Cleaning device and control method thereof

Abstract

A cleaning device and a control method thereof, wherein a roller assembly for cleaning the ground and for driving the cleaning device to move on the ground is installed on the device body of the cleaning device; the roller assembly includes a first roller, a second roller and a third roller which can respectively fix the cleaners and can rotate and roll in contact with the ground; a controller is also arranged in the device body, and when the controller controls the first roller to rotate and roll and controls at least one of the second roller and the third roller to rotate and roll, the rotating and rolling cleaners can drive the cleaning device to move on the ground. The control method of the cleaning device is to drive the cleaning device to move by controlling the roller assembly. This solution solves the problem that the existing cleaning device is provided with a driving wheel with a complex structure and cannot distribute the mop area well, and solves the problem that the existing cleaning device moves by mopping, such as poor stability of movement, easy deviation and inability to effectively clean the edge position.

Description

Technical Field

[0001] The invention relates to the field of cleaning treatment of ground, and in particular to a cleaning device and a control method thereof. Background Art

[0002] The existing cleaning devices generally have a mopping function, and are mainly provided with a mop to clean the ground. At the same time, a water supply structure is provided to achieve a wet cleaning effect on the ground. In order to realize the movement of the cleaning device on the ground, a driving wheel is generally provided to drive the cleaning device to move on the ground. The cleaning device achieves a cleaning effect on the ground during the movement. However, the overall structure of the driving wheel is complex, which is not conducive to the distribution of the mop on the cleaning device, resulting in a limited area of ​​the mop, and the cleaning device cannot better clean edge positions such as walls and corners.

[0003] At present, in order to achieve a better cleaning effect on the ground, some cleaning devices are equipped with a horizontally rotating mop to drive the cleaning device to move on the ground. However, the horizontally rotating mop needs to have a large area to contact the ground to generate friction to drive the cleaning device to move. The large area of ​​the mop in contact with the ground may cause uneven friction, which may lead to unstable movement of the cleaning device. When the mop is worn and damaged, it has a greater impact on the stability of the cleaning device, making it impossible for the cleaning device to move along the specified path. The problem of movement deviation may occur. At the same time, the horizontally rotating mop cannot effectively clean edge positions such as walls and corners. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the above-mentioned related art at least to a certain extent.

[0005] To this end, the purpose of the present invention is to provide a cleaning device and a control method thereof, which mainly solves the problem that the existing cleaning device needs to be equipped with driving wheels to move, resulting in a complex structure and an inability to distribute the mop area well, and solves the problem that the existing cleaning device has a poor moving and walking stability, is prone to deviation, and cannot effectively clean the edge position under the structure where the mop is used to move.

[0006] An embodiment of the present invention provides a cleaning device, which includes a device body, on which a rotary roller assembly for cleaning a floor is mounted, and the rotary roller assembly is also used to drive the cleaning device to move on the floor;

[0007] The rotary roller assembly is installed at the bottom of the device body;

[0008] The rotary roller assembly includes a first rotary roller, a second rotary roller and a third rotary roller which can respectively fix the cleaner, and the first rotary roller, the second rotary roller and the third rotary roller are all configured to be capable of rotating and rolling relative to the ground;

[0009] A controller is also arranged in the device body. When the controller controls the first rotary roller to rotate and controls at least one of the second rotary roller and the third rotary roller to rotate, the rotating and rolling cleaners can drive the cleaning device to move on the ground.

[0010] The aforementioned cleaning device also has a driver disposed in the device body, the controller is electrically connected to the driver, and the driver comprises at least a second drive assembly connected to the second roller and a third drive assembly connected to the third roller so that the second roller and the third roller form a structure that can rotate and roll independently of each other.

[0011] In the aforementioned cleaning device, a threshold value Q is provided in the controller, and the threshold value Q at least includes controlling the second roller or the third roller to rotate and roll along the M direction when controlling the first roller to rotate and roll along the M direction.

[0012] In the aforementioned cleaning device, the first rotary roller is arranged to be located at one side of the second rotary roller and the third rotary roller, and a first gap portion is arranged between the first rotary roller and the second rotary roller and the third rotary roller;

[0013] The second roller and the third roller are arranged in a parallel distribution structure, and a second gap portion is arranged between the second roller and the third roller;

[0014] At least a portion of the first rolling element is arranged to be located within a region corresponding to a region on the device body of the second gap portion extending toward the direction of the first rolling element.

[0015] The aforementioned cleaning device, wherein the distance of the first gap portion in the vertical direction is set to H1 and the distance of the second gap portion in the horizontal direction is set to H2 and H1 is set to be greater than H2;

[0016] Or, the distance L1 of the first roller in the horizontal direction is set to be greater than or equal to the distance H2 of the second gap in the horizontal direction;

[0017] Alternatively, the positions of the two side end surfaces of the second gap portion are located within the area position extending toward the second gap portion at the corresponding area position on the device body between the two side end surfaces of the first roller.

[0018] The cleaning device described above is configured such that the side end surface of the first rotary roller close to the second rotary roller is located between the two side end surfaces of the second rotary roller and in the area extending toward the first rotary roller at the corresponding area on the device body;

[0019] and / or;

[0020] The side end surface position of the first rotating roller close to the third rotating roller is set to be located between the two side end surfaces of the third rotating roller and within the area position extending toward the first rotating roller at the corresponding area position on the device body.

[0021] The cleaning device mentioned above is configured such that the axis of rotation of the second roller and the axis of rotation of the third roller are arranged to be the same axis in the horizontal direction;

[0022] Alternatively, the outer diameter of the second roller and / or the outer diameter of the third roller is set to be smaller than or equal to the outer diameter of the first roller.

[0023] In the aforementioned cleaning device, the side end surface position of the second roller away from the second gap portion is located within the side end surface of the device body close to the second roller, and / or the side end surface position of the third roller away from the second gap portion is located within the side end surface of the device body close to the third roller.

[0024] The cleaning device described above is provided with a distance K1 from the end surface of the second roller away from the second gap to the side end surface of the device body close to the second roller, and K1 is provided to be less than or equal to the outer diameter of the second roller or K1 is less than or equal to 30 mm;

[0025] and / or,

[0026] The distance from the end face of the third roller away from the second gap to the side end face of the device body close to the third roller is set to K2, and K2 is set to be less than or equal to the outer diameter of the third roller or K2 is less than or equal to 30 mm.

[0027] In the aforementioned cleaning device, the distance between the maximum outer diameter position on the first roller close to the outer side of the second roller and the maximum outer diameter position on the second roller close to the outer side of the first roller is greater than or equal to half of the maximum outer diameter value of the first roller;

[0028] and / or, the distance from the maximum outer diameter position on the first roller close to the outer side of the third roller to the maximum outer diameter position on the third roller close to the outer side of the first roller is greater than or equal to half of the maximum outer diameter value of the first roller;

[0029] And / or, a distance H1 of the first gap portion in the vertical direction is greater than or equal to half of the maximum outer diameter of the first roller.

