CN107510417A - Automatic cleaning machine - Google Patents

Abstract

The invention provides an automatic cleaning machine, which includes: a reciprocating wiping mechanism, including: at least one cleaning device for contacting a flat surface; and at least one reciprocating device connected to the at least one cleaning device and causing the at least one cleaning device to A cleaning device generates a reciprocating motion to wipe the plane back and forth; a walking device is used to make the automatic cleaning machine walk on the plane; and a control system is coupled to the reciprocating wiping mechanism and the walking device to use To control the reciprocating wiping mechanism and the traveling device. The high-speed reciprocating cleaning mechanism enables the cleaning cloth to wipe the floor back and forth at high speed, and the vacuum device can suck up the garbage in front of the cleaning cloth.

Description

automatic cleaning machine

technical field

The present invention relates to an automatic cleaning machine, in particular to an automatic cleaning machine with a reciprocating cleaning mechanism.

Background technique

The current commercially available sweeping robot (sweeping robot) mainly focuses on cleaning garbage. The sweeping robot usually has a side brush, a vacuum suction port, or a middle brush, or a mopping cleaning cloth. It is dragged by the robot, and has limited cleaning effect on water stains, footprints, and fine dust particles.

The currently commercially available floor washing robot (irobot's scooba) sprays water on the ground, and after being brushed, the rubber scraper sucks back the water and filters it. Its disadvantage is that the ground is uneven, and water will remain on the ground. And it cannot be used on the floor material with seams.

The currently commercially available mopping robot (mint: mint) pushes the wet cloth machine back and forth to wipe the floor. Its disadvantages are: the garbage accumulated in front of the cleaning cloth cannot be collected, and the cleaning effect is limited if the wiping frequency is too low.

Therefore, there is a need for a household cleaning robot that can improve at least one of the shortcomings of the aforementioned robot.

Contents of the invention

An object of an embodiment of the present invention is to provide an automatic cleaning machine, which has a reciprocating cleaning mechanism to make the cleaning cloth reciprocally wipe the ground, has a pair of walking wheels to allow the machine to advance, and has a microcomputer control system and various sensors. Detect obstacles, detect the distance of the surrounding environment, and plan the cleaning path. In one embodiment, the aforementioned automatic cleaning machine is further equipped with a dust suction device that can absorb the garbage in front of the cleaning cloth. In one embodiment, the aforementioned automatic cleaning machine is further equipped with a water spray device that can wipe the floor wet.

An automatic cleaning machine includes a reciprocating wiping mechanism, a traveling device and a control system. The reciprocating wiping mechanism includes at least one cleaning device and at least one reciprocating device. At least one cleaning device is used for contacting a plane. At least one reciprocating device is connected to the at least one cleaning device, and makes the at least one cleaning device generate a reciprocating motion, thereby wiping the plane back and forth. The walking device is used to make the automatic cleaning machine walk on the plane. The control system is coupled to the reciprocating wiping mechanism and the traveling device for controlling the reciprocating wiping mechanism and the traveling device.

In one embodiment, at least one cleaning device includes a first cleaning device and a second cleaning device. The at least one reciprocating device makes the first cleaning device reciprocate in a first direction, and makes the second cleaning device reciprocate in a second direction, and the first direction is opposite to the second direction.

In one embodiment, the automatic cleaning machine further includes a casing. The casing accommodates the at least one reciprocating device, the control system and the traveling device of the reciprocating wiping mechanism. The at least one cleaning device includes: a brush plate, a roller and a cleaning cloth. The brush plate is placed under a base of the casing. The roller is located between the brush plate and the casing, and rolls on the brush plate or the base, so as to reduce the friction between the brush plate and the base. The cleaning cloth is placed on the brush plate to touch the flat surface.

In one embodiment, the automatic cleaning machine further includes a casing and an elastic element. The casing accommodates the at least one reciprocating device, the control system and the traveling device of the reciprocating wiping mechanism. The elastic element is arranged between the traveling device and the casing, so as to apply force to the traveling device in a direction away from the automatic cleaning machine through the elastic element.

