Patent Publication Number: US-2021169288-A1

Title: Dust Collection Guide Structure, Dust Collection Mechanism and Sweeping Robot

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application is a Continuation Application of PCT application No. PCT/CN2018/101600 filed on Aug. 21, 2018, the contents of which are hereby incorporated by reference. 
    
    
     FIELD OF THE PRESENT INVENTION 
     The invention relates to the field of robots, in particular to a dust collection guide structure, a dust collection mechanism and a sweeping robot. 
     BACKGROUND OF THE PRESENT INVENTION 
     A sweeping robot, also known as a cleaning robot, an intelligent dust collection robot, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. The sweeping robot generally adopts a brush sweeping mode and a vacuum mode to absorb impurities on the ground and enter a garbage storage box thereof, so that the function of cleaning the ground is achieved. Generally speaking, a robot that performs cleaning, dust collection and floor wiping is collectively called a sweeping robot. 
     Currently, a common structure of a sweeping robot is shown in  FIG. 1 , the sweeping robot comprises a robot body  100 , the robot body  100  comprises a face shell  101 , a bottom shell  102  and a face cover (not shown), and the bottom shell  102  is sleeved and screwed to the bottom of the face shell  101 . A universal wheel  104  is arranged at the front end of the bottom shell  102 , a left driving wheel  105  and a right driving wheel  106  are respectively arranged on two sides of the middle part of the bottom shell  102 , and the universal wheel  104 , the left driving wheel  105  and the right driving wheel  106  are connected with a motor (not shown). An air suction opening  107  is formed between the left driving wheel  105  and the right driving wheel  106 , a main brush  108  is arranged in the air suction opening  107 , and the main brush  108  is a rolling brush, is in transmission connection with a rolling brush motor (not shown) and is driven by the rolling brush motor to rotate. The main brush  108  has a brush shaft  1081  and brush bristles  1082  extending outwardly from the outer wall surface of the brush shaft  1081 . The brush shaft  1081  is driven by the rolling brush motor to rotate, and the brush bristles  1082  sweep the ground to raise dust during rotation of the brush shaft  1081 . A dust collection box (not shown) communicated with the air suction opening  107  and a dust collection fan communicated with the dust collection box are arranged in the robot body  100 . Under the action of the dust collection fan, dust raised by the main brush  108  is sucked into the dust collection box through the air suction opening  107 . 
     A left side brush  1091  and a right side brush  1092  are arranged in front of the left driving wheel  105  and the right driving wheel  106  respectively, the left side brush  1091  and the right side brush  1092  are arranged to be three-blade type brush handles  10911  and  10921 , and brush bristles  10912  and  10922  are installed on the brush handles. The left side brush  1091  and the right side brush  1092  are connected with side brush motors respectively and enable the brush handles  10911  and  10921  to rotate around their center shafts by 360 degrees under the driving action of the side brush motors respectively, and therefore the brush bristles  10912  and  10922  are driven to rotate so as to sweep dust on the ground and suck the dust into the dust collection box through the air suction opening  107 . 
     The present inventor finds that the prior art has at least any of the following technical drawbacks during the practice of the present invention: 
     1, the sweeping function of the sweeping robot needs to be achieved by arranging a rolling main brush in the center and arranging rotate side brushes on the periphery in a matched mode, and therefore the sweeping range of the sweeping robot is enlarged; however, the rolling main brush and the side brushes are driven by independent motors, and the cost is high. 
     2, the rolling main brush is arranged in the air suction opening for cleaning, the rolling main brush is easy to wind hairs on the ground in the rotating process, the air suction opening is blocked due to the winding of the hairs after long-term use, the dust suction and cleaning effects are influenced, and the normal use of the sweeper is influenced; and the service life of the sweeper is shortened because the main brush is severely blocked. The hairs on the rolling main brush needs to be manually cleaned regularly, and inconvenience is brought to a user due to troublesome cleaning. 
     3, the three-blade type 360-degree rotating side brush is easy to wind hairs, and the problem like the rolling main brush is caused by hair winding in the long-term use process; in addition, the design of the length of bristles of a rotating side brush is a difficult problem, corners cannot be swept due to the fact that the bristles are too short, and the driving wheels on the two sides are prone to being pressed due to the fact that the bristles are too long, so that the driving wheels slip and the like. 
     SUMMARY OF THE PRESENT INVENTION 
     An embodiment of the present invention aims to provide a dust collection guide structure, a dust collection mechanism and a sweeping robot, which can effectively solve the problems of dust collection blockage and the like caused by winding due to arrangement of a rolling main brush in an air duct suction opening in the prior art, and effectively improve the dust suction efficiency and effect. 
     In order to achieve the purpose, the embodiment of the present invention provides a dust collection guide structure which is arranged at a bottom of the shell of a dust collection mechanism and comprises an air duct suction opening formed in the bottom of the shell and at least one groove formed in the surface of the bottom of the shell, and each of the at least one groove is communicated with the air duct suction opening to form a dust guide air duct for guiding dust into the air duct suction opening. 
     Preferably, one end of each of the at least one groove is connected with the air duct suction opening, and the other end of each of the at least one groove is in smooth transition connection with an edge of the bottom of the shell. 
     Preferably, the at least one groove formed in the surface of the bottom of the shell comprises one groove, and the one groove is formed between a front end of the surface of the bottom of the shell and the air duct suction opening. 
     Preferably, the at least one groove formed in the surface of the bottom of the shell comprises two grooves, and the two grooves are formed in two sides of the air duct suction opening respectively. 
     Preferably, the two grooves integrally form a straight line shape, a splayed shape or an inverted splayed shape. 
     Preferably, the at least one groove formed in the surface of the bottom of the shell comprises pluralities of grooves, and the pluralities of grooves are: radially formed in a front end of the surface of the bottom of the shell; formed in the front end of the surface of the bottom of the shell in parallel; formed in two sides of the air duct suction opening in parallel; or radially formed in two sides of the air duct suction opening. 
     Preferably, the air duct suction opening is shaped as a circle, an ellipse, a triangle, a quadrilateral, an irregular polygon, or an approximate ellipse with a rectangular middle part and semicircular sides. 
     Preferably, the air duct suction opening is shaped as a polygon, and one end of each of the at least one groove is correspondingly connected with one edge of the air duct suction opening. 
     Preferably, the at least one groove formed in the surface of the bottom of the shell comprises two or more grooves, the shape of the air duct suction opening is matched with that of the two or more grooves, and one end of each of the two or more grooves is correspondingly connected with one edge of the air duct suction opening. 
     Preferably, the air duct suction opening is rectangular, the at least one groove formed in the surface of the bottom of the shell comprises a first groove and a second groove, and one end of the first groove and one end of the second groove are connected with a left short edge and a right short edge of the air duct suction opening respectively. 
     Preferably, a width of the one end of the first groove and a width of the one end of the second groove are equal to a length of the left short edge and a length of the right short edge of the air duct suction opening. 
     Preferably, the at least one groove formed in the surface of the bottom of the shell further comprises a third groove, a front end of the third groove is in smooth transition connection with an edge of a front end of the bottom of the shell, and a rear end of the third groove is connected with a front edge of the air duct suction opening. 
     Preferably, a width of the rear end of the third groove is less than or equal to a length of the front edge of the air duct suction opening. 
     Preferably, a depth of each of the at least one groove is gradually increased from one end away from the air duct suction opening to the other end connected with the air duct suction opening. 
     Preferably, the air duct suction opening is formed in a central axis of the bottom of the shell, and a distance between the air duct suction opening and a front end of the bottom of the shell is smaller than a distance between the air duct suction opening and a rear end of the bottom of the shell. 
     Preferably, an inclined guide surface is arranged at a front end of the bottom of the shell, and an included angle theta between the inclined guide surface and a horizontal plane is more than 0 degree and less than 45 degrees. 
     Preferably, the included angle theta between the inclined guide surface and the horizontal plane is more than 5 degrees and less than 45 degrees. 
     Preferably, the included angle theta between the inclined guide surface and the horizontal plane is more than 10 degrees and less than 20 degrees. 
     Preferably, a front or rear edge of the air duct suction opening abuts a rear end of the inclined guide surface. 