[0030] The aforementioned cleaning device is also provided with a water storage part for supplying clean water to the roller assembly on the device body, at least a portion of the water storage part is located within the projection area position of the first roller on the device body along the vertical direction, and at least a portion of the water storage part is located within the projection area position of the second roller on the device body along the vertical direction and / or within the projection area position of the third roller on the device body along the vertical direction.

[0031] The aforementioned cleaning device is also provided with a sewage portion on the device body, at least a portion of the sewage portion is located between the first roller and the second roller or the third roller, and at least a portion of the sewage portion is located within the projection area of ​​the first gap portion and / or the second gap portion on the device body along the vertical direction.

[0032] The aforementioned cleaning device has a dirt collecting component arranged in the device body, which is connected to the sewage part for collecting sewage, and at least a part of the dirt collecting component is arranged to contact the first roller to squeeze out the sewage structure and to contact the second roller and / or the third roller to squeeze out the sewage structure.

[0033] In the aforementioned cleaning device, the roller assembly further includes a fourth roller, which is located on a side of the second roller and the third roller away from the first roller, and a third gap is provided between the fourth roller and the second roller and the third roller.

[0034] The control method of the cleaning device includes the cleaning device as described above, and also includes the following control method:

[0035] The controller is configured to be a structure capable of controlling the first rotating roller, the second rotating roller or the third rotating roller to perform rotating and rolling motion;

[0036] According to the movement mode of the cleaning device, the first roller is controlled to rotate and roll, and the second roller or the third roller is controlled to rotate and roll so that each rotating and rolling cleaner contacts the ground to drive the cleaning device to move on the ground.

[0037] The control method of the above-mentioned cleaning device is that during the movement of the cleaning device, based on the detection information of the obstacle, at least one of the first roller, the second roller or the third roller is controlled to change the rotational rolling speed or change the rotational rolling direction so that the cleaning device moves away from the obstacle or turns along the edge of the obstacle.

[0038] In the above-mentioned control method of the cleaning device, when the motion state of the first rotary roller is abnormal, the controller controls the rotation and rolling speed of the second rotary roller to increase and / or controls the rotation and rolling speed of the third rotary roller to increase;

[0039] or,

[0040] When the motion state of the first roller is abnormal, the controller controls the second roller to increase its rotational rolling speed and switch its rotational rolling direction to the opposite direction and / or controls the third roller to increase its rotational rolling speed and switch its rotational rolling direction to the opposite direction.

[0041] The control method of the cleaning device mentioned above, wherein a detection module is provided to detect the motion state of the first rotating roller;

[0042] When it is detected that the first rotary roller is continuously rotating and rolling at the current position and the cleaning device is not moving, the controller determines that the motion state of the first rotary roller is abnormal;

[0043] And / or, when it is detected that the first roller is located at the current position and continuously rotates and rolls and the first roller is displaced in the vertical direction, the controller determines that the motion state of the first roller is abnormal;

[0044] And / or, when it is detected that the current threshold B of the first driving component driving the first roller to rotate is greater than the rated current threshold A, the controller determines that the motion state of the first roller is abnormal.

[0045] The control method of the cleaning device mentioned above, when the controller controls the cleaning device to turn and move, at least includes controlling the rotation and rolling speed of the second roller to increase or controlling the rotation and rolling speed of the third roller to increase;

[0046] or,

[0047] When the controller controls the cleaning device to turn and move, it at least includes controlling the rotational rolling speed of the second roller to increase and controlling the rotational rolling speed of the third roller to decrease, or controlling the rotational rolling speed of the third roller to increase and controlling the rotational rolling speed of the second roller to decrease.

[0048] The control method of the cleaning device mentioned above, when the controller controls the cleaning device to turn and move, at least includes controlling the rotation and rolling direction of the second roller to switch to the opposite direction or controlling the rotation and rolling direction of the third roller to switch to the opposite direction;

[0049] or,

[0050] When the controller controls the cleaning device to turn and move, it at least includes controlling the rotation and rolling direction of the second roller to switch to the opposite direction and controlling the rotation and rolling direction of the first roller to switch to the opposite direction, or controlling the rotation and rolling direction of the third roller to switch to the opposite direction and controlling the rotation and rolling direction of the first roller to switch to the opposite direction.

[0051] The control method of the cleaning device mentioned above further comprises controlling the rotation and rolling speed of the first roller to decrease when the controller controls the cleaning device to turn and move;

[0052] or,

[0053] When the controller controls the cleaning device to turn and move, the controller also includes controlling the rotation and rolling speed of the first roller to decrease and making the rotation and rolling speed of the first roller lower than the rotation and rolling speed of the second roller or lower than the rotation and rolling speed of the third roller.

[0054] Compared with the prior art, the present invention has the following beneficial effects:

[0055] The cleaning device of this scheme realizes a step-by-step cleaning effect of a large area and a large friction force on the ground by setting a rotary roller component, realizes a step-by-step cleaning treatment effect on the ground, and improves the cleaning ability of the ground.

[0056] The present invention provides a rotary roller assembly to realize that the cleaning device can be driven to move autonomously on the ground during the rotating rolling process, so that the cleaning device can achieve the moving walking effect without the need to provide a driving wheel. The overall structure is simpler and is conducive to the effective distribution of the rotary roller assembly, which is conducive to achieving a large-area mopping cleaning effect on the ground, and solves the problem that the existing cleaning device needs to be provided with a driving wheel for movement, resulting in a complex structure and an inability to distribute the mopping area well.

[0057] This solution pre-cleans the floor by setting a first rotary roller, and then uses a second rotary roller and a third rotary roller to achieve a deep cleaning effect on the floor, thereby improving the cleaning effect of the floor as a whole.

[0058] In the scheme, a first gap portion is formed between the first roller and the second roller and the third roller, and a second gap portion is formed between the second roller and the third roller. The first gap portion is used to achieve a step-by-step deep cleaning effect of the roller assembly on the ground, and the second gap portion is used to achieve a structure in which the second roller and the second roller are distributed in parallel, thereby improving the step-by-step deep cleaning effect of the rotating roller on the ground as a whole.

[0059] The structures of the second and third rotary rollers of the present invention can be used to effectively clean the edges of indoor walls, corners or obstacles, so that the cleaning device has a better edge cleaning effect.

[0060] This solution drives the cleaning device to move on the ground by the rotational rolling motion state of the first roller combined with the second roller or the third roller, so that the cleaning device can move autonomously on the ground in a linear manner.

[0061] This solution can realize the turning movement of the cleaning device on the ground through the rotational rolling movement of the second roller and the third roller, such as turning left and turning right, to realize the autonomous movement and turning of the cleaning device, thereby improving the intelligence and stability of the movement of the cleaning device on the ground.

[0062] This solution also sets up a sewage section and a sewage collection component to realize the effective centralized collection of sewage generated by the rotary roller component during cleaning, realizes real-time cleaning of the rotary roller component and real-time collection of sewage, and prevents secondary pollution of the ground by sewage.