In one embodiment, the automatic cleaning machine further includes a dust suction device. The dust suction device includes a suction port to make a particle on the plane be sucked into the dust suction device from the suction port along with an air flow. The at least one cleaning device includes a first cleaning device. The suction port is located in front of the first cleaning device, the suction port is located within a predetermined distance of the first cleaning device, and the first cleaning device does not accumulate particles within the predetermined distance.

In one embodiment, the automatic cleaning machine further includes a water spraying device for spraying water on the surface.

In one embodiment, the walking device includes a moving wheel set and an outer shell, and the outer shell is used for accommodating the moving wheel set and includes a sleeve. The casing includes a base, a fixing post, a blocking piece and a fixing screw. The fixing column is arranged on the base and protrudes from the base, and the sleeve is sleeved on the outer peripheral surface of the fixing column. The blocking piece is arranged on the top side of the fixing post. The fixing screw is screwed into the fixing column, and is used for fixing the blocking plate on the top side of the fixing column. One end of the elastic element abuts against the blocking piece, and the other end of the elastic element abuts against the sleeve of the outer shell of the walking device.

In one embodiment, the at least one reciprocating device includes a wiping motor, a crankshaft, at least one crank and at least one sliding rail. The crankshaft is driven to rotate by the wiping motor. At least one crank, one end of which is connected to the crank shaft, and the other end of which is used to connect to a brush plate of the at least one cleaning device; and performs reciprocating motion as the crank shaft rotates. At least one sliding rail restricts a part of the brush plate, so as to make at least one cleaning device reciprocate.

In one embodiment, the suction port of the dust suction device is arranged on a brush plate of the first cleaning device.

In one embodiment, the automatic cleaning machine further includes an electric cleaning brush. The suction port of the dust suction device is arranged on a base of a casing of the automatic cleaning machine. The motorized cleaning brush is fixed to the base and sweeps the particles into the suction inlet.

In one embodiment, the automatic cleaning machine further includes at least one sensor disposed on the front side or the lower side of the casing for non-contact detection of an obstacle or a cliff.

In one embodiment, the automatic cleaning machine further includes a safety lever and at least one limit switch. The bumper is arranged on the outside of the automatic cleaning machine. At least one limit switch is used to detect an obstacle after being touched by the bumper.

In one embodiment, the automatic cleaning machine further includes at least one laser distance measuring device for detecting the distance of an obstacle and measuring the distance of the surrounding environment for building a map and planning a cleaning route.

The technical improvement of each embodiment of the present invention includes one of the following. The reciprocating cleaning mechanism is designed to increase the frequency of wiping the cleaning cloth per unit time, which can clean more efficiently. The suction unit sucks up the dirt that accumulates in front of the cleaning cloth. Intelligent control of water spray to maintain the optimum humidity of the cleaning cloth to achieve the best cleaning effect. The system integrates all devices, adding artificial intelligence, and the robot can clean the entire room.

Description of drawings

A more complete understanding of the present invention can be obtained from the following detailed description and accompanying drawings, which are for illustration only and not intended to limit the present invention.

Fig. 1 is a top view of an automatic cleaning machine according to an embodiment of the present invention.

Fig. 2 is a bottom view of an automatic cleaning machine according to an embodiment of the present invention.

Fig. 3 is a cross-sectional view of the section line A-A in Fig. 2 .

Fig. 4 is a cross-sectional view of the section line B-B in Fig. 2 .

Fig. 5 is a cross-sectional view of the section line C-C in Fig. 2 .

FIG. 6 is a sectional view of the section line K-K in FIG. 2 .

FIG. 7 is a sectional view corresponding to the section line A-A in FIG. 2 of an automatic cleaning machine according to another embodiment of the present invention.

FIG. 8 is a schematic diagram of a reciprocating wiping mechanism according to another embodiment of the present invention.

FIG. 9 is a functional block diagram of a control system according to an embodiment of the present invention.

Fig. 10 is a top view of an automatic cleaning machine according to another embodiment of the present invention.