     Preferably, each of the at least one groove is disposed on the inclined guide surface. 
     Preferably, the at least one groove formed in the surface of the bottom of the shell comprises a first groove and a second groove, the first groove and the second groove are formed in two sides of the air duct suction opening respectively, and front edges or rear edges of the first groove and the second groove abut the rear end of the inclined guide surface. 
     Preferably, the at least one groove formed in the surface of the bottom of the shell further comprises a third groove, a front end of the third groove is in smooth transition connection with the front end of the bottom of the shell, and a rear end of the third groove is connected with the air duct suction opening. 
     Preferably, the inclined guide surface comprises a first inclined guide surface and a second inclined guide surface which are connected in a front-to-back transition manner, and an included angle between the first inclined guide surface and a horizontal plane is larger than an included angle between the second inclined guide surface and the horizontal plane. 
     Preferably, the third groove is formed in the second inclined guide surface, the front end of the third groove is in smooth transition connection with a rear end of the first inclined guide surface, and the rear end of the third groove is connected with the air duct suction opening. 
     Preferably, the inclined guide surface is a curved surface, and the angle theta between the inclined guide surface and the horizontal plane gradually decreases from the front end to the rear end of the inclined guide surface. 
     Preferably, the second inclined guide surface is further provided with a first sweeping brush and a second sweeping brush, and the first sweeping brush and the second sweeping brush are arranged in front of the first groove and the second groove respectively and arranged on two sides of the third groove. 
     Preferably, the first sweeping brush is disposed parallel to the first groove and the second sweeping brush is disposed parallel to the second groove. 
     Preferably, each of the first sweeping brush and the second sweeping brush moves back and forth in a direction of an axis thereof. 
     Preferably, each of the first sweeping brush and the second sweeping brush moves back and forth in a direction perpendicular to an axis thereof. 
     Preferably, each of the first sweeping brush and the second sweeping brush swings back and forth around an axis thereof. 
     Preferably, the swing range of each of the first sweeping brush and the second sweeping brush swinging back and forth around the axis thereof is 120°. 
     Preferably, each of the first sweeping brush and the second sweeping brush rotates 360° around an axis thereof. 
     Preferably, each of the first sweeping brush and the second sweeping brush comprises at least one row of bristles, each of the least one row of bristles comprising pluralities of bristle bundles. 
     Preferably, each of the least one row of bristles extends out of a surface of the bottom of the shell abut against ground. 
     Preferably, an upper surface of each of the least one row of bristles is in a same horizontal plane to be flush with the ground. 
     Preferably, each of the at least one groove is integrally formed with the air duct suction opening. 
     Preferably, the dust collection guide structure further comprises a baffle arranged on a rear edge of the air duct suction opening. 
     Preferably, the dust collection guide structure further comprises baffles, the baffles comprise a middle baffle arranged on a rear edge of the air duct suction opening, and a left baffle and a right baffle which are connected to a left side and a right side of the middle baffle respectively, and the left baffle and the right baffle are arranged on rear edges the two grooves respectively. 
     Preferably, the dust collection guide structure further comprises at least one sweeping brush independently arranged at the bottom of the shell and separated from the air duct suction opening. 
     Preferably, each of the at least one sweeping brush is driven to do reciprocating circulating movement close to and away from the air duct suction opening. 
     Preferably, each of the at least one sweeping brush is driven to do reciprocating circulating movement between the air duct suction opening and en edge of the bottom of the shell. 
     Preferably, the at least one sweeping brush is matched with the at least one groove so as to facilitate guiding raised dust into the air duct suction opening through the at least one groove. 
     Preferably, the at least one groove formed in the surface of the bottom of the shell comprises a first groove and a second groove which are formed in two sides of the air duct suction opening respectively, and the at least one sweeping brush arranged at the bottom of the shell comprises a first sweeping brush and a second sweeping brush which are arranged in front of the first groove and the second groove respectively. 
     Preferably, the first sweeping brush is disposed parallel to the first groove and the second sweeping brush is disposed parallel to the second groove. 
     Preferably, the first groove and the second groove each comprises pluralities of sub-grooves arranged in parallel, the first sweeping brush and the second sweeping brush each comprises pluralities of sweeping sub-brushes arranged in parallel, and the pluralities of sub-grooves and the pluralities of sweeping sub-brushes are arranged alternately. 
     Preferably, the first groove and the second groove integrally form a straight line, a splayed shape, or an inverted splayed shape. 
     Preferably, the at least one groove is disposed between a front end of the surface of the bottom of the shell and the air duct suction opening, and the at least one sweeping brush and the at least one groove are arranged in parallel. 
     Preferably, the at least one groove comprises at least two grooves, and the at least two grooves are arranged between the front end of the surface of the bottom of the shell and the air duct suction opening in parallel, and the at least one sweeping brush and the at least two grooves are arranged alternately. 
     Preferably, the at least one groove comprises pluralities of grooves, the pluralities of grooves are radially formed in the front end of the surface of the bottom of the shell, the at least one sweeping brush comprises pluralities of sweeping brushes, and the pluralities of sweeping brushes and the pluralities of grooves are arranged alternately. 
     Preferably, each of the at least one sweeping brush moves back and forth in a direction of an axis thereof. 
     Preferably, each of the at least one sweeping brush moves back and forth in a direction perpendicular to an axis thereof. 
     Preferably, each of the at least one sweeping brush swings back and forth around an axis thereof. 
     Preferably, a swing range of each of the at least one sweeping brush swinging back and forth around the axis thereof is 120°. 
     Preferably, each of the at least one sweeping brush rotates 360° around an axis thereof. 
     Preferably, each of the at least one sweeping brush comprises a fixed seat arranged at the bottom of the shell, a movable support arranged on the fixed seat and bristles arranged on the movable support, and the movable support is driven by a driving component to move relative to the fixed seat. 
     Preferably, the movable support is driven by the driving component to move relative to the fixed seat as follows: moving back and forth in a direction of an axis thereof; or moving back and forth in a direction perpendicular to an axis thereof. 
     Preferably, the movable support is further driven by a driving component to move relative to the fixed seat as follows: swinging back and forth around an axis thereof, and a swinging range is 120° or rotating 360° around an axis thereof. 
     Preferably, the movable support is driven by a driving component to move up and down away from or close to a horizontal plane where the fixed seat is located. 
     Preferably, the fixed seat comprises a limiting body, a containing groove is formed in the limiting body, the movable support comprises a movable body used for containing bristles, a driven member is arranged at a bottom of the movable body, and the driven member extends out of the containing groove and drives the movable body to move back and forth in the containing groove under an action of the driving component. 
     Preferably, the driving component comprises a motor and a coupling member driven by the motor, and the coupling member is connected with the driven member in a matched manner. 
     Preferably, the motor is a brushed direct current motor or a brushless direct current motor, and the coupling member is an eccentric shaft. 
     Preferably, the movable body reciprocates in a length direction in the containing groove; a length of the movable body is smaller than that of the containing groove; the movable body comprises an upper portion for arranging bristles and a lower portion connected with the upper portion, and the driven member is arranged on a bottom surface of the lower portion; a longitudinal section of the movable body in a width direction of the movable body is in a convex shape; a width of the upper portion is smaller than that of the containing groove so that the upper portion can be contained in the containing groove, and a width of the lower portion is larger than that of the containing groove. 
     Preferably, the movable body reciprocates in a width direction in the containing groove; a width of the movable body is smaller than that of the containing groove; the movable body comprises an upper portion for arranging bristles and a lower portion connected with the upper portion, and the driven member is arranged on a bottom surface of the lower portion; a longitudinal section of the movable body in a length direction of the movable body is in a convex shape; a length of the upper portion is smaller than that of the containing groove so that the upper portion can be contained in the containing groove, and a length of the lower portion is larger than that of the containing groove. 
     Preferably, the bristles are mainly formed by arranging pluralities of bristle bundles. 
     Preferably, the movable support provided on each fixed seat comprises pluralities; and/or the bristles arranged on each movable support comprise pluralities of rows. 
     Preferably, each of the pluralities of rows of the bristles extends out of a surface of the bottom of the shell to abut against ground. 