[0063] The control method of the cleaning device of the present scheme realizes the control of the autonomous movement of the cleaning device on the ground by controlling the motion states of the first roller, the second roller and the third roller, that is, the rotational rolling speed and the rotational rolling direction, thereby realizing the real-time cleaning of the ground by the cleaning device during the movement.

[0064] The control method of the cleaning device of this scheme can effectively control the direction and speed of the movement of the cleaning device based on abnormality detection or obstacle detection information, timely adjust the motion state of the rotary roller assembly, improve the stability and safety of the movement of the cleaning device, and improve the intelligence of the movement of the cleaning device.

[0065] The moving walking method of the cleaning device of the present scheme can effectively realize turning moving walking or straight moving walking by controlling the movement of the rotary roller assembly, so that the cleaning device can move stably according to the planned path, and can effectively move away from the obstacle or turn along the edge of the obstacle based on the detection information of the obstacle, thereby improving the stability and reliability of the movement of the intelligent cleaning device and improving the movement and walking by better avoiding obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a schematic diagram of the bottom structure distribution of the cleaning device;

[0067] Figure 2 It is a schematic diagram of a partial cross-section of the side of the cleaning device;

[0068] Figure 3 It is a schematic diagram of the distribution of the sewage part of a partial section inside the cleaning device;

[0069] Figure 4 A schematic diagram of the cleaning device moving forward in a straight line driven by the rotary roller assembly;

[0070] Figure 5 A schematic diagram of the cleaning device moving backward in a straight line driven by the rotary roller assembly;

[0071] Figure 6 A schematic diagram of increasing the speed of the second and third rollers to free the cleaning device from abnormality;

[0072] Figure 7 A schematic diagram of the second roller and the third roller switching the rotation and rolling directions to opposite directions to make the cleaning device escape from an abnormal state;

[0073] Figure 8 A schematic diagram showing that the rotational rolling speed of the third roller increases so that the cleaning device performs a turning movement;

[0074] Fig. 9A schematic diagram showing that the rotational rolling speed of the second roller increases so that the cleaning device performs a turning movement;

[0075] Fig.10 A schematic diagram showing that the rotational rolling speed of the third roller increases and the rotational rolling speed of the second roller decreases so that the cleaning device performs a turning movement;

[0076] Fig.11 A schematic diagram showing that the rotational rolling speed of the second roller increases and the rotational rolling speed of the third roller decreases so that the cleaning device performs a turning movement;

[0077] Fig.12 A schematic diagram of the second roller rotating in a direction opposite to the direction in which the cleaning device is turned;

[0078] Fig.13 A schematic diagram of the third roller rotating in a reverse direction to make the cleaning device turn and move;

[0079] Fig.14 A schematic diagram showing that the first rotary roller and the second rotary roller both switch their rotation and rolling directions to opposite directions so that the cleaning device can perform a turning movement;

[0080] Fig.15 A schematic diagram showing that the first rotary roller and the third rotary roller both switch their rotation and rolling directions to opposite directions so that the cleaning device can perform a turning movement;

[0081] Fig.16 A schematic diagram of the bottom structure distribution of the cleaning device when the rotary roller assembly includes a fourth rotary roller;

[0082] Fig.17 A schematic side cross-sectional view of the cleaning device when the rotary roller assembly includes a fourth rotary roller;

[0083] Fig.18 A schematic diagram of a partial cross-section of the internal structure of the cleaning device facing the sewage part when the rotary roller assembly includes a fourth rotary roller;

[0084] Figure numerals: 1-device body, 100-roller assembly, 1001-first roller, 1002-second roller, 1003-third roller, 1004-fourth roller, 101-first gap part, 102-second gap part, 103-water storage part, 104-sewage part, 105-sewage collecting assembly, 106-third gap part. DETAILED DESCRIPTION

[0085] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments.

[0086] Embodiment: The cleaning device and control method thereof of the present invention are as follows: Figures 1 to 18 As shown in the structure, the cleaning device is mainly used for moving on the ground to clean the ground. The main feature is that the cleaning device can move on the ground without setting a driving wheel. The overall structure is simpler and the cost is lower.

[0087] The cleaning device of the present scheme includes a device body 1, on which is mounted a rotary roller assembly 100 for cleaning the floor, and the rotary roller assembly 100 is also used to drive the cleaning device to move on the floor. During the movement, the rotary roller assembly 100 not only cleans the floor, but also drives the cleaning device to move on the floor, so that the cleaning device can achieve the moving walking effect without setting a driving wheel, and the overall structure is simple and low in cost.

[0088] Regarding the structural part of the rotary roller assembly 100, the rotary roller assembly 100 is mainly installed at the bottom position of the device body 1, so that the rotary roller assembly 100 can clean the ground when it moves. The rotary roller assembly 100 can be set to be fixedly installed at the bottom position of the device body 1 or detachably installed at the bottom of the device body 1, so that the user can perform maintenance on the rotary roller assembly 100.

[0089] In this solution, the roller assembly 100 includes a first roller 1001, a second roller 1002 and a third roller 1003, which can respectively fix the cleaner, and the first roller 1001, the second roller 1002 and the third roller 1003 are all configured to be able to rotate and roll relative to the ground. The cleaner is mainly installed on the first roller 1001, the second roller 1002 and the third roller 1003, and each cleaner rotates and rolls synchronously correspondingly. The cleaner contacts the ground for cleaning and generates friction to drive the cleaning device to move on the ground. The first roller 1001 The second rotary roller 1002 and the third rotary roller 1003 are arranged as columnar structures, mainly as cylindrical structures, so as to realize rotation and rolling relative to the ground. The cleaner is arranged as a structure made of cloth material, or as a structure made of sponge material. The cleaner has a certain water absorption effect and is arranged as a soft structure, which is convenient for cleaning the cleaner and wet cleaning the ground by the cleaner. At the same time, when the cleaner rotates and rolls on the ground, it will contact the ground to generate friction, so that the combined force of the friction generated by each cleaner can drive the cleaning device to move linearly or turn on the ground.

[0090] A controller is also provided in the device body 1 of the present solution. When the controller controls the first rotary roller 1001 to rotate and roll and controls at least one of the second rotary roller 1002 and the third rotary roller 1003 to rotate and roll, each rotating and rolling cleaner can drive the cleaning device to move on the ground. The controller controls the rotation and rolling of the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003, and enables each cleaner to rotate and roll synchronously accordingly. When it is necessary to move the cleaning device on the ground, the controller controls the rotation and rolling of the first rotary roller 1001 and controls at least the second rotary roller 1002 or the third rotary roller 1003. One of the third rollers 1003 is rotating, so that the friction force generated by the rotating and rolling cleaner when it contacts the ground can drive the cleaning device to move on the ground, preventing the problem of being unable to drive the cleaning device to move on the ground due to the small friction force generated by the cleaner, and can effectively ensure that there is sufficient friction force to drive the cleaning device to move on the ground. Of course, when the controller controls the first roller 1001, the second roller 1002 and the third roller 1003 to rotate and roll, the friction force generated by each cleaner is sufficient to move the cleaning device on the ground.