Figure number:

100 Automatic cleaner 441 Spring flap

110 Motor for wiping 442 Fixing screw

120 Pulley unit 443 Fixing post

130 crankshaft 500 control system

131 Spinning Wheel 510 Processor

140 Crank 511 Memory

141 Straight 512 Flash

150 Crank 520 Pulse Width Modulator

20a Airflow 521 Power Driver

20b Airflow 600 Trash Bin

20c Airflow 610 Primary Filter

20d Airflow 611 active suction

20e Airflow 612 Throat

20f Air flow 613 Exhaust port

210 Tripod 619 Fixed suction port

220 Front Brush Plate 620 High Efficiency Filter

230 Cleaning cloth 630 Vacuum pump impeller

231 Cleaning unit 640 Pump motor

240 Tripod 690 Barrel Brush

250 Rear brush plate 700 Reservoir

260 Cleaning cloth 710 Water hose

270 Roller 720 Water pump

271 Chute 730 Water hose

280 Roller 740 Left Nozzle

281 chute 741 ejection range

310 Base 750 Right Nozzle

320 Enclosure 751 Discharge Range

330 Bumper 810 Front proximity sensor

400 Mobile Wheel Set 820 Proximity Sensor Below

401 Sleeve 830 Limit switch

402 Outer housing 840 Distance sensor

410 Track Drive Wheels 900 Remote Transmitter

420 Track 910 Remote Receiver

430 Motor 910 Bristles

440 spring

detailed description

The present invention will be described in detail with reference to the accompanying drawings, in which like reference numerals will be used to identify like or similar elements from various viewpoints. It should be noted that the drawings are to be viewed in the orientation of the reference numerals.

According to the known sweeping robot, the cleaning cloth can only wipe the ground through the walking of the sweeping robot, that is, the number of times of walking is the number of times of wiping. Another known sweeping robot only has the function of dry sweeping, so according to the known technology, it cannot clean the water. Stains, footprints, fine dust particles, etc. According to an embodiment of the present invention, an automatic cleaning machine 100 is proposed, which has a high-speed reciprocating cleaning mechanism to make the cleaning cloth reciprocate and wipe the ground at high speed, and has a pair of walking wheels to allow the machine to travel. In one embodiment, a vacuum cleaner can also be provided to suck up the rubbish in front of the cleaning cloth. In one embodiment, a water spray device can also be used to wipe the ground wet. In one embodiment, there may also be a microcomputer control system and a variety of sensors to detect obstacles, detect the distance of the surrounding environment, and plan the cleaning route. A more specific structure is described in detail as follows.

Fig. 1 is a top view of an automatic cleaning machine according to an embodiment of the present invention. Fig. 2 is a bottom view of an automatic cleaning machine according to an embodiment of the present invention. Fig. 3 is a cross-sectional view of the section line A-A in Fig. 2 . Fig. 4 is a cross-sectional view of the section line B-B in Fig. 2 . Fig. 5 is a cross-sectional view of the section line C-C in Fig. 2 . FIG. 6 is a sectional view of the section line K-K in FIG. 2 .

About the reciprocating wiping mechanism:

As shown in FIGS. 2-6 , a reciprocating wiping mechanism according to an embodiment of the present invention includes a wiping motor 110 , a pulley device 120 , a crankshaft 130 , at least one crank, and at least one cleaning device. In this embodiment, at least one crank includes two cranks 140 and 150, and the free ends of the cranks 140 and 150 are equipped with cleaning devices. As shown in FIG. 4 , the wiping motor 110 rotates, and after being decelerated by the pulley device 120 , the crankshaft 130 is driven to rotate. As shown in FIG. 3 , the rotation of the crank shaft 130 drives at least one crank to perform linear reciprocating motion. In this embodiment, the crank shaft 130 further drives two cranks 140 and 150 to perform linear reciprocating motion. Preferably, the cranks 140 and 150 have a phase difference of 180°, so the cleaning devices at the two ends of the cranks 140 and 150 exhibit linear reciprocating motions in opposite directions.