     Preferably, an upper surface of each of the pluralities of rows of the bristles is in a same horizontal plane to be flush with the ground. 
     Preferably, each of the pluralities of bristle bundles rotates 360° around a center of circle thereof. 
     Preferably, the bottom of the shell is in a disc-like shape with a front end edge being a straight line section. 
     Preferably, the dust collection guide structure further comprises a side brush disposed on at least one corner of a front end of the bottom of the shell, the side brush rotating when driven by a drive device. 
     The embodiment of the present invention further provides a dust collection mechanism which comprises the dust collection guide structure of any embodiment and further comprises a dust collection box and a draught fan which are arranged inside a shell, and the air duct suction opening, the dust collection box and the draught fan are sequentially communicated. 
     Preferably, the draught fan comprises a first draught fan and a second draught fan, and the first draught fan and the second draught fan communicate with the dust collection box through an air suction guide component; the air suction guide component comprises a first air suction channel and a second air suction channel which are independent of each other, the first draught fan is communicated with the first air suction channel, and the second draught fan is communicated with the second air suction channel. 
     The embodiment of the present invention further provides a sweeping robot which comprises the dust collection mechanism of any embodiment. 
     Compared with the prior art, the embodiment of the present invention has at least the following technical effects: 
     (1) at least one groove is formed in the surface of the bottom of the shell, and each of the at least one groove is communicated with the air duct suction opening to form a dust guide air duct for guiding dust into the air duct suction opening, so that the dust on the ground is favorably guided and sucked into the air duct suction opening, and the dust suction efficiency is improved. In addition, the dust guide air duct is adopted to replace a rolling main brush arranged in the air suction opening, and the problems that winding caused by the rolling main brush blocks the air suction opening, and the sweeping effect of the dust suction box is affected can be effectively avoided. 
     (2) the sweeping brush matched with the groove is arranged at the bottom of the shell, so that the dust raised by the sweeping brush is further favorably guided into the air duct suction opening through the groove, and the dust suction efficiency is improved; besides, the sweeping brush is arranged at the bottom of the shell and is separated from the air duct suction opening to be independently arranged, the dust collection efficiency can be more effectively improved, and the problem that the sweeping effect of the dust collection box is affected due to the fact that the sweeping brush is wound to block the air duct suction opening after being used for a long time can be avoided. 
     (3) at least one groove is formed in the surface of the bottom of the shell, and rotary side brushes are arranged on at least one corner (preferably the left corner and the right corner) of the front end of the bottom of the shell in a matched mode, so that the problem that the sweeping effect of the dust collection box is affected due to the fact that the air dust suction opening is blocked by winding of a rolling main brush arranged on the air duct suction opening can be effectively avoided; and dust raised by the side brushes can be guided into the air duct suction opening through the groove, so that the dust suction efficiency is improved, and particularly, the sweeping and cleaning effects on corners are very ideal. 
     (4) the sweeping brush arranged at the bottom of the shell integrally performs reciprocating circulating movement close to and far away from the air duct suction opening when being driven to sweep, so that dust raised by sweeping is favorably sucked into the air duct suction opening in the moving process, and the sweeping effect and the dust collection effect are improved. 
     (5) the sweeping brush arranged at the bottom of the shell integrally does reciprocating circulating movement between the air duct suction opening and the edge of the bottom of the shell when being driven, and the sweeping brush is used for sweeping dust at the center and the edge of the sweeping robot in the moving process, namely, the sweeping brush provided by the embodiment of the present invention can serve as a main brush and a side brush in the moving process at the same time, the sweeping range of the sweeping robot can be widened, the cost can be reduced, the main brush, the side brush and corresponding drivers do not need to be arranged respectively, and the cost is lower. 
     (6) the movable sweeping brush integrally doing reciprocating circulation movement between the air duct suction opening and the edge of the bottom of the shell is adopted to replace a rotary side brush to sweep the area around the sweeping robot, and the problems that hair is wound and a driving wheel slips and the like due to an existing rotary side brush is used can be effectively solved. 
     (7) the inclined guide surface is arranged between the air duct suction opening and the edge of the front end of the bottom of the shell, so that the obstacle crossing function can be achieved, dust at the front end of the sweeping robot can be further guided and sucked into the air duct suction opening, and the dust suction efficiency is improved. 
     (8) the inclined guide surface between the air duct suction opening and the front end edge of the bottom of the shell is set to be a first inclined guide surface and a second inclined guide surface which are in front-back transition connection, and the included angle between the first inclined guide surface and the horizontal plane is larger than that between the second inclined guide surface and the horizontal plane. Thus, the included angle between the first inclined guide face and the horizontal plane is larger, the obstacle crossing function is improved, the included angle between the second inclined guide face closer to the air duct suction opening and the horizontal plane is smaller, the closer the air duct suction opening is, the larger the suction force is, and dust suction is facilitated. 
     and (9) the inclined guide surface between the air duct suction opening and the edge of the front end of the bottom of the shell is set to be a curved surface, and the included angle theta between the inclined guide surface and the horizontal plane is gradually reduced from the front end of the inclined guide surface to the rear end of the inclined guide surface. Thus, the included angle theta between the inclined guide face close to the edge of the front end of the bottom of the shell and the horizontal plane is larger, the obstacle crossing function is better improved, the included angle theta between the inclined guide face close to the air duct suction opening and the horizontal plane is smaller, the closer the air duct suction opening is, the larger the suction force is, and dust suction is better facilitated. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic structural view of a sweeping robot employed in the prior art. 
         FIGS. 2A-2D  are schematic structural views of a sweeping robot and a dust collection guide structure thereof provided in Example 1 of the present invention. 
         FIG. 2E  shows embodiments of various alternative shapes of an air duct suction opening of the dust collection guide structure provided in Example 1 of the present invention. 
         FIGS. 3A-3C  are schematic structural views of a dust collection guide structure provided in Example 2 of the present invention. 
         FIG. 3D  is a partially enlarged view of the schematic structural view of the sweeping mechanism provided in Example 2 of the present invention shown in  FIG. 3B . 
         FIG. 4A  is a schematic view of a preferred embodiment of an inclined guide surface of the dust collection guide structure provided in Example 2 of the present invention. 
         FIG. 4B  is a schematic view of another preferred embodiment of the inclined guide surface of the dust collection guide structure provided in Example 2 of the present invention. 
         FIGS. 5A-5C  are schematic structural views of a dust collection guide structure provided in Example 3 of the present invention. 
         FIG. 6  is a schematic structural view of a dust collection guide structure provided in Example 4 of the present invention. 
         FIGS. 7A-7C  are schematic structural views of a dust collection guide structure provided in Example 5 of the present invention. 
         FIGS. 8A-8C  are schematic structural views of the dust collection guide structure provided in Example 6 of the present invention. 
         FIG. 9  is a schematic structural view of a dust collection guide structure provided in Example 7 of the present invention. 
         FIG. 10  is a schematic structural view of a dust collection guide structure provided in Example 8 of the present invention. 
         FIG. 11  is a schematic diagram of a dust collection guide structure provided in Example 9 of the present invention. 
         FIGS. 12A-12F  are schematic structural views of a sweeping robot and a dust collection guide structure thereof provided in Example 11 of the present invention. 
         FIGS. 13A-13F  are schematic structural views of preferred embodiments of a sweeping brush of the dust collection guide structure provided in Example 11 of the present invention. 
         FIG. 14  is a schematic structural view of a dust collection guide structure provided in Example 12 of the present invention. 
         FIGS. 15A-15F  are schematic structural views of preferred embodiments of a sweeping brush of the dust collection guide structure provided in Example 12 of the present invention. 
         FIG. 16  is a schematic structural view of a dust collection guide structure provided in Example 13 of the present invention. 
         FIG. 17  is a schematic structural view of a dust collection guide structure provided in Example 14 of the present invention. 
         FIG. 18  is a schematic structural view of a dust collection guide structure provided in Example 15 of the present invention. 
         FIG. 19  is a schematic structural view of a dust collection guide structure provided in Example 16 of the present invention. 
         FIG. 20  is a schematic structural view of a dust collection guide structure provided in Example 17 of the present invention. 