[0091] Among them, when the controller controls each cleaner to make the cleaning device move on the ground, it is preferably set that the controller controls the first roller 1001 to rotate and roll and controls at least one of the second roller 1002 and the third roller 1003 to rotate and roll, and the direction of rotation and rolling is set to rotate and roll in the same direction, so that the resultant force of the friction generated by each rotating and rolling cleaner is in the same direction, thereby realizing driving the cleaning device to move on the ground.

[0092] Optionally, the cleaner is mainly set to be a columnar structure with the same shape as the first roller 1001, the second roller 1002 and the third roller 1003. For example, the cleaner can be installed on the first roller 1001, the second roller 1002 and the third roller 1003, so that the cleaner is installed on the outside of the first roller 1001, the outside of the second roller 1002 and the outside of the third roller 1003, so that each cleaner contacts the ground during the rotation and rolling to generate friction, so that the cleaning device can be driven to move on the ground through the combined force of the friction.

[0093] Optionally, the cleaner is configured as a hollow cylindrical structure to cover and be mounted to the outer sides of the first rotary roller 1001 , the second rotary roller 1002 , and the third rotary roller 1003 .

[0094] In the cleaning device of the present embodiment, a driver is also arranged in the device body 1, and the controller is electrically connected to the driver to control the operation of the driver. The driver at least includes a second drive component connected to the second roller 1002 and a third drive component connected to the third roller 1003, so that the second roller 1002 and the third roller 1003 form a structure that can rotate and roll independently of each other, so that the controller can control the second drive component to independently drive the second roller 1002 to rotate and roll independently, and control the third drive component to independently drive the third roller 1003 to rotate and roll independently, so that the rotational rolling speed and rotational rolling direction of the second roller 1002 can be controlled separately, and the rotational rolling speed and rotational rolling direction of the third roller 1003 can be controlled, so as to control the cleaning device to move linearly or turn on the ground.

[0095] In this solution, the controller controls the second roller 1002 and the third roller 1003 to perform independent rotational rolling movements. The rotational rolling direction and the rotational rolling speed of the second roller 1002 can be arbitrarily controlled according to the needs of the movement of the cleaning device. At the same time, the rotational rolling direction and the rotational rolling speed of the third roller 1003 can be arbitrarily controlled according to the needs of the movement of the cleaning device. Therefore, the rotational rolling movement of the second roller 1002 and the third roller 1003 can realize the turning movement of the cleaning device on the ground, such as turning left or right, to realize the autonomous movement and turning of the cleaning device, thereby improving the intelligence and stability of the movement of the cleaning device on the ground.

[0096] Optionally, the second driving component may be provided with a motor, and the motor can drive the second roller 1002 to rotate and roll independently. The motor can be used to drive the second roller 1002 to set the rotation speed and the rotation and rolling direction.

[0097] Optionally, the third driving component may be provided with a motor, and the motor may drive the third roller 1003 to rotate and roll independently. The motor may be used to drive the third roller 1003 to set a rotation speed and a rotation and rolling direction.

[0098] In the present embodiment, a threshold value Q is provided in the controller, and the threshold value Q at least includes that when the first rotary roller 1001 is controlled to rotate and roll along the M direction, the second rotary roller 1002 or the third rotary roller 1003 is controlled to rotate and roll along the M direction. In the present embodiment, the controller controls the first rotary roller 1001 to rotate and roll along the M direction and controls the second rotary roller 1002 or the third rotary roller 1003 to rotate and roll along the M direction, which is conducive to driving the cleaning device to move on the ground, ensuring that when the first rotary roller 1001 rotates and rolls, at least one of the second rotary roller 1002 and the third rotary roller 1003 is also rotating and rolling, and the direction of rotation and rolling is rotation and rolling along the M direction. If only one of the first rotary roller 1001, the second rotary roller 1002 or the third rotary roller 1003 is in a rotating and rolling state, it is difficult to effectively drive the cleaning device to move on the ground, thereby ensuring that the cleaning device is driven to move on the ground.

[0099] Optionally, the controller can control the first roller 1001 to rotate and roll along the M direction, and then control the second roller 1002 to rotate and roll along the M direction. At this time, the cleaning device can be driven to move on the ground, but the cleaning device does not necessarily move in a straight line.

[0100] Optionally, the controller can control the first roller 1001 to rotate and roll along the M direction, and then control the third roller 1003 to rotate and roll along the M direction. At this time, the cleaning device can be driven to move on the ground, but the cleaning device does not necessarily move in a straight line.

[0101] Preferably, when controlling the cleaning device to move in a straight line on the ground, the controller controls the first roller 1001, the second roller 1002 and the third roller 1003 to rotate and roll in the M direction. At this time, the cleaning device can be better controlled to move in a straight line on the ground, such as moving forward in the direction of the first roller 1001, or moving backward in the direction of the second roller 1002 or the third roller 1003. By setting the first roller 1001, the second roller 1002 and the third roller 1003 to have the same rotation and rolling directions, it can be ensured that the cleaning device can move in a stable straight line on the ground, thereby preventing slipping or displacement problems and improving the stability of the movement of the cleaning device.

[0102] In the distribution structure part of the rotary roller assembly 100 of the present solution, the first rotary roller 1001 is arranged to be located on one side of the second rotary roller 1002 and the third rotary roller 1003, and a first gap portion 101 is arranged between the first rotary roller 1001 and the second rotary roller 1002 and the third rotary roller 1003. The first gap portion 101 makes the first rotary roller 1001 and the second rotary roller 1002 and the third rotary roller 1003 separated from each other by a gap, so as to form an installation at different positions in the front-to-back direction, thereby realizing the first rotary roller 1001 to pre-clean the floor, and the second rotary roller 1002 and the third rotary roller 1003 to perform deep cleaning on the floor, so as to realize the step-by-step cleaning effect of the cleaning device on the floor through the rotary roller assembly 100; the second rotary roller 1002 and the third rotary roller 1003 are arranged to be in a parallel distribution structure and the second rotary roller 1001 is arranged to be in a parallel distribution structure and the second rotary roller 1002 and the third rotary roller 1003 are ... A second gap portion 102 is provided between the rotary roller 1002 and the third rotary roller 1003. The second gap portion 102 makes the second rotary roller 1002 and the third rotary roller 1003 form a separated structure, that is, a structure separated in the left and right horizontal directions; at least a part of the first rotary roller 1001 is arranged to be located in the area position corresponding to the second gap portion 102 on the device body 1 and extending toward the first rotary roller 1001, so that the cleaning device can make the first rotary roller 1001 perform compensatory cleaning treatment on the ground area position corresponding to the second gap portion 102 during the movement, such as when the cleaning device is moving forward or backward, the first rotary roller 1001 and the second rotary roller 1002 and the third rotary roller 1003 can form a compensatory cleaning effect, and can form a step-by-step deep cleaning effect.