Referring to FIG. 3 again, the front cleaning device includes a tripod 210 , a front brush plate 220 and a cleaning cloth 230 . The tripod 210 is connected between the free end of the crank 140 and the front brush plate 220 , and the cleaning cloth 230 is installed or attached to the lower side of the front brush plate 220 . The free end of the crank 140 pushes the tripod 210 , and then pushes the front brush plate 220 , so that the front cleaning cloth 230 pasted on the front brush plate 220 will move back and forth on the ground. The rear cleaning device includes a tripod 240 , a rear brush plate 250 and a cleaning cloth 260 . The tripod 240 is connected between the free end of the crank 150 and the rear brush tray 250 , and the cleaning cloth 260 is installed or attached to the lower side of the rear brush tray 250 . The free end of the crank 150 pushes the tripod 240 , and then pushes the rear brush plate 250 , so that the cleaning cloth 260 pasted on the rear brush plate 250 will move back and forth on the ground.

The movement directions of the front and rear brush plates 220 and 250 are completely opposite, so that the reaction forces can cancel each other, so that the automatic cleaning machine 100 can work stably. Referring to FIG. 2 and FIG. 4 again, the front cleaning device further includes at least one roller 270, and the front brush plate 220 has two sliding rails. The roller 270 is fixed on the front brush tray 220 and is located between the top surface of the front brush tray 220 and the lower bottom surface of the base 310 of the casing 320 of the automatic cleaning machine 100 . When the front brush plate 220 reciprocates, as shown in FIG. 4 , the roller 270 will roll the base 310 or the front brush plate 220 , thereby reducing the frictional force between the front brush plate 220 and the base 310 during relative movement. In one embodiment, a chute 271 is formed on the upper side of the base 310, and a part of the front brush plate 220 is limited in the chute 271, so that the front brush plate 220 is limited by the chute 271 above, so that the front brush plate 220 Will not fall down.

The rear cleaning device further includes at least one roller 280 , and the rear brush plate 250 has two sliding rails. The roller 280 is fixed on the rear brush tray 250 and is located between the top surface of the rear brush tray 250 and the lower bottom surface of the base 310 of the casing 320 of the automatic cleaning machine 100 . When the rear brush plate 250 moves back and forth, the roller 280 will roll the base 310 or the rear brush plate 250 to reduce the frictional force between the rear brush plate 250 and the base 310 during relative movement. In one embodiment, a chute 281 is formed on the upper side of the base 310, and a part of the rear brush plate 250 is limited in the chute 281, so that the rear brush plate 250 is limited by the upper chute 281, so that the rear brush plate 250 Will not fall down.

The speed of wiping the cleaning cloth 230 and 260 back and forth can be determined by the rotating speed of the motor 110 for wiping, which can be wiped back and forth 100 to 2000 times per minute, which is a high-efficiency wiping mechanism.

Although an embodiment of a reciprocating wiping mechanism has been described in detail above, the present invention is not limited to the aforementioned structure. In one embodiment, as long as it is a structure capable of transforming rotary motion into linear motion, for example, in one embodiment, the reciprocating wiping mechanism may include a cam and a straight rod (not shown). The straight rod abuts on the cam. The cam has a non-circular shape, such as an ellipse, or a nearly semi-ellipse formed with a protrusion at one end and a semi-circle at the other end. When the cam rotates, the straight rod can perform linear reciprocating motion. As another example, FIG. 8 shows a schematic diagram of a reciprocating wiping mechanism according to another embodiment of the present invention. As shown in FIG. 8 , in one embodiment, the reciprocating wiping mechanism includes a rotating wheel 131 , a straight rod 141 and a cleaning device 231 . A cleaning cloth 230 is mounted on the lower side of the cleaning device 231 . When the rotating wheel 131 rotates, one end of the straight rod 141 is pulled to move, and the cleaning device 231 at the other end connected to the straight rod 141 reciprocates back and forth, and the cleaning cloth 230 reciprocally wipes and cleans the ground.