         FIG. 21  is a schematic structural view of a dust collection guide structure provided in Example 18 of the present invention. 
         FIGS. 22A-22H  are schematic structural views of a dust collection guide structure provided in Example 19 of the present invention. 
     
    
    
     DETAILED DESCRIPTION OF ILLUSTRATED EMBODIMENTS 
     Technical solutions in embodiments of the present invention will be described clearly and fully hereinafter in connection with the accompanying drawings in embodiments of the present invention, and obviously, the described embodiments are only a part of, and not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by one of ordinary skill in the art without creative work fall within the scope of the present invention. 
     In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “clockwise”, “counterclockwise”, and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. 
     Furthermore, the terms “first”, “second” are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as “first” or “second” may explicitly or implicitly include one or more of that features. In the description of the present invention, “pluralities” means at least two, e.g., two, three, etc., unless explicitly specified otherwise. 
     In the present invention, unless expressly specified and limited otherwise, the terms “installed”, “jointed”, “connected”, “fixed” and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; may be mechanically, electrically or otherwise in communication with each other; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art. 
     Example 1 
     Referring to  FIGS. 2A-2D , an embodiment of the present invention provides a sweeping robot. A dust collection mechanism is arranged on the sweeping robot and comprises a dust collection guide structure  10  arranged at the bottom of a shell  1 , a dust collection box  2  and a draught fan  3 , the dust collection box  2  and the draught fan  3  are arranged in the shell  1 , and an inlet  20  of the dust collection box  2  is communicated with an air duct suction opening  12  of the dust collection guide structure at the bottom of the shell  1 . An outlet (not shown) of the dust collection box  2  is communicated with an inlet  30  of the draught fan  3 . 
     The draught fan  3  comprises a first draught fan  31  and a second draught fan  32 , and the first draught fan  31  and the second draught fan  32  are communicated with the dust collection box  2  through an air suction guide component  33 . The air suction guide component  33  comprises a first air suction channel  331  and a second air suction channel  332  which are independent of each other, the first draught fan  31  is communicated with the first air suction channel  331 , and the second draught fan  32  is communicated with the second air suction channel  332 . The air suction guide component  33  is provided with a partition plate  333  at the position, close to an inlet  30  of the draught fan  3 , of the first air suction channel  331  and the second air suction channel  332 , and therefore the first air suction channel  331  and the second air suction channel  332  are separated to be independent of each other. 
     The dust collection guide structure  10  provided by the embodiment of the present invention is arranged at the bottom  11  of the shell  1  of the dust collection mechanism and comprises an air duct suction opening  12  formed in the bottom  11  of the shell  1  and at least one groove  13  formed in the surface of the bottom  11  of the shell  1 , and each of the at least one groove  13  is communicated with the air duct suction opening  12  to form a dust guide air duct for guiding dust into the air duct suction opening  12 . 
     The bottom  11  of the shell  1  is in a disc-like shape with the front end edge being a straight line section. Preferably, the air duct suction opening  12  is formed in the central axis of the bottom  11  of the shell  1 , and the distance between the air duct suction opening  12  and the front end  111  of the bottom  11  of the shell  1  is smaller than the distance between the air duct suction opening  12  and the rear end  112  of the bottom  11  of the shell  1 . It will be appreciated that the air duct suction opening  12  may be shaped as a circle  12   a,  an ellipse  12   b,  a triangle  12   c,  a quadrilateral  12   d,  or an irregular polygon  12   e,  as shown in  FIG. 2E ; or the air duct suction opening  12  is shaped as an approximate ellipse  12   f  with a rectangular middle part and semicircular sides, and the like. Each of the at least one groove  13  is shaped to match the shape of the air duct suction opening  12  for connection. Specifically, one end  131  of each of the at least one groove  13  is connected with the air duct suction opening  12 , and the other end  132  of each of the at least one groove  13  is in smooth transition connection with the edge of the bottom  11  of the shell  1 . Each of the at least one groove  13  and the air duct suction opening  12  can be integrally formed. 
     The sweeping robot disclosed by the embodiment of the present invention comprises a dust collection mechanism, the dust collection mechanism guides sucked dust into an air duct suction opening through at least one groove arranged on the surface of the bottom of the shell as a dust guide air duct under the suction action of a draught fan  3  in the shell  1  and in cooperation with a dust collection guide structure  10  on the bottom of the shell  1 , and the dust enters the dust collection box through the air duct suction opening, so that the function of cleaning the ground is completed. 
     Therefore, according to the sweeping robot disclosed by the embodiment of the present invention, at least one groove is formed in the surface of the bottom of the shell, and each of the at least one groove is communicated with the air duct suction opening to form the dust guide air duct for guiding dust into the air duct suction opening, so that the dust on the ground can be conveniently guided and sucked into the air duct suction opening, and the dust suction efficiency is improved. In addition, the dust guide air duct is adopted to replace the existing air suction opening provided with a rolling main brush, so that the problem that the cleaning effect of the dust suction box is influenced due to the fact that the air suction opening is blocked by winding caused by the rolling main brush can be effectively solved. 
     Hereinafter, it will be described in detail, by way of a number of embodiments, that the dust collection guide structure  10  of the present invention may employ alternative specific structures and principles of operation. 
     Example 2 
     Referring to  FIGS. 3A-3D , a dust collection guide structure provided by the embodiment of the present invention is arranged at the bottom  11  of the shell  1  of the dust collection mechanism and comprises an air duct suction opening  12  formed in the bottom  11  of the shell  1  and a groove  13  formed between the front end of the surface of the bottom  11  of the shell  1  and the air duct suction opening  12 , and the groove  13  is communicated with the air duct suction opening  12  to form a dust guide air duct for guiding dust into the air duct suction opening  12 . 
     Specifically, the front end  131  of the groove  13  is in smooth transitional connection with the edge of the front end of the bottom  11  of the shell  1 , the rear end  132  of the groove  13  is connected with the front edge  121  of the air duct suction opening  12 , the depth of the groove  13  is gradually increased from the front end  131  to the rear end  132  of the groove  13 , and the width D 1  of the rear end  132  of the groove  13  is smaller than or equal to the length of the front edge  121  of the air duct suction opening  12 . This facilitates the introduction of dust into the duct suction opening  12 . Besides, a baffle  120  extending upwards is arranged on the rear edge  122  of the air duct suction opening  12 , the baffle  120  is arranged on the rear edge  122  of the air duct suction opening  12 , raised dust and paper scraps can be blocked, and the situation that the dust and the paper scraps diffuse to the position behind the air duct suction opening  12  and cannot be sucked into the air duct suction opening  12  is avoided. 
     In the embodiment, as shown in  FIG. 3B-3D , an inclined guide surface  14  is arranged at the front end of the bottom of the shell, and the front edge  121  or the rear edge  122  of the air duct suction opening  12  abuts the rear end of the inclined guide surface  14 . The included angle theta between the inclined guide surface and the horizontal plane is more than 0 degree and less than 45 degrees. Preferably, the included angle theta between the inclined guide surface  14  and the horizontal plane is more than 5 degrees and less than 30 degrees. More preferably, the included angle theta between the inclined guide surface and the horizontal plane is more than 10 degrees and less than 20 degrees. The groove  13  is arranged on the inclined guide surface  14 . 
     According to the embodiment, the inclined guide surface  14  is arranged between the air duct suction opening  12  and the front end edge of the bottom  11  of the shell  1 , the inclined guide surface  14  can achieve the obstacle crossing function and is beneficial to dust guide, and the groove  13  arranged on the inclined guide surface  14  is matched to further guide and suck dust in front of the sweeping robot into the air duct suction opening  12 , so that the dust suction efficiency is improved. 
     In a preferred embodiment, as shown in  FIG. 4A , the inclined guide surface  14  itself is a curved surface, and the included angle theta between the inclined guide surface  14  and the horizontal plane is gradually reduced from the front end to the rear end of the inclined guide surface  14 . According to the embodiment, the inclined guide surface  14  between the air duct suction opening and the edge of the front end of the bottom of the shell is arranged as a curved surface, and the included angle theta between the inclined guide surface and the horizontal plane is gradually reduced from the front end to the rear end of the inclined guide surface  14 . Thus, the included angle theta between the inclined guide surface close to the edge of the front end of the bottom of the shell and the horizontal plane is larger, the obstacle crossing function is better improved, the included angle theta between the inclined guide face close to the air duct suction opening and the horizontal plane is smaller, the closer the air duct suction opening is, the larger the suction force is, and dust suction is better facilitated. 
