface to be cleaned;   a driving module ( 3 ) connected with the cleaning element ( 1 ) and capable of driving the cleaning element ( 1 ) to rotate with an axis perpendicular to the surface to be cleaned:   a controller ( 4 ) coupled to the suction module ( 2 ) and the driving module ( 3 ); a bridge ( 5 ) connecting a plurality of cleaning elements ( 1 ), wherein at least one of the cleaning elements ( 1 ) is configured to be capable of deflecting with respect to the bridge ( 5 ) causing the rotation axis corresponding to the cleaning element ( 1 ) to be staggered with the rotation axes corresponding to other cleaning elements ( 1 ) to form an included angle.   
     
     
         2 . The cleaning robot for removing particles according to  claim 1 , further comprising:
 a deflection driving mechanism ( 6 ), configured to apply deflection acting force to the cleaning element ( 1 ) configured to deflect with respect to the bridge ( 5 ), wherein when the cleaning element ( 1 ) is placed on the surface to be cleaned, one side of the cleaning element is in contact with the surface to be cleaned first, and wherein after the cleaning element ( 1 ) is adsorbed on the surface to be cleaned, the pressure of the side on the surface to be cleaned is greater than that of other parts thereof on the surface to be cleaned.   
     
     
         3 . The cleaning robot according to  claim 2 , wherein:
 at least two cleaning elements ( 1 ) of the plurality of cleaning elements ( 1 ) are connected with the bridge ( 5 ) through rotating shafts ( 7 ) arranged at intervals, wherein the rotating shafts ( 7 ) are perpendicular to the rotation axes corresponding to the at least two cleaning elements ( 1 ), wherein the deflection driving mechanism ( 6 ) is configured to apply deflection acting force, which causes the cleaning element to deflect, to the at least two cleaning elements ( 1 ), wherein when the at least two cleaning elements ( 1 ) are placed on the surface to be cleaned, one side of the cleaning elements is in contact with the surface to be cleaned first, and wherein after the at least two cleaning elements ( 1 ) are adsorbed on the surface to be cleaned, the pressure of the side on the surface to be cleaned is greater than that of other parts thereof on the surface to be cleaned.   
     
     
         4 . The cleaning robot according to  claim 2 , wherein the deflection driving mechanism ( 6 ) further comprising an elastic part arranged between the bridge ( 5 ) and the corresponding cleaning element ( 1 ), wherein two ends of the elastic part are adjacent to the bridge ( 5 ) and the corresponding cleaning element ( 1 ), respectively, or wherein two ends of the elastic part are fixedly connected with the bridge ( 5 ) and the corresponding cleaning element ( 1 ), respectively, and wherein the elastic part which generates elastic deformation applies deflection acting force, which causes the cleaning element to deflect, to the cleaning element ( 1 ) configured to deflect with respect to the bridge ( 5 ). 
     
     
         5 . The cleaning robot according to  claim 3 , wherein the deflection driving mechanism ( 6 ) further comprising magnetic components fixedly installed on the bridge ( 5 ) and the corresponding cleaning elements ( 1 ) and wherein the magnetic components are capable of attracting or repelling each other, and wherein the deflection driving mechanism applies deflection acting force, which causes the cleaning element to deflect, to the cleaning element ( 1 ) configured to deflect with respect to the bridge ( 5 ), by means of the attractive or repulsive interaction between the magnetic components. 
     
     
         6 . The cleaning robot according to  claim 5 , wherein each said magnetic component further comprising an electromagnet, and wherein a control circuit of the electromagnet is coupled to the controller ( 4 ). 
     
     
         7 . The cleaning robot according to any one of  claim 1 , wherein
 the suction module ( 2 ) further comprising same number of fans or vacuum pumps as the number of cleaning elements ( 1 ), wherein chambers ( 1   a ) are defined by each of the cleaning elements ( 1 ) and the surface to be cleaned are independent of each other, and wherein the fans or vacuum pumps are connected to the chambers ( 1   a ).   
     
     
         8 . A motion control method of the cleaning robot according to  claim 7 , which is used to move the cleaning robot on the surface to be cleaned, wherein the plurality of cleaning elements ( 1 ) further comprising at least a first cleaning element ( 1 - 1 ) and a second cleaning element ( 1 - 2 ), comprising the following steps:
 S 01 . controlling the corresponding suction module ( 2 ) so that the negative pressure of the chamber ( 1   a ) defined by the first cleaning element ( 1 - 1 ) and the surface to be cleaned is greater than the negative pressure of the chamber ( 1   a ) defined by the second cleaning element ( 1 - 2 ) and the surface to be cleaned, and   controlling the corresponding driving module ( 3 ) to apply a driving force to the first cleaning element ( 1 - 1 ) and the second cleaning element ( 1 - 2 ) along a first rotation direction, so that the second cleaning element ( 1 - 2 ) and the bridge ( 5 ) twist around the first cleaning element ( 1 - 1 ) along a second rotation direction opposite to the first rotation direction:   S 02 . controlling the corresponding suction module ( 2 ) so that the negative pressure of the chamber ( 1   a ) defined by the first cleaning element ( 1 - 1 ) and the surface to be cleaned is less than the negative pressure of the chamber ( 1   a ) defined by the second cleaning element ( 1 - 2 ) and the surface to be cleaned, and   controlling the corresponding driving module ( 3 ) to apply a driving force to the first cleaning element ( 1 - 1 ) and the second cleaning element ( 1 - 2 ) along the second rotation direction, so that the first cleaning element ( 1 - 1 ) and the bridge ( 5 ) twist around the second cleaning element ( 1 - 2 ) along the first rotation direction opposite to the second rotation direction.   
     