About the vacuum cleaner:

Although the mutual reciprocating movement of the front and rear brush plates 220 and 250 can clean the floor, the garbage will accumulate at the front edge of the front cleaning cloth 230, that is, near the movable suction port 611 of the dust suction device of FIG. 2 . In one embodiment, the automatic cleaning machine 100 further includes a dust suction device. The dust collection device includes a vacuum pump motor 640 , a vacuum pump impeller 630 and an air pipeline. The air pipeline includes a movable suction inlet 611 , a throat 612 , filter modules ( 610 and 620 ), a garbage collection bucket 600 and a discharge outlet 613 . The vacuum pump motor 640 drives the vacuum pump impeller 630 to rotate to form an air flow, and make the air flow flow in the air pipeline along the path from the air flow 20a to the air flow 20f.

The movable suction port 611 of the dust collector is located in front of the front edge of the front cleaning cloth 230, so that when the walking device advances along a walking direction, the dust collector sucks the dust particles in advance, and then the front cleaning cloth 230 wipes the flat surface. The portion of the location where the garbage particle is located. The movable suction port 611 is further positioned within a predetermined distance at the front edge of the front cleaning cloth 230, wherein within the predetermined distance, the dust suction device can suck away the rubbish accumulated on the front edge of the front cleaning cloth 230 through the air flow 20a, so that The front edge of the front cleaning cloth 230 does not accumulate debris particles. Those skilled in the art can conduct experiments on various efficiencies of the dust collection device or various sizes of the movable suction inlet 611 according to the purpose of not accumulating garbage particles to determine the predetermined distance, that is, the predetermined distance can be determined by the suction. Depending on the efficiency of the dust collection device or the size of the movable suction port 611, the predetermined distance is farther when the efficiency of the dust collection device is higher. As shown in Figures 1 and 3, the movable suction port 611 of the dust collector is located on the front side of the front brush plate 220. Throat 612. As shown in Figure 1, the throat 612 is connected to the garbage collection bucket 600, the air flow 20c flows through the primary filter 610 of the filter module, and the air flow 20d flows through the high-efficiency filter 620 to reach the air flow 20e, most of all the dust has been removed was filtered. Subsequently, the air flow 20e will pass through the air flow 20f and then be discharged from the discharge port 613 . Therefore, the dust on the ground can be sucked away by the vacuum device. In one embodiment, the high efficiency filter 620 may be a filter of a high efficiency air filter (High Efficiency Particulate Air filter, HEPA filter) of the filter module.

About the walking device:

Please refer to FIG. 2 and FIG. 5 , according to an embodiment of the automatic cleaning machine 100 , its traveling device has two sets of moving wheels 400 and two sets of outer casings 402 . The outer casing 402 is used for accommodating the moving wheel set 400 . The moving wheel set 400 includes a crawler motor 430 , a crawler driving wheel 410 and a crawler belt 420 . In an embodiment, the moving wheel set 400 may also be composed of a roller and a motor driving the roller. The track wheel motor 430 of the mobile wheel set 400 rotates the track drive wheel 410 through the internal reducer, and the track drive wheel 410 will drive the entire track 420 to make the automatic cleaner 100 move on the floor. Please refer to FIG. 10 , the control system 500 has a drive circuit connected to the two crawler motors 430 , and the software in the control system 500 can control the two crawler motors 430 so that the automatic cleaning machine 100 can move forward, backward, and turn. Cooperating with the artificial intelligence (AI) software in the control system 500, the automatic cleaning machine 100 can automatically wipe the floor of the entire room (details will be described later).

About track wheel constant pressure structure:

The whole machine of the automatic cleaning machine 100 has only two parts in contact with the ground, one is the cleaning cloth 230 and 260, and the other is the crawler belt 420. When the pressure distribution of these two parts is uneven, the automatic cleaning machine 100 cannot perform well. function normally. When too much positive pressure is distributed to the cleaning cloths 230 and 260 and insufficient positive pressure is distributed to the track 420, the track 420 will slip and cannot propel the machine. In other words, when too much positive pressure is distributed to the track 420 and insufficient positive pressure is distributed to the cleaning cloths 230 and 260, the ground will not be wiped clean. Therefore, a fixed ratio of pressure distribution must be designed so that the machine can walk normally and clean the ground.