     In another preferred embodiment, as shown in  FIG. 4B , the inclined guide surface  14  comprises a first inclined guide surface  141  and a second inclined guide surface  142  which are connected in a front-to-back transition manner, and the included angle theta 1 between the first inclined guide surface  141  and the horizontal plane is larger than the included angle theta 2 between the second inclined guide surface  142  and the horizontal plane. According to the embodiment, the inclined guide surface  14  between the air duct suction opening  12  and the front end edge of the bottom  11  of the shell  1  is set to be the first inclined guide surface  141  and the second inclined guide surface  142  which are connected in a front-to-back transition manner, and the included angle theta 1 between the first inclined guide surface  141  and the horizontal plane is larger than the included angle theta 2 between the second inclined guide surface  142  and the horizontal plane. Thus, the included angle between the first inclined guide surface  141  and the horizontal plane is larger, which is beneficial to improving the obstacle crossing function, and the included angle between the second inclined guide surface  142  close to the air duct suction opening and the horizontal plane is smaller, so that the suction force near the air duct suction opening is larger, which is beneficial to sucking dust. 
     It can be understood that when the dust collection guide structure of Example 2 adopts the structure of the inclined guide surface  14  shown in  FIG. 4B , the groove  13  can be formed in the second inclined guide surface  142 , the front end  131  of the groove  13  is in smooth transition connection with the rear end of the first inclined guide surface  141 , and the rear end  132  of the groove  13  is connected with the air duct suction opening  12 . 
     Example 3 
     Referring to  FIGS. 5A-5C , a dust collection guide structure provided by the embodiment of the present invention is arranged at a bottom  11  of the shell  1  of a dust collection mechanism and comprises an air duct suction opening  12  formed in the bottom  11  of the shell  1 , and a first groove  133  and a second groove  134  which are formed in two sides of the air duct suction opening  12 . The first groove  133  and the second groove  133  are each communicated with the air duct suction opening  12  to form a dust guide air duct for guiding dust into the air duct suction opening  12 . 
     Specifically, one end  1331  of the first groove  133  is connected with the air duct suction opening  12 , and the other end  1332  of the first groove  133  is in smooth transition connection with the edge of the bottom  11  of the shell  1 . One end  1341  of the second groove  134  is connected with the air duct suction opening  12 , and the other end  1342  of the second groove  134  is in smooth transition connection with the edge of the bottom  11  of the shell  1 . The air duct suction opening  12  is rectangular, the one end  1331  of the first groove  133  and the one end  1341  of the second groove  134  are connected with the left short edge and the right short edge of the air duct suction opening respectively, and the width of the one end  1331  of the first groove  133  and the width of the one end  1341  of the second groove  134  are equal to the length of the left short edge and the length of the right short edge of the air duct suction opening  12  respectively. The depth of the first groove  133  is gradually increased from the one end  1332  to the other end  1331  of the first groove  133 , the depth of the second groove  134  is gradually increased from the one end  1342  to the other end  1341  of the second groove  134 , such a design facilitates the direction of dust and makes it easier for dust to be drawn into the air duct suction opening  12  via the first groove  133  and the second groove  134 . Preferably, the first groove  133  and the second groove  134  are integrally formed in an inverted splayed shape, that is, the one end  1331  of the first groove  133  and the one end  1341  the second groove  134  are connected with the air duct suction opening in the middle front part of the bottom of the shell, and the other end  1332  of the first groove  133  and the other end  1341  of the second groove  134  are in smooth transition connection with the edges of the left and right corners of the bottom of the shell respectively. 
     In addition, the dust collection guide structure of the present embodiment may also be provided with an inclined guide surface  14 , and the front or rear edges of the first and second grooves  133 ,  134  abut the rear end of the inclined guide surface  14 . The specific structure and principle of operation of the inclined guide surface  14  can be referred to the associated description of Example 2. 
     It will be appreciated that when the inclined guide surface  14  of the present embodiment employs the structure of the inclined guide surface  14  shown in  FIG. 4B , the first groove  133  and the second groove  134  are arranged on the second inclined guide surface  142 . 
     In addition, the embodiment is further provided with baffles, the baffles comprise a middle baffle  1201  arranged on the rear edge  122  of the air duct suction opening  12 , a left baffle  1202  connected to the left side of the middle baffle  1201  and a right baffle  1203  connected to the right side of the middle baffle  1201 , and the left baffle  1202  and the right baffle  1203  are arranged on the rear edge of the first groove  133  and the rear edge of the second groove  134  respectively. According to the embodiment, the baffles can block raised dust and paper scraps, and the situation that the dust and the paper scraps are diffused to the position behind the air duct suction opening  12  and cannot be sucked into the fresh air duct suction opening  12  is avoided. 
     Example 4 
     Referring to  FIG. 6 , a dust collection guide structure provided by the embodiment of the present invention is arranged at the bottom  11  of the shell  1  of the dust collection mechanism and comprises an air duct suction opening  12  formed in the bottom  11  of the shell  1 , and a first groove  133  and a second groove  134  which are formed in the two sides of the air duct suction opening  12 . The first groove  133  and the second groove  133  are each communicated with the air duct suction opening  12  to form a dust guide air duct for guiding dust into the air duct suction opening  12 . 
     The structure of the dust collection guide structure provided by the embodiment is substantially the same as that of the dust collection guide structure provided in Example 3, except that the first groove  133  and the second groove  134  of the dust collection guide structure provided by the present embodiment are integrally formed in a straight line (one line), that is, the first groove  133  and the second groove  134  are flush with the air duct suction opening  12 , one ends ( 1331 ,  1341 ) of the first groove  133  and the second groove  134  are connected with an air duct suction opening  12  located in the middle front part of the bottom of the shell, and the other ends ( 1332 ,  1342 ) of the first groove  133  and the second groove  134  are in smooth transition connection with the left edge and the right edge, flush with the air duct suction opening, of the bottom of the shell. 
     It can be understood that the first groove  133  and the second groove  134  of the embodiment can be integrally formed in a splayed shape, and the technical effect to be achieved by the embodiment of the present invention can also be achieved. 
     Example 5 
     Referring to  FIGS. 7A-7C , a dust collection guide structure provided by the embodiment of the present invention is arranged at a bottom  11  of the shell  1  of a dust collection mechanism and comprises an air duct suction opening  12  formed in the bottom  11  of the shell  1 , and a first groove  133  and a second groove  134  which are formed in two sides of the air duct suction opening  12 . The first groove  133  and the second groove  133  are each communicated with the air duct suction opening  12  to form a dust guide air duct for guiding dust into the air duct suction opening  12 . The present embodiment further comprises a third groove  135  formed in the surface of the bottom  11  of the shell  1 , the front end of the third groove  135  is in smooth transition connection with the edge of the front end of the bottom  11  of the shell  1 , and the rear end of the third groove  135  is connected with the front edge of the air duct suction opening  12 . 
     It can be understood that the dust collection guide structure provided by the present embodiment is a combination of the dust collection guide structures disclosed in Example 2 and Example 3, and three grooves are provided to guide the dust at the front end and on both sides of the air duct suction opening  12  to be sucked into the air duct suction opening  12 , so that the dust suction efficiency and effect can be further improved. Other structures and principles of operation of the dust collection guide structure of the present embodiment can be referred to the associated descriptions of Example 2 and Example 3, and are not described herein again. 
     Example 6 
     Referring to  FIGS. 8A-8C , in a dust suction guiding structure according to the embodiment provided by the present invention, a fourth groove  136  is added on the basis of Example 5, a front end of the fourth groove  136  is in smooth transition connection with the edge of the front end of the bottom  11  of the shell  1 , and a rear end of the fourth groove  136  is connected with the front edge of the air duct suction opening  12 . 