[0103] In this scheme, it can be defined that the forward direction of the cleaning device during movement is the front side, such as the first rotary roller 1001 is located at the front position on the bottom of the device body 1, and the second rotary roller 1002 and the third rotary roller 1003 are located at the rear position on the bottom of the device body 1, that is, the first rotary roller 1001 is located in the front side position of the second rotary roller 1002 and the third rotary roller 1003.

[0104] Optionally, the first roller 1001 is configured as an independently movable structure, and a first driving component can be configured to independently drive the first roller 1001 to rotate and roll. The first driving component can include a motor, which drives the first roller 1001 to rotate and roll to clean the floor.

[0105] Optionally, a second drive assembly can be installed on the second gap portion 102 to independently drive the second roller 1002 to rotate and roll, and a third drive assembly can be installed on the second gap portion 102 to independently drive the third roller 1003 to rotate and roll.

[0106] The first rotary roller 1001 of the scheme is located on one side of the second rotary roller 1002 and the third rotary roller 1003, and constitutes the first gap portion 101 and the second gap portion 102 at the same time. The first gap portion 101 is used to realize the step-by-step cleaning effect of the rotary roller assembly 100 on the ground, and the second gap portion 102 is used to realize the structure of the second rotary roller 1002 and the second rotary roller 1002 being distributed in parallel, thereby improving the step-by-step cleaning effect of the rotary roller on the ground as a whole.

[0107] The structure of the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 of the present scheme can realize a better step-by-step cleaning effect of the cleaning device on the ground. Its position structure and step-by-step structure can realize effective step-by-step cleaning of the ground, realize the combined cleaning effect of pre-cleaning treatment and deep cleaning treatment, and enhance the cleaning treatment capacity of the ground.

[0108] At the same time, the first rotary roller 1001 of the present scheme can be used to compensate for the cleaning of the areas that cannot be cleaned by the second rotary roller 1002 and the third rotary roller 1003, that is, the first rotary roller 1001 performs compensatory cleaning on the ground area corresponding to the second gap portion 102. When the cleaning device moves backward on the ground, there is an area that cannot be cleaned in the area where the second rotary roller 1002 and the third rotary roller 1003 move on the ground, which is the ground area corresponding to the second gap portion 102. At this time, the first rotary roller 1001 can clean the ground area corresponding to the second gap portion 102, thereby preventing the cleaning device from missing any cleaning during the cleaning process of the ground, and ensuring that the cleaning device forms a complete cleaning area during the movement.

[0109] In order to achieve a better step-by-step deep cleaning effect of the cleaning device, the present solution may be to set the vertical distance of the first gap portion 101 to H1 and the horizontal distance of the second gap portion 102 to H2 and set H1 to be greater than H2, and the vertical direction is defined as a vertical direction from the first rotary roller 1001 toward the second rotary roller 1002, so that the distance between the first rotary roller 1001 and the second rotary roller 1002 and the third rotary roller 1003 along the first gap is greater than the distance between the second rotary roller 1002 and the third rotary roller 1003 along the second gap, so that the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 can achieve a better step-by-step deep cleaning treatment effect on the ground.

[0110] In order to achieve a better step-by-step deep cleaning effect of the cleaning device, the present solution can also be to set the vertical distance of the first gap portion 101 to H1 and the horizontal distance of the second gap portion 102 to H2 and set H1 to be more than twice of H2, and the vertical direction is defined as a vertical direction from the first rotary roller 1001 toward the second rotary roller 1002, so that the distance between the first rotary roller 1001 and the second rotary roller 1002 and the third rotary roller 1003 along the first gap is greater than the distance between the second rotary roller 1002 and the third rotary roller 1003 along the second gap, so that the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 can achieve a better step-by-step deep cleaning treatment effect on the ground.

[0111] The distance of the second gap portion 102 in the horizontal direction is mainly the distance between two sides of the second gap portion 102 in the horizontal direction, that is, the length of the second gap portion 102 .

[0112] The distance of the first gap portion 101 in the vertical direction is mainly the distance between two sides of the first gap portion 101 in the vertical direction, that is, the width of the first gap portion 101 .

[0113] In this solution, the horizontal distance L1 of the first rotary roller 1001 is set to be greater than or equal to the horizontal distance H2 of the second gap portion 102, so that during the movement of the cleaning device, the first rotary roller 1001 can effectively compensate for the cleaning of the ground area corresponding to the second gap portion 102 to prevent missed areas on the ground.

[0114] In this solution, the two side end faces of the second gap portion 102 are arranged to be located within the area extending toward the second gap portion 102 between the two side end faces of the first rotary roller 1001 and the corresponding area on the device main body 1, that is, the extension area of ​​the two side end faces of the second gap portion 102 in the vertical direction can be located between the two side end faces of the first rotary roller 1001 and the corresponding area on the device main body 1, so that during the movement of the cleaning device, the first rotary roller 1001 can effectively compensate for the cleaning of the ground area corresponding to the second gap portion 102 to prevent missed areas on the ground.

[0115] In the present solution, the side end surface position of the first rotary roller 1001 close to the second rotary roller 1002 is arranged to be located between the two side end surfaces of the second rotary roller 1002 and within the area position extending toward the first rotary roller 1001 at the corresponding area position on the device body 1, so that when the cleaning device moves on the ground, the first rotary roller 1001 and the second rotary roller 1002 can form a compensatory cleaning effect, and the area position between the first rotary roller 1001 and the outer side of the device body 1 cannot be cleaned by the first rotary roller 1001 but can be cleaned by the second rotary roller 1002, and the first rotary roller 1001 can effectively compensate for the cleaning of the ground area corresponding to the second gap part 102, and the area corresponding to the second gap part 102 on the ground cannot be cleaned by the second rotary roller 1002 but can be cleaned by the first rotary roller 1001, thereby realizing that the cleaning device can form a cleaning effect of a complete area on the ground during the movement, thereby preventing the problem of missed mopping. ; and / or, the side end surface position of the first rotary roller 1001 close to the third rotary roller 1003 is set to be located between the two side end surfaces of the third rotary roller 1003 and within the area position extending toward the first rotary roller 1001 at the corresponding area position on the device body 1, so that when the cleaning device moves on the ground, the first rotary roller 1001 and the third rotary roller 1003 can form a compensatory cleaning effect, the area position between the first rotary roller 1001 and the outer side of the device body 1 cannot be cleaned by the first rotary roller 1001 but can be cleaned by the third rotary roller 1003, and the first rotary roller 1001 can effectively compensate for the cleaning of the ground area corresponding to the second gap portion 102, and the area corresponding to the second gap portion 102 on the ground cannot be cleaned by the third rotary roller 1003 but can be cleaned by the first rotary roller 1001, thereby achieving the cleaning effect of a complete area on the ground during the movement of the cleaning device, thereby preventing the problem of missing mopping.