As shown in Figure 5, according to the track wheel constant pressure structure of an embodiment of the present invention, the automatic cleaning machine 100 may further include a spring 440, the spring 440 is arranged between the traveling device and the casing 320 of the automatic cleaning machine 100, so as to pass The spring 440 applies force to the traveling device in a direction away from the automatic cleaning machine 100 , that is, to press the traveling device downward. More specifically, in this embodiment, the spring 440 is arranged between the base 310 and the running device, so that the moving wheel set 400 is pressed down by the spring 440, so as long as the spring constant of the spring 440 is designed, a fixed wheel can be designed. Pressure to distribute the cleaning cloths 230 and 260; and the positive pressure of the two portions of the track 420 against the floor. More specifically, the track wheel constant pressure structure according to this embodiment is constructed as follows. The outer casing 402 of the walking device includes a sleeve 401 located at one end of the outer casing 402 . The casing 320 further includes a fixing post 443 , a spring retainer 441 and a fixing screw 442 . The sleeve 401 is disposed on a protruding end of the casing of the moving wheel set 400 . Please refer to FIG. 5 again. The fixing column 443 is disposed on the base 310 and protrudes from the base 310 , and the sleeve 401 is sleeved on the outer peripheral surface of the fixing column 443 . The spring blocking piece 441 is disposed on the top side of the fixing column 443 , and the fixing screw 442 is screwed into the fixing column 443 to fix the spring blocking piece 441 on the top side of the fixing column 443 .

The upper end of the spring 440 is against the spring catch 441, and the lower end of the spring 440 is against a part of the outer casing 402 of the running gear, more specifically, as shown in FIG. 5 , against the bottom of the sleeve 401 of the outer casing 402. Ends. Therefore, the moving wheel set 400 can be pressed down by the spring 440 . In one embodiment, another spring is not provided to press down the cleaning device, so the reciprocating movement of the front brush plate 220 and the rear brush plate 250 of the cleaning device can be smoother.

About sprinklers:

According to known techniques, only dry wiping cannot remove stains, footprints, water stains, fine dust particles, etc. Therefore, in one embodiment of the present invention, a water spraying device is further provided, and the dirt marks on the ground can be easily removed by spraying some water from the water spraying device. As shown in FIGS. 1 and 6 , the water spray device includes a water storage tank 700 , a water pipe 710 , a water pump 720 , a water pipe 730 , and a left nozzle 740 and a right nozzle 750 . As shown in FIG. 9 , the control system 500 can control the water pump 720 to drive water spray. As shown in FIG. 1 , the water is stored in the water storage tank 700 and goes to the water pump 720 through the water inlet pipe 710 . As shown in FIG. 1 and FIG. 6 , the cleaning water is pressurized by the water pump 720 , passes through the outlet pipe 730 , and is sprayed out through the left nozzle 740 and the right nozzle 750 shown in FIG. 6 . Reference numeral 741 indicates the discharge range of the left nozzle 740 , and reference numeral 751 indicates the discharge range of the right nozzle 750 . The control system 500 will control the timing and amount of water sprayed by the water pump 720 according to the speed of the machine, so that the cleaning cloths 230 and 260 will not be too wet or too dry, and the best cleaning effect can be achieved.

About the control system:

Motor drive:

FIG. 9 is a functional block diagram of a control system according to an embodiment of the present invention. As shown in Figure 9, the control system 500 of an embodiment of the present invention includes: a processor (CPU) 510, a memory (RAM) 511, a flash memory (flash) 512, a pulse width modulation (PWM) device 520, At least one power driver 521 and one remote control receiver 910 . The processor 510, the memory 511 and the flash memory 512 serve as the basic modules for computing and storage of the microcomputer. An operating software is stored in the flash memory 512 , and the operating software controls the pulse width modulation device 520 to output power signals to the power drivers 521 to drive the motors 430 , 110 , 640 and 720 . The first and second track wheel motors 430 are responsible for the walking of the automatic cleaner 100, the wiping motor 110 is responsible for the reciprocating wiping action of the reciprocating wiping mechanism, the vacuum pump motor 640 is responsible for vacuuming, and the water pump motor 640 is responsible for spraying water.