     Specifically, the air duct suction opening  12  in the present embodiment is formed in a pentagon shape, and the remaining four edges except the rear edge  122  of the air duct suction opening  12  are each correspondingly connected to one end of one groove. The first groove  133 , the second groove  134 , the third groove  135  and the fourth groove  136  are integrally arranged in a radial shape at the front end of the surface of the bottom  11  of the shell  1 . 
     According to the present embodiment, four grooves are formed to guide the dust at the front end and on the two sides of the air duct suction opening  12  to be sucked into the air duct suction opening  12 , so that the dust suction efficiency and effect can be further improved. Other structures and principles of operation of the dust collection guide structure of the present embodiment can be referred to the associated description of Example 5 and will not be described in detail herein. 
     It can be understood that the present embodiment adopts a structure of four grooves, and in order to further improve the dust collection effect, five, six or more grooves can also be formed, and the grooves are formed in the front end of the surface of the bottom  11  of the shell  1  in a radial shape. 
     Example 7 
     Referring to  FIG. 9 , a dust collection guide structure provided in the present embodiment has a design substantially identical to that of the dust collection guide structure of Example 6, except that the other ends (i.e., the front ends)  1352  and  1362  of the third and fourth grooves  135 ,  136  provided in Example 6 are in smooth transition connection with the rear end of the first inclined guide surface  141 , while the other ends (i.e., the front ends)  1352  and  1362  of the third groove  135  and the fourth groove  136  of the dust collection guide structure provided in the present embodiment are in smooth transition connection with the edge of the front end of the bottom  11  of the shell  1 , that is, the third groove  135  and the fourth groove  136  of the dust collection guide structure provided in the present embodiment have longer lengths, which is more favorable for guiding dust into the air duct suction opening  12 . 
     Example 8 
     Referring to  FIG. 10 , a dust collection guide structure provided in the present embodiment is substantially identical to that of the dust collection guide structure of Example 2, except that the groove formed between the front end of the surface of the bottom  11  of the shell  1  and the air duct suction opening  12  in the present embodiment comprises at least two sub-grooves. For example, in the present embodiment, a first sub-groove  1301  and a second sub-groove  1302  are included, the first sub-groove  1301  and the second sub-groove  1302  are disposed in parallel and each communicate with the air duct suction opening  12  to form a dust guide air duct that guides dust into the air duct suction opening  12 . 
     According to the embodiment, at least two parallel sub-grooves between the front end of the surface of the bottom  11  of the shell  1  and the air duct suction opening  12  are used as dust guide air ducts for guiding dust into the air duct suction opening, so that the dust collection efficiency and effect can be further improved. 
     It can be understood that the groove formed between the front end of the surface of the bottom  11  of the shell  1  and the air duct suction opening  12  in parallel in the present embodiment can also comprise three or more sub-grooves, and the technical effect to be achieved by the embodiment of the present invention can also be achieved. 
     Example 9 
     Referring to  FIG. 11 , a dust collection guide structure provided in the present embodiment is substantially identical to that of the dust collection guide structure of Example 3, except that the first groove and the second groove which are formed in the two sides of the air duct suction opening  12  each comprises at least two sub-grooves. For example, the first groove includes a sub-groove  133   a  and a sub-groove  133   b,  the second trench includes a sub-groove  134   a  and a sub-groove  134   b,  the sub-groove  133   a  and the sub-groove  133   b  are disposed in parallel, and the sub-groove  134   a  and the sub-groove  134   b  are disposed in parallel. 
     According to the embodiment, at least two sub-grooves are formed in parallel on each side of the two sides of the air duct suction opening  12  to serve as dust guiding air ducts for guiding dust into the air duct suction opening, and therefore the dust suction efficiency and effect can be further improved. 
     It can be understood that the number of the sub-grooves which are formed in parallel on each side of the two sides of the air duct suction opening  12  in the present embodiment can also be three or more, and the technical effect to be achieved by the embodiment of the present invention can also be achieved. 
     It can be understood that the at least two sub-grooves formed on each side of the two sides of the air duct suction opening  12  can also be in a radial shape instead of a parallel shape, and the technical effect needing to be achieved by the embodiment of the present invention can also be achieved. 
     It can be understood that the sub-grooves formed in parallel on each side of the two sides of the air duct suction opening  12  and the air duct suction opening  12  are integrally formed into an inverted splayed shape in the present embodiment, but it can be understood that the sub-grooves and the air duct suction opening  12  can also be integrally formed into a linear shape or a splayed shape, and the effects to be achieved in the embodiment of the present invention can also be achieved. 
     Example 10 
     According to a dust collection guide structure provided by the embodiment of the present invention, on the basis of any one of the previous embodiments, at least one sweeping brush is independently arranged at the bottom  11  of the shell  1  and is separated from the air duct suction opening  12 . 
     Each of the at least one sweeping brush can move back and forth integrally when driven so as to sweep and raise dust and paper scraps on the ground. Preferably, each of the at least one sweeping brush is driven to move back and forth integrally close to and away from the air duct suction opening  12 . More preferably, each of the at least one sweeping brush is driven to move back and forth integrally between the air duct suction opening  12  and the edge of the bottom  11  of the shell  1 . 
     Preferably, each of the at least one sweeping brush is matched with the groove in the surface of the bottom  11  of the shell  1  so that raised dust can be guided into the air duct suction opening  12  through the groove. 
     The sweeping brush matched with the groove is arranged at the bottom of the shell, so that dust is raised through the sweeping brush and is guided into the air duct suction opening through the groove, and the dust suction efficiency is improved. 
     According to the present embodiment of the invention, the sweeping brush which is matched with the groove and is separated from the air duct suction opening independently is arranged at the bottom of the shell, and dust is swept and raised through the sweeping brush and guided into the air duct suction opening through the groove. Therefore, the dust collection efficiency can be improved more effectively, and the problem that the cleaning effect of the dust collection box is influenced due to the fact that the dust collection opening is blocked by winding caused by long-term use of the sweeping brush can be avoided. 
     Hereinafter, the mating arrangement, specific structure, and principle of operation of each of the at least one sweeping brush with the groove that may be employed will be described in detail by a number of embodiments. 
     Example 11 
     Referring to  FIGS. 12A-12F , the embodiment of the present invention provides a dust collection guide structure, and on the basis of Example 3, at least one sweeping brush is independently arranged at the bottom  11  of the shell  1  and separated from the air duct suction opening  12 . 
     Specifically, a first sweeping brush  151  and a second sweeping brush  152  are arranged in a matched mode, the first sweeping brush  151  is arranged in front of the first groove  133  and is parallel to the first groove  133 , and the second sweeping brush  152  is arranged in front of the second groove  134  and is parallel to the second groove  134 . 
     It will be appreciated that when the inclined guide surface  14  of the present embodiment employs the structure of the inclined guide surface  14  shown in  FIG. 4B , the first sweeping brush  151  and the second sweeping brush  152  are preferably provided on the second inclined guide surface  142 . 
     In the present embodiment, it is preferred that the first and second brushes  151 ,  152  move back and forth in their own axial directions (directions of arrows A 1  and A 2  in  FIG. 12 ), respectively. That is to say, the first sweeping brush  151  and the second sweeping brush  152  are driven to move back and forth integrally between the air duct suction opening and the edge of the bottom of the shell, and sweep dust at the center and the edge of the sweeper during the moving process. The sweeping brush provided by the embodiment of the present invention can simultaneously serve as the main brush and the side brush in the moving process, so that the sweeping range of the sweeping robot can be enlarged, the cost can be reduced, the main brush, the side brush and the corresponding drivers do not need to be arranged, and the cost is lower. 
     Referring to  FIGS. 13A-13F , the structure of the sweeping brush employed in the present embodiment is shown. The sweeping brush comprises a fixed seat  91  arranged at the bottom  11  of the shell  1 , a movable support  92  arranged on the fixed seat  91  and bristles  93  arranged on the movable support  92 , and the movable support  92  is driven by a driving component  94  to move relative to the fixed seat  91 . Specifically, the movable support  92  is driven by the driving component  94  to move back and forth relative to the fixed seat  91  in the axis direction (shown in the arrow A direction in  FIG. 13E ) of the movable support  92 . 