     
         9 . The motion control method of the cleaning robot according to  claim 3 , which is used to move the cleaning robot on the surface to be cleaned, wherein:
 the at least two cleaning elements ( 1 ) are driven simultaneously to rotate in a direction with respect to the surface to be cleaned via the corresponding driving module ( 3 ), and wherein the deflection driving mechanism ( 6 ) applies deflection acting force to the at least two cleaning elements ( 1 ), so that the resultant force of all static friction forces applied to all cleaning elements ( 1 ) by the surface to be cleaned is greater than zero, thereby driving the cleaning robot to walk straight in the direction of the resultant force.   
     
     
         10 . The motion control method of the cleaning robot according to  claim 6 , which is used to move the cleaning robot on the surface to be cleaned, wherein the motion of the cleaning robot is controlled as follows:
 S 01 . controlling the corresponding suction module ( 2 ) so that the negative pressure of the chamber ( 1   a ) defined by the first cleaning element ( 1 - 1 ) of the at least two cleaning elements ( 1 ) and the surface to be cleaned is greater than the negative pressure of the chamber ( 1   a ) defined by the second cleaning element ( 1 - 2 ) and the surface to be cleaned, and   turning off a power supply circuit of an electromagnet corresponding to the first cleaning element ( 1 - 1 ), and turning on a power supply circuit of an electromagnet corresponding to the second cleaning element ( 1 - 2 ), so that the pressure of one side of the second cleaning element ( 1 - 2 ) on the surface to be cleaned is greater than or less than that of other parts thereof on the surface to be cleaned, and   controlling the corresponding driving module ( 3 ) to apply an appropriate driving force to the first cleaning element ( 1 - 1 ) and the second cleaning element ( 1 - 2 ) along a first rotation direction, so that the second cleaning element ( 1 - 2 ) and the bridge ( 5 ) twist around the first cleaning element ( 1 - 1 ) along a second rotation direction opposite to the first rotation direction:   S 02 . controlling the corresponding suction module ( 2 ) so that the negative pressure of the chamber ( 1   a ) defined by the first cleaning element ( 1 - 1 ) and the surface to be cleaned is less than the negative pressure of the chamber ( 1   a ) defined by the second cleaning element ( 1 - 2 ) and the surface to be cleaned, and   turning on a power supply circuit of an electromagnet corresponding to the first cleaning element ( 1 - 1 ), and turning off a power supply circuit of an electromagnet corresponding to the second cleaning element ( 1 - 2 ), so that the pressure of one side of the first cleaning element ( 1 - 1 ) on the surface to be cleaned is greater than or less than that of other parts thereof on the surface to be cleaned, and   controlling the corresponding driving module ( 3 ) to apply a driving force to the first cleaning element ( 1 - 1 ) and the second cleaning element ( 1 - 2 ) along the second rotation direction, so that the first cleaning element ( 1 - 1 ) and the bridge ( 5 ) twist around the second cleaning element ( 1 - 2 ) along the first rotation direction opposite to the second rotation direction.   
     
     
         11 . The cleaning robot according to  claim 3 , wherein the deflection driving mechanism ( 6 ) further comprising an elastic part arranged between the bridge ( 5 ) and the corresponding cleaning element ( 1 ), wherein two ends of the elastic part are adjacent to the bridge ( 5 ) and the corresponding cleaning element ( 1 ), respectively, or wherein two ends of the elastic part are fixedly connected with the bridge ( 5 ) and the corresponding cleaning element ( 1 ), respectively, and wherein the elastic part which generates elastic deformation applies deflection acting force, which causes the cleaning element to deflect, to the cleaning element ( 1 ) configured to deflect with respect to the bridge ( 5 ). 
     
     
         12 . The cleaning robot according to any one of  claim 2 , wherein the suction module ( 2 ) further comprising same number of fans or vacuum pumps as the number of cleaning elements ( 1 ), wherein chambers ( 1   a ) are defined by each of the cleaning elements ( 1 ) and the surface to be cleaned are independent of each other, and wherein the fans or vacuum pumps are connected to the chambers ( 1   a ). 
     
     
         12 . The cleaning robot according to any one of  claim 3 , wherein the suction module ( 2 ) further comprising same number of fans or vacuum pumps as the number of cleaning elements ( 1 ), wherein chambers ( 1   a ) are defined by each of the cleaning elements ( 1 ) and the surface to be cleaned are independent of each other, and wherein the fans or vacuum pumps are connected to the chambers ( 1   a ).