[0116] Optionally, the side end position of the first rotary roller 1001 close to the second rotary roller 1002 and the side end position of the second rotary roller 1002 away from the second gap portion 102 can be set to be aligned in the vertical direction, and the vertical direction is formed from the first rotary roller 1001 toward the second gap portion 102. In this way, both the first rotary roller 1001 and the second rotary roller 1002 can achieve better edge cleaning effects.

[0117] Optionally, the side end position of the first rotary roller 1001 close to the third rotary roller 1003 and the side end position of the third rotary roller 1003 away from the second gap portion 102 can be set to be aligned in the vertical direction, and the vertical direction is formed from the first rotary roller 1001 toward the second gap portion 102. In this way, both the first rotary roller 1001 and the third rotary roller 1003 can achieve better edge cleaning effects.

[0118] In order to better realize the roller assembly 100 to drive the cleaning device to move on the ground, the present solution sets the axis of rotation and rolling of the second roller 1002 and the axis of rotation and rolling of the third roller 1003 as the same axis in the horizontal direction, which is conducive to the second roller 1002 and the third roller 1003 being driven along the same axis, mainly for independently rotating and rolling along the same axis to jointly drive the cleaning device to move, and each cleaner rotates and rolls to jointly drive the cleaning device to move, which is conducive to improving the stability of the movement of the cleaning device, and is also conducive to controlling the cleaning device to turn and move, so that the friction force generated by the cleaners on the second roller 1002 and the cleaners on the third roller 1003 contacting the ground is located in the ground area position corresponding to the same axis, so as to jointly drive the ground cleaning device to move and walk, and under the guidance of the rotation and rolling of the first roller 1001, the second roller 1002 and the third roller 1003 are used to promote the ground cleaning device to move stably on the ground, so that the cleaning device can better cross obstacles during the movement on the ground, and has better obstacle crossing ability.

[0119] In order to better realize the roller assembly 100 to drive the cleaning device to move on the ground, the present solution sets the outer diameter of the second roller 1002 and / or the outer diameter of the third roller 1003 to be less than or equal to the outer diameter of the first roller 1001. By setting the outer diameter of the first roller 1001, that is, the diameter of the first roller 1001 is larger than the diameter of the second roller 1002 and / or the third roller 1003, the first roller 1001 can be used to better cross obstacles and improve the obstacle crossing ability of the cleaning device. The larger the diameter of the first roller 1001, the more conducive it is to cross obstacles on the ground. The first roller 1001 is located on the front side to better guide the cleaning device to move on the ground and improve the stability of the movement of the cleaning device.

[0120] Preferably, the outer diameter of the first roller 1001 is set to 1.1-1.5 times the outer diameter of the second roller 1001 and / or the third roller 1003. At this time, the first roller 1001 can better cross obstacles on the ground and can effectively guide the cleaning device to move stably on the ground.

[0121] In order to prevent the second roller 1002 or the third roller 1003 from colliding with an obstacle in the room when the cleaning device is moving on the ground, the present solution arranges the side end surface of the second roller 1002 away from the second gap portion 102 to be located within the side end surface of the device body 1 close to the second roller 1002, and / or the side end surface of the third roller 1003 away from the second gap portion 102 to be located within the side end surface of the device body 1 close to the third roller 1003, so that the second roller 1002 and the third roller 1003 are both covered within the outer end surface of the device body 1, thereby protecting the second roller 1002 and the third roller 1003, preventing the second roller 1002 and the third roller 1003 from directly contacting an obstacle and being damaged and failing due to collision, and at the same time, it is beneficial to improve the cleaning device to move on the ground to avoid obstacles and improve the stability and safety of the rotation and rolling of the second roller 1002 and the third roller 1003.

[0122] In order to achieve better cleaning of the wall, corner or obstacle edge by the cleaning device, in this solution, the distance from the side end face of the second rotary roller 1002 away from the second gap portion 102 to the side end face of the device body 1 close to the second rotary roller 1002 is K1, and K1 is set to be less than or equal to the outer diameter of the second rotary roller 1002 or K1 is less than or equal to 30 mm, so that the cleaning device can make the second rotary roller 1002 within the distance range of K1 to perform close-range cleaning of the wall, corner or obstacle edge during movement, thereby improving the cleaning effect of the edge position. Cleaning treatment effect; and / or, setting the distance from the side end face of the third roller 1003 away from the second gap portion 102 to the side end face of the third roller 1003 on the device body 1 to be K2 and setting K2 to be less than or equal to the outer diameter of the third roller 1003 or K2 to be less than or equal to 30 mm, so that the cleaning device can move so that the third roller 1003 can perform close-range edge cleaning treatment on the edge of the wall, corner or obstacle within the distance range of K2, thereby improving the cleaning treatment effect of the second roller 1002 and the third roller 1003 on the edge.

[0123] Preferably, K1 is less than or equal to 5-10 mm, so that the second rotary roller 1002 can be closely located to the edge to perform effective edge cleaning.

[0124] Preferably, K2 is less than or equal to 5-10 mm, so that the second rotary roller 1002 can be closely located to the edge to perform effective edge cleaning.

[0125] It can be seen that the position limitation of the second rotary roller 1002 and the third rotary roller 1003 can be used to effectively clean the edges of indoor walls, corners or obstacles, so that the cleaning device has a better edge cleaning effect.