     The fixed seat  91  comprises a limiting body  911 , and a containing groove  910  is formed in the limiting body  911 . The movable support  92  comprises a movable body  921  for containing bristles  93 , a driven member  922  is arranged at the bottom of the movable body  921 , and the driven member  922  extends out of the containing groove  910  and drives the movable body  921  to move back and forth in the containing groove  910  under the action of the driving component  94 . The driving component  94  comprises a motor  941  and a coupling member  942  driven by the motor  941 , and the coupling member  942  is connected with the driven member  922  in a matched manner. The motor  941  is preferably a brush direct current motor or a brushless direct current motor, and the coupling member  942  is an eccentric shaft driven by the brush direct current motor or the brushless direct current motor. 
     Specifically, the movable body  921  reciprocates in the length direction in the containing groove  910 . The length of the movable body  921  is smaller than that of the containing groove  910 . The movable body  921  further comprises an upper portion  9211  for arranging the bristles  93  and a lower portion  9212  connected with the upper portion  9211 , and the driven member  922  is arranged on the bottom surface of the lower portion  9212 . The longitudinal section of the movable body  921  along its width direction is in a convex shape. The width of the upper portion  9211  is smaller than that of the containing groove  910  so that the upper portion  9211  can be contained in the containing groove  910 , and the width of the lower portion  9212  is larger than that of the containing groove  910 . 
     Preferably, the fixed seat  91  of the present embodiment further comprises a bottom case  913 , and the limiting body  911  is fixed into the bottom case  913  through a connecting piece (e.g., a screw or the like) so as to prevent the movable body  921  contained in the containing groove  910  from being separated from the limiting body  911 . An opening  9130  is formed in the bottom of the bottom case  913  to extend out of the driven member  922 . However, it can be understood that the sweeping brush of the present embodiment may not be provided with a bottom case  913 , as shown in  FIG. 13F , and the implementation effect thereof is not affected. 
     In specific implementation, the coupling member (eccentric shaft)  942  is driven by the motor to rotate, and in the rotating process, the coupling member (eccentric shaft)  942  is connected with the driven member  922  at the bottom of the movable body  921  in a matched mode to drive the driven member  922  to move, so that the movable body  921  is driven to do reciprocating motion in the length direction in the containing groove  910 . 
     Preferably, in the present embodiment, the bristles  93  are mainly formed by arranging pluralities of bristle bundles. In addition, the movable support  92  provided on each fixed seat  91  include pluralities; and/or the bristles  93  provided on each movable support  92  include pluralities of rows. Each row of the bristles  93  extends out of the surface of the bottom  11  of the shell  1  to abut against the ground. The upper surface of each row of the bristles  93  is in the same horizontal plane to be flush with the ground. 
     Preferably, in the present embodiment, the movable support  92  is further driven by the driving component  94  to move relative to the fixed seat  91  as follows 
     swinging back and forth around the axis of the movable support  92  in the length direction, and the swinging range is 120 degrees; or 
     rotating 360 degrees around the axis of the movable support  92  in the length direction. 
     In the above-described modification, the sweeping brush is arranged to move back and forth in the length direction of the sweeping brush and can also conduct 120-degree back-and-forth swinging or 360-degree rotating self-motion around the axis in the length direction of the sweeping brush, the sweeping effect can be further improved, and therefore the dust collection effect and efficiency are improved. 
     Preferably, in the present embodiment, the movable support  92  can also be driven by the driving component  94  to do lifting motion far away from or close to the horizontal plane where the fixed seat is located. According to the improved scheme, the sweeping brush is arranged to be a floating brush, so that the sweeping brush is suitable for uneven grounds, self-adaptive lifting can be carried out according to concave-convex conditions of different grounds, the sweeping brush is tightly attached to the ground to sweep the grounds, and the sweeping effect is guaranteed. 
     Example 12 
     Referring to  FIG. 14 , a dust collection guide structure provided by the embodiment of the present invention is substantially the same as that of Example 11, except that the first sweeping brush  151  and the second sweeping brush  152  arranged in the present embodiment are driven to move back and forth in the directions perpendicular to the axes of the first sweeping brush  151  and the second sweeping brush  152  respectively (the directions of arrows B 1  and B 2  in  FIG. 14 ). That is to say, the first sweeping brush  151  and the second sweeping brush  152  are driven to move back and forth integrally close to and away from the air duct suction opening to conduct sweeping, dust raised during sweeping can be sucked into the air duct suction opening in the moving process, and the sweeping effect and the dust suction effect are improved. 
     Referring to  FIGS. 15A-15F , the structure of the sweeping brush employed in the present embodiment is shown. The sweeping brush comprises a fixed seat  91  arranged at the bottom  11  of the shell  1 , a movable support  92  arranged on the fixed seat  91  and bristles  93  arranged on the movable support  92 , and the movable support  92  is driven by a driving component  94  to move relative to the fixed seat  91 . Specifically, the movable support  92  is driven by the driving component  94  to move back and forth relative to the fixed seat  91  in the axis direction (shown in the arrow B direction in  FIG. 15A ) of the movable support  92 . 
     The fixed seat  91  comprises a limiting body  911 , a containing groove  910  is formed in the limiting body  911 , the movable support  92  comprises a movable body  921  for containing the bristles  93 , a driven member  922  is arranged at the bottom of the movable body  921 , and the driven member  922  extends out of the containing groove  910  and drives the movable body  921  to move back and forth in the containing groove  910  under the action of the driving component  94 . The driving component  94  comprises a motor  941  and a coupling member  942  driven by the motor  941 , and the coupling member  942  is connected with the driven member  922  in a matched mode. The motor  941  is preferably a brush direct current motor or a brushless direct current motor, and the coupling member  942  is an eccentric shaft driven by the brush direct current motor or the brushless direct current motor. 
     Specifically, the movable body  921  reciprocates in the width direction in the containing groove  910 . The width of the movable body  921  is smaller than that of the containing groove  910 . The movable body  921  comprises an upper portion  9211  for arranging the bristles  93  and a lower portion  9212  connected with the upper portion  9211 , and the driven member  922  is arranged on the bottom surface of the lower portion  9212 . The longitudinal section of the movable body  921  in the length direction of the movable body  921  is in a convex shape. The length of the upper portion  9211  is smaller than that of the containing groove  910  so that the upper portion  9211  can be contained in the containing groove  910 , and the length of the lower portion  9212  is larger than that of the containing groove  910 . 
     Preferably, the fixed seat  91  of the present embodiment further comprises a bottom case  913 , and the limiting body  911  is fixed into the bottom case  913  through a connecting piece (e.g., a screw or the like) so as to prevent the movable body  921  contained in the containing groove  910  from being separated from the limiting body  911 . An opening  9130  is formed in the bottom of the bottom case  913  to extend out of the driven member  922 . However, it can be understood that the sweeping brush of the present embodiment may not be provided with a bottom case  913 , as shown in  FIG. 15F , and the implementation effect thereof is not affected. 
     In specific implementation, the coupling member (eccentric shaft)  942  is driven by the motor to rotate, and in the rotating process, the coupling member (eccentric shaft)  942  is connected with the driven member  922  at the bottom of the movable body  921  in a matched mode to drive the driven member  922  to move, so that the movable body  921  is driven to do reciprocating motion in the width direction in the containing groove  910 . 
     Example 13 
     Referring to  FIG. 16 , the embodiment of the present invention provides a dust collection guide structure, and on the basis of Example 3, at least one sweeping brush is independently arranged at the bottom  11  of the shell  1  and separated from the air duct suction opening  12 . Specifically, a first sweeping brush  151  and a second sweeping brush  152  are arranged in a matched mode, the first sweeping brush  151  is arranged on the first groove  133 , and the second sweeping brush  152  is arranged on the second groove  133 . 
     The first and second sweeping brushes  151 ,  152  are arranged to move back and forth in their own axial directions, and the specific constructions and principles can be referred to Example 11. 
     Example 14 
     Referring to  FIG. 17 , the embodiment of the present invention provides a dust collection guide structure, and on the basis of Example 5, at least one sweeping brush is independently arranged at the bottom  11  of the shell  1  and separated from the air duct suction opening  12 . Specifically, a first sweeping brush  151  and a second sweeping brush  152  are arranged in a matched mode, and the first sweeping brush  151  and the second sweeping brush  152  are arranged in front of the first groove  133  and the second groove  134  respectively and arranged on two sides of the third groove  135 . The first sweeping brush  151  is arranged in parallel with the first groove  133 , and the second sweeping brush  152  is arranged in parallel with the second groove  134 . 