Obstacle detection:

As shown in FIG. 1 , the automatic cleaning machine 100 further includes at least one front proximity sensor 810 disposed at the front end of the automatic cleaning machine 100 and capable of detecting obstacles in front to avoid collisions. As shown in FIG. 2 , the automatic cleaner 100 further includes at least one lower proximity sensor 820 disposed on the bottom side of the casing, preferably disposed on the bottom surface of the base 310 . The proximity sensor 820 below can detect whether the front is a cliff, so as to prevent the automatic cleaning machine 100 from tipping over, and the proximity sensors 810 and 820 can be infrared sensors, laser ranging sensors, or ultrasonic sensors, etc. Use other sensors currently available or developed in the future.

As shown in FIG. 5 , in an embodiment, the automatic cleaning machine 100 further includes a safety lever 330 and a limit switch 830 . The front of the automatic cleaning machine 100 can be provided with a bumper 330, and when the bumper 330 hits an obstacle, it will be squeezed to a limit switch (limit switch) 830, and the microcomputer or processor 510 can know that it has run into an obstacle, and perform other operations. operate or move.

In one embodiment, the automatic cleaning machine 100 further includes a ranging sensor 840, so that the automatic cleaning machine 100 can have a laser ranging function, which can measure the distance of obstacles in front or the distance of the surrounding environment for building a map Plan cleaning routes.

Automatic cleaning function:

The microcomputer of the control system 500 or the built-in program of the processor 510 can automatically control all motors, detect obstacles or plan cleaning paths, and then clean the entire room.

Remote control function:

The remote control receiver 910 and remote control transmitter 900 of the control system 500 can be infrared or wireless transmission, or other existing or future remote control receivers 910 and remote control transmitters 900 can be used.

FIG. 7 is a sectional view corresponding to the section line A-A in FIG. 2 of an automatic cleaning machine according to another embodiment of the present invention. The embodiment in FIG. 7 is similar to the embodiments in FIG. 2 and FIG. 3 , so the same components use the same symbols, and their related descriptions are omitted, and only at least one difference between the two embodiments is described. The section line A1-A1 in FIG. 7 corresponds to the section line A-A in FIG. 2 . As shown in Figure 7, the movable suction port 611 of the front brush plate 220 is changed into an electric drum brush 690 and a fixed suction port 619 fixed on the base 310, and the drum of the drum brush 690 has spiral bristles 910 and bristles 910. Located near the fixed suction port 619. The electric drum brush 690 can clean the ground. After the dust, hair, and garbage rolled up by the bristles 910, these materials are sucked by the air flow 20a from the fixed suction port 619 and reach the garbage collection bucket 600 to achieve high-efficiency cleaning.

It should be understood that the present invention is not limited to the shape of the automatic cleaning machine 100 . Fig. 10 is a top view of an automatic cleaning machine according to another embodiment of the present invention. The embodiment in FIG. 10 is similar to the embodiment in FIG. 1 , so the same components use the same symbols, and their related descriptions are omitted, and only at least one difference between the two embodiments is described. As shown in FIG. 10 , the shape of the automatic cleaning machine 100 can be designed as a circle. In an embodiment, it may also be a triangle (not shown).

According to an embodiment of the present invention, due to the design of a high-speed reciprocating cleaning mechanism, the cleaning cloth can be wiped more than 200 times per minute, thereby achieving high-efficiency cleaning. In one embodiment, a vacuum cleaner is provided to suck up the dirt accumulated in front of the cleaning cloth. In one embodiment, a water spraying device is provided to intelligently control the water spraying to maintain the optimum humidity of the cleaning cloth to achieve the best cleaning effect. Due to an embodiment of the present invention, all the aforementioned devices can be systematically integrated, and artificial intelligence can be added, so that the robot can clean the floor of the entire room.

Having described the invention in detail, it is obvious that the same method can be varied in many ways. Such modifications should not be regarded as departing from the spirit and scope of the invention. All such modifications that are obvious to those skilled in the art are included in the scope of the claims.