[0126] With respect to the position distance distribution between the first roller 1001 and the second roller 1002 and the third roller 1003, the distance from the maximum outer diameter position on the first roller 1001 close to the outer portion of the second roller 1002 to the maximum outer diameter position on the second roller 1002 close to the outer portion of the first roller 1001 is greater than or equal to half of the maximum outer diameter value of the first roller 1001. It can be understood that the first roller 1001 is a cylindrical structure, and the maximum outer diameter position on the first roller 1001 close to the outer portion of the second roller 1002 is the maximum outer diameter position on the outer portion of the first roller 1001 close to the first gap portion 101, and the maximum outer diameter position is the maximum diameter position. The second roller 1002 is a cylindrical structure, and the maximum outer diameter position on the second roller 1002 close to the outer portion of the first roller 1001 is greater than or equal to half of the maximum outer diameter value of the first roller 1001. The outer diameter position is the maximum outer diameter position on the outer side of the second rotary roller 1002 close to the first gap portion 101, and the maximum outer diameter position is the maximum diameter position. By setting the distance from the maximum outer diameter position on the outer side of the first rotary roller 1001 close to the second rotary roller 1002 to the maximum outer diameter position on the outer side of the second rotary roller 1002 close to the first rotary roller 1001 to be greater than or equal to half of the maximum outer diameter value of the first rotary roller 1001, that is, greater than or equal to the maximum radius value of the first rotary roller 1001, it can be effectively ensured that a certain distance is formed between the first rotary roller 1001 and the second rotary roller 1002 to form a spaced distribution structure, and the spaced distribution structure at least forms a part of the first gap portion 101, forming a step-by-step cleaning effect of the rotary roller assembly 100 for pre-cleaning and deep cleaning of the floor.And / or, the distance from the maximum outer diameter position of the first roller 1001 near the outer side of the third roller 1003 to the maximum outer diameter position of the third roller 1003 near the outer side of the first roller 1001 is greater than or equal to half of the maximum outer diameter value of the first roller 1001. It can be understood that the first roller 1001 is a cylindrical structure, and the maximum outer diameter position of the first roller 1001 near the outer side of the third roller 1003 is the maximum outer diameter position of the first roller 1001 near the outer side of the first gap 101. The third roller 1003 is a cylindrical structure. The maximum outer diameter position of the third roller 1003 near the outer side of the first roller 1001 is the maximum outer diameter position of the third roller 1003 near the outer side of the first gap 101. The maximum outer diameter position is the maximum diameter position. By setting the maximum outer diameter position of the first roller 1001 near the outer side of the third roller 1003 to the maximum outer diameter position of the third roller 1003 near the outer side of the first roller 1001 to be greater than or equal to the maximum outer diameter position of the first roller 1001, the maximum outer diameter position is the maximum diameter position. 1 is greater than or equal to the maximum radius of the first rotary roller 1001, which can effectively ensure that a certain distance is formed between the first rotary roller 1001 and the third rotary roller 1003 to form a spaced distribution structure, and the spaced distribution structure at least forms a part of the first gap portion 101, forming a step-by-step cleaning effect of the rotary roller assembly 100 for pre-cleaning and deep cleaning of the floor; and / or, the distance H1 of the first gap portion 101 in the vertical direction is greater than or equal to half of the maximum outer diameter of the first rotary roller 1001, and the vertical direction is The first roller 1001 is positioned toward the second gap 102 to form a vertical direction, so that the distance H1 of the first gap 101 in the vertical direction is greater than or equal to the maximum radius of the first roller 1001, which can effectively ensure that a certain distance is formed between the first roller 1001 and the second roller 1002 and the third roller 1003 to form an interval distribution structure, and the interval distribution structure at least forms a part of the first gap 101, forming a step-by-step cleaning effect of the roller assembly 100 for pre-cleaning and deep cleaning of the floor. ;

[0127] The present solution is directed to the structural part for supplying clean water to the cleaner. A water storage part 103 for supplying clean water to the rotary roller assembly 100 is also provided on the device body 1. At least a portion of the water storage part 103 is located within the projection area of ​​the first rotary roller 1001 on the device body 1 in the vertical direction, and at least a portion of the water storage part 103 is located within the projection area of ​​the second rotary roller 1002 on the device body 1 in the vertical direction and / or within the projection area of ​​the third rotary roller 1003 on the device body 1 in the vertical direction. The structure of the water storage part 103 of the present solution is conducive to locating the center of gravity of the device body 1 between the first rotary roller 1001 and the second rotary roller 1002 or the third rotary roller 1003. The center of gravity of the device body 1 can be maintained between the first rotary roller 1001 and the second rotary roller 1002 or the third rotary roller 1003 during the process from when the water storage part 103 is filled with clean water to when the amount of clean water gradually decreases until it is empty. This is beneficial for the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 to be subjected to a relatively stable and balanced pressure. This can ensure that the friction generated by each cleaner contacting the ground during rotation and rolling is relatively stable, and prevent the problem of unstable friction generated by each cleaner due to large changes in the center of gravity position, thereby improving the stability of the cleaning device's autonomous movement on the ground.

[0128] Optionally, the water storage part 103 can be set as a water tank structure, and set as a detachable structure, so that the user can add clean water to the clean water tank for maintenance.

[0129] Optionally, a power module can be arranged between the clean water tank and the roller assembly 100. The power module can be set to a pump structure or a valve structure to supply the clean water in the water storage part 103 to the first roller 1001, the second roller 1002 and the third roller 1003 for cleaning. During the cleaning, sewage is formed on the first roller 1001, the second roller 1002 and the third roller 1003 for collection, so as to achieve the cleaning effect of the clean water on the first roller 1001, the second roller 1002 and the third roller 1003. After cleaning, the first roller 1001, the second roller 1002 and the third roller 1003 can continue to clean the ground.

[0130] In order to collect the sewage on the first roller 1001, the second roller 1002 and the third roller 1003, the present solution is further provided with a sewage portion 104 on the device body 1, and the sewage portion 104 is used to collect sewage. The sewage portion 104 can be set as a box structure, and can also be set as a detachable structure to facilitate the user to maintain the sewage portion 104 to dump sewage and clean and maintain the sewage portion 104. At least a part of the sewage portion 104 is located between the first roller 1001 and the second roller 1002 or the third roller 1003, and at least a part of the sewage portion 104 is located within the projection area of ​​the first gap portion 101 and / or the second gap portion 102 on the device body 1 in the vertical direction. The distribution structure of the sewage portion 104 is conducive to the collection of the first roller 1001, the second roller 1002 and the third roller 1003. The sewage on the three rollers 1003 is collected simultaneously, and the distribution of the sewage part 104 is conducive to positioning the center of gravity of the device body 1 between the first roller 1001, the second roller 1002 and the third roller 1003, so that the center of gravity of the device body 1 can be maintained between the first roller 1001, the second roller 1002 and the third roller 1003 during the process from the sewage part 104 being idle to gradually collecting sewage, which is conducive to making the first roller 1001, the second roller 1002 and the third roller 1003 bear a relatively stable and balanced pressure, thereby ensuring that the friction generated by each cleaner in contact with the ground during rotation and rolling is relatively stable, preventing the problem of unstable friction generated by each cleaner due to large changes in the center of gravity position, thereby improving the stability of the cleaning device's autonomous movement on the ground.

[0131] In this solution, at least a part of the sewage portion 104 is located in the projection area of ​​the first gap portion 101 on the device body 1 along the vertical direction and / or in the projection area of ​​the second gap portion 102 on the device body 1 along the vertical direction, which is conducive to effectively distributing the sewage portion 104 and thus increasing the volume of the sewage portion 104. The definition of the vertical direction is mainly to form a vertical projection from the bottom of the device body 1 toward the top of the device body 1. The first gap portion 101 and the second gap portion 102 can form corresponding projection areas on the device body 1, while realizing the device body 1. The center of gravity can be distributed close to the first gap portion 101, that is, the center of gravity can be stabilized in the area between the first rotary roller 1001 and the second rotary roller 1002 and the third rotary roller 1003, ensuring that the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 are subjected to relatively stable and balanced pressure, which is beneficial for the cleaners fixed on the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 to stably contact the ground to generate friction, thereby achieving stable cleaning of the ground, and at the same time effectively ensuring the stable movement of the cleaning device and improving the stability of the movement of the cleaning device.