     The first sweeping brush  151  and the second sweeping brush  152  can be arranged to move back and forth in their own axial directions or move back and forth in the directions perpendicular to their own axes. Reference may be made to Example 11 and Example 12 described above for specific constructions and principles. 
     In addition, the improved structure of the first sweeping brush  151  and the second sweeping brush  152  of the present embodiment is also referred to the related descriptions of Example 11 and Example 12 described above, and will not be described in detail herein. 
     Example 15 
     With reference to  FIG. 18 , the embodiment of the present invention provides a dust collection guide structure, and on the basis of Example 6 or Example 7, at least one sweeping brush is independently arranged at the bottom  11  of the shell  1  and separated from the air duct suction opening  12 . Specifically, a first sweeping brush  151 , a second sweeping brush  152  and a third sweeping brush  153  are arranged in a matched mode, and the first sweeping brush  151 , the second sweeping brush  152  and the third sweeping brush  153  are integrally disposed at the front end of the surface of the bottom  11  of the shell  1  in a radial shape and are spaced apart from the first groove  133 , the second groove  134 , the third groove  135 , and the fourth groove  136 . 
     The first sweeping brush  151 , the second sweeping brush  152  and the third sweeping brush  153  can be arranged to move back and forth in their own axis directions or move back and forth in the directions perpendicular to their own axes. Reference may be made to Example 11 and Example 12 described above for specific constructions and principles. 
     In addition, the improved structure of the first, second, and third sweeping brushes  151 ,  152 ,  153  of the present embodiment is also described with reference to the related description of Examples 11 and 12 described above, and will not be described in detail herein. 
     Example 16 
     Referring to  FIG. 19 , the embodiment of the present invention provides a dust collection guide structure, and on the basis of Example 8, at least one sweeping brush is independently arranged at the bottom  11  of the shell  1  and separated from the air duct suction opening  12 . Specifically, a first sweeping brush  151 , a second sweeping brush  152  and a third sweeping brush  153  are arranged in a matched mode, and the first sweeping brush  151 , the second sweeping brush  152  and the third sweeping brush  153  are arranged between the front end of the surface of the bottom  11  of the shell  1  and the air duct suction opening  12  and are parallel to the first sub-groove  1301  and the second sub-groove  1302  alternately. 
     The first sweeping brush  151 , the second sweeping brush  152  and the third sweeping brush  153  can be arranged to move back and forth in their own axis directions or move back and forth in the directions perpendicular to their own axes. Reference may be made to Example 11 and Example 12 described above for specific constructions and principles. 
     In addition, the improved structure of the first, second, and third sweeping brushes  151 ,  152 ,  153  of the present embodiment is also described with reference to the related description of Examples 11 and 12 described above, and will not be described in detail herein. 
     Example 17 
     Referring to  FIG. 20 , the embodiment of the present invention provides a dust collection guide structure, and on the basis of Example 9, at least one sweeping brush is independently arranged at the bottom  11  of the shell  1  and separated from the air duct suction opening  12 . Specifically, a first sweeping brush  151  and a second sweeping brush  152  are arranged in a matched mode, the first sweeping brush  151  is arranged between the sub-groove  133   a  and the sub-groove  133   b  and is parallel to the sub-groove  133   a  and the sub-groove  133   b,  and the second sweeping brush  152  is arranged between the sub-groove  134   a  and the sub-groove  134   b  and is parallel to the sub-groove  134   a  and the sub-groove  134   b.    
     The first sweeping brush  151  and the second sweeping brush  152  can be arranged to move back and forth in their own axis directions or move back and forth in the directions perpendicular to their own axes. Reference may be made to Example 11 and Example 12 described above for specific constructions and principles. 
     In addition, the improved structure of the first sweeping brush  151  and the second sweeping brush  152  of the present embodiment is also referred to the related descriptions of Examples 11 and 12 described above, and will not be described in detail herein. 
     Example 18 
     Referring to  FIG. 21 , the embodiment of the present invention provides a dust collection guide structure, and on the basis of Example 9, at least one sweeping brush is independently arranged at the bottom  11  of the shell  1  and separated from the air duct suction opening  12 . Specifically, a sweeping sub-brush  151   a  and a sweeping sub-brush  151   b  which are arranged in parallel and a sweeping sub-brush  152   a  and a sweeping sub-brush  152   b  which are arranged in parallel are arranged in a matched mode. The sweeping sub-brush  151   a  and the sweeping sub-brush  151   b  are respectively arranged in front of the sub-groove  133   a  and the sub-groove  133   b  and are parallel to the sub-groove  133   a  and the sub-groove  133   b  alternately. The sweeping sub-brushes  152   a  and  152   b  are respectively arranged in front of the sub-groove  134   a  and the sub-groove  134   b  and are parallel to the sub-groove  134   a  and the sub-groove  134   b  alternately. 
     The sweeping sub-brushes  151   a,    151   b,    152   a  and  152   b  can be arranged to move back and forth in their own axis directions or move back and forth in the directions perpendicular to their own axes. Reference may be made to Example 11 and Example 12 described above for specific constructions and principles. 
     In addition, the improved structure of the sweeping sub-brush  151   a,  the sweeping sub-brush  151   b,  the sweeping sub-brush  152   a  and the sweeping sub-brush  152   b  of the embodiment are also referred to the related description of Example 11 and Example 12, and will not be described in detail herein. 
     Example 19 
     The embodiment of the present invention provides a dust collection guide structure, on the basis of any one embodiment, at least one corner of the front end of the bottom of the shell is provided with a side brush, and the side brush is driven by a driving device to rotate. Preferably, the side brush is a three-blade type rotary side brush. 
     Referring to  FIGS. 22A-22H , on the basis of the Examples 2-9 described above, at least one corner of the front end of the bottom  11  of the shell  1  is provided with a side brush, and the side brush is driven by a drive device to rotate. 
     Specifically, a first side brush  181  is arranged at the upper left corner of the front end of the bottom  11  of the shell  1 , a second side brush  182  is arranged at the upper right corner of the front end of the bottom  11  of the shell  1 , and the first side brush  181  and the second side brush  182  are preferably three-blade type rotary side brushes. 
     Therefore, according to the embodiment, by arranging at least one groove in the surface of the bottom of the shell and being matched with the rotary side brushes arranging on at least one corner (preferably the left corner and the right corner) of the front end of the bottom of the shell, the problem that the sweeping effect of the dust collection box is affected due to the fact that the air suction opening is blocked by winding of the rolling main brush arranged on the air suction opening can be effectively avoided, dust raised by the side brush can be guided into the air duct suction opening through the groove, and the dust suction efficiency is improved, and particularly, the sweeping and cleaning effects on corners are very ideal. 
     It can be understood that a rotary side brush can also be arranged on at least one corner (preferably the left corner and the right corner) of the front end of the bottom of the shell on the basis of the Examples 10-18, and the bristles of the rotary side brush do not interfere with the sweeping brush and the like in the moving process through the arrangement of the rotary side brush. 
     Specifically, the lengths of bristles of the first side brush  181  and the second side brush  182  are set so that the first side brush  181  and the second side brush  182  cannot interfere with the sweeping brush and the like in the rotating process. 
     Therefore, according to the embodiment of the present invention, by arranging at least one groove in the surface of the bottom of the shell, arranging the sweeping brush  15  which is separated from and independently arranged from the air duct suction opening near the center of the bottom of the shell so as to sweep and raise dust, and arranging the first side brush  181  and the second side brush  182  which rotate on the left corner and the right corner of the front end of the bottom of the shell, the dust at the center and the edge of the sweeper can be effectively swept, the sweeping and cleaning effects are particularly ideal, and the sweeping efficiency and effect are effectively improved. 
     The foregoing is a preferred embodiments of the present invention and it should be noted that several improvements and modifications may also be made to those of ordinary skill in the art without departing from the principles of the present invention, which are also considered to be within the scope of the present invention.