Claims (13)

1. An automatic cleaning machine, characterized in that, comprising: A reciprocating wiping mechanism, comprising: at least one cleaning device for contacting a surface; and At least one reciprocating device is connected to the at least one cleaning device, and causes the at least one cleaning device to generate a reciprocating motion, thereby reciprocatingly wiping the plane; a running device for driving the automatic cleaning machine on the level; and A control system, coupled to the reciprocating wiping mechanism and the traveling device, is used to control the reciprocating wiping mechanism and the traveling device. 2. The automatic cleaning machine according to claim 1, characterized in that, at least one cleaning device includes a first cleaning device and a second cleaning device; and The at least one reciprocating device makes the first cleaning device reciprocate in a first direction, and makes the second cleaning device reciprocate in a second direction, and the first direction is opposite to the second direction. 3. The automatic cleaning machine according to claim 1, further comprising a casing, wherein, The casing accommodates the at least one reciprocating device, the control system and the traveling device of the reciprocating wiping mechanism; and The at least one cleaning device comprises: a brush plate placed under a base of the casing; a roller located between the brush plate and the housing and rolling on the brush plate or the base to reduce friction between the brush plate and the base; and A cleaning cloth is arranged on the brush tray for contacting the plane. 4. The automatic cleaning machine according to claim 1, further comprising a casing and an elastic element, wherein, The casing accommodates the at least one reciprocating device, the control system and the traveling device of the reciprocating wiping mechanism; and The elastic element is arranged between the running device and the casing, so that the running device can be forced in a direction away from the automatic cleaning machine through the elastic element. 5. The automatic cleaning machine according to claim 1, further comprising a dust suction device, wherein, The dust suction device includes a suction port for sucking a particle on the plane into the dust suction device from the suction port along with an air flow; at least one cleaning device includes a first cleaning device; and The suction port is located in front of the first cleaning device, and the suction port is located within a predetermined distance of the first cleaning device, so that the first cleaning device does not accumulate particles within the predetermined distance. 6. The automatic cleaning machine according to claim 1, further comprising a water spraying device for spraying water on the plane. 7. The automatic cleaning machine of claim 4, wherein: The walking device includes a moving wheel set and an outer casing, the outer casing is used to accommodate the moving wheel set and includes a sleeve, The case contains: a base; A fixing column is arranged on the base and protrudes from the base, and the sleeve is sleeved on the outer peripheral surface of the fixing column; a baffle provided on the top side of the fixing post; and a fixing screw screwed into the fixing post for fixing the blocking piece on the top side of the fixing post; and One end of the elastic element abuts against the blocking plate, and the other end of the elastic element abuts against the sleeve of the outer shell of the walking device. 8. The automatic cleaning machine according to claim 4, wherein the at least one reciprocating device comprises: a wiping motor; a crankshaft for being driven by the wiping motor to rotate; at least one crank, one end of which is connected to the crank shaft, and the other end of which is used to connect to a brush plate of the at least one cleaning device, and reciprocates as the crank shaft rotates; and At least one sliding rail restricts a part of the brush plate, so as to make the at least one cleaning device reciprocate. 9. The automatic cleaning machine according to claim 5, wherein the suction port of the dust suction device is disposed on a brush plate of the first cleaning device. 10. The automatic cleaning machine according to claim 5, further comprising an electric cleaning brush, wherein, The suction inlet of the dust suction device is arranged on a base of a casing of the automatic cleaning machine; and The electric cleaning brush is fixed on the base and sweeps the particles into the suction port. 11. The automatic cleaning machine according to claim 1, further comprising at least one sensor disposed on the front or lower side of the automatic cleaning machine for non-contact detection of an obstacle or a cliff . 12. The automatic cleaning machine according to claim 1, further comprising a safety lever arranged on the outside of the automatic cleaning machine; and at least one limit switch for detecting an obstacle after being touched by the safety lever . 13. The automatic cleaning machine according to claim 1, further comprising at least one laser distance measuring device for detecting the distance of an obstacle and measuring the distance of the surrounding environment for building a map and planning a cleaning path.