[0132] In order to effectively collect the sewage on the first roller 1001, the second roller 1002 and the third roller 1003, a sewage collecting component 105 is arranged in the device body 1, and the sewage collecting component 105 is connected with the sewage part 104 to collect sewage. At least a part of the sewage collecting component 105 is arranged to be in contact with the first roller 1001 to squeeze out the sewage and to be in contact with the second roller 1002 and / or the third roller 1003 to squeeze out the sewage, so that the sewage can flow into the sewage part 104 under the guidance of the sewage collecting component 105 to be collected.

[0133] Among them, the pollution collecting component 105 is mainly located in the area corresponding to the first gap part 101 on the device body 1, so that the pollution collecting component 105 can squeeze out the sewage from the first roller 1001, the second roller 1002 or the third roller 1003, thereby realizing the collection of sewage. The water storage part 103 mainly supplies clean water to the first roller 1001, the second roller 1002 and the third roller 1003 for real-time cleaning, mainly for cleaning each cleaner, and sewage is formed during cleaning, and the sewage is further collected in real time through the pollution collecting component 105.

[0134] Optionally, a sewage collecting component 105 is disposed at the top position or the lower side of the center position of the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 to achieve collection of sewage under gravity, thereby improving the effect of sewage collection.

[0135] Among them, a sewage collecting component 105 can be set up to include a sewage collecting channel, and the sewage collecting channel can achieve the effect of guiding and collecting sewage. The sewage collecting channel is connected with the sewage part 104, and the sewage collecting channel realizes that the first rotary roller 1001, the second rotary roller 1002 or the third rotary roller 1003 is connected with the sewage collecting channel to guide the sewage into the sewage collecting channel, thereby achieving the effect of collecting sewage.

[0136] Specifically, a dirt collecting component 105 can be provided to include a first dirt scraper, which is located on one side of the first rotary roller 1001. The first dirt scraper is mainly located on one side of the first rotary roller 1001 close to the first gap portion 101, one end of the first dirt scraper is provided to be in contact with the first rotary roller 1001, and the other end of the first dirt scraper is provided to be connected to the dirt collecting channel, so that one end of the first dirt scraper forms a structural effect of squeezing out the sewage on the outer surface of the first rotary roller 1001 to perform squeezing, scraping and cleaning of the first rotary roller 1001, so that after the sewage on the first rotary roller 1001 is squeezed out by the first dirt scraper, the sewage enters the sewage collecting channel along the first dirt scraper and enters the sewage portion 104 through the sewage collecting channel to achieve a centralized collection effect of the sewage on the first rotary roller 1001; the dirt collecting component 105 can also be provided to include a second dirt scraper, which is located on the second rotary roller 100 2 and one side of the third rotary roller 1003, the second scraper is mainly located on the side of the second rotary roller 1002 and the third rotary roller 1003 close to the first gap portion 101, one end of the second scraper is set to a structure in contact with the second rotary roller 1002 and / or the third rotary roller 1003, and the other end of the second scraper is set to a structure connected to the sewage collecting channel, so that one end of the second scraper forms a structural effect of squeezing out sewage from the outer surface of the second rotary roller 1002 and / or the third rotary roller 1003 to squeeze, scrape and clean the second rotary roller 1002 and / or the third rotary roller 1003, so that after the sewage on the second rotary roller 1002 and / or the third rotary roller 1003 is squeezed out by the second scraper, the sewage enters the sewage collecting channel along the second scraper and enters the sewage portion 104 through the sewage collecting channel to achieve a centralized collection effect of the sewage on the second rotary roller 1002 and / or the third rotary roller 1003.

[0137] Optionally, the first scraper is configured as a structure that gradually tilts from high to low toward the first gap portion 101 to achieve centralized guidance and collection of sewage, which is beneficial for the sewage to enter the sewage portion 104 for collection under the action of gravity.

[0138] Optionally, the second scraper is configured as a structure that gradually tilts from high to low toward the first gap portion 101 to achieve centralized guidance and collection of sewage, which is beneficial for the sewage to enter the sewage portion 104 for collection under the action of gravity.

[0139] Optionally, at least a portion of the sewage portion 104 is located at the top position or the lower side of the center position of the first roller 1001, the second roller 1002 and the third roller 1003 to guide the sewage into the sewage collecting channel under gravity, thereby improving the sewage collection effect.

[0140] In order to further improve the convenience and stability of the cleaning device moving on the ground, the roller assembly 100 of the present invention also includes a fourth roller 1004, and the fourth roller 1004 is configured to be able to rotate and roll horizontally relative to the ground. A cleaner is installed on the fourth roller 1004, and the fourth roller 1004 drives the cleaner to rotate and roll synchronously. The cleaner on the fourth roller 1004 contacts the ground to generate friction to clean the ground while driving the cleaning device to move. The fourth roller 1004 is located on the side of the second roller 1002 and the third roller 1003 away from the first roller 1001, and a third gap portion 106 is provided between the fourth roller 1004 and the second roller 1002 and the third roller 1003, which can It can be understood that the fourth roller 1004 is located at the rear side of the second roller 1002 and the third roller 1003 and is installed on the bottom of the device body 1. By providing a third gap portion 106 between the fourth roller 1004 and the second roller 1002 and the third roller 1003 to separate the third rollers, not only a better distributed deep cleaning effect of the ground can be achieved, but also the cleaning device can move toward the rear side on the ground, and can quickly move toward the rear side on the ground, such as moving backward. At the same time, when the cleaning device moves toward the front side, it is easier to cross obstacles on the ground with the help of the fourth roller 1004, thereby improving the obstacle-crossing ability of the cleaning device.

[0141] Optionally, a fourth driving component may be provided to independently drive the fourth roller 1004 to perform an independent rotational rolling motion structure. The fourth driving component may include a motor, and the motor drives the first roller 1001 to rotate and roll.

[0142] Optionally, the fourth rotating roller 1004 is configured as a cylindrical structure, and a cleaner is installed on the fourth rotating roller 1004 to enable the cleaner to contact the ground and rotate and roll to generate friction.

[0143] Optionally, the horizontal length of the fourth roller 1004 can be set to be greater than the horizontal length of the second gap, so that the fourth roller 1004 can compensate for the cleaning effect of the ground area corresponding to the second gap to prevent the problem of missing mopping on the ground.

[0144] Optionally, the position distribution of the fourth roller 1004 can be a structure that is symmetrically distributed relative to the second roller 1002 and the third roller 1003, or a structure that is symmetrically distributed with respect to the rotational rolling axis of the second roller 1002 and / or the third roller 1003 and the first roller 1001, which is conducive to the cleaning device moving on the ground in the direction of the first roller 1001.

[0145] The cleaning device of the present solution moves on the ground to clean the ground. By controlling the motion state of the rotary roller assembly 100, the cleaning device can be controlled to move in a straight line or in a turning direction. Specifically, the rotational rolling speed and rotational rolling direction of the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 can be controlled to achieve stable and autonomous movement of the cleaning device on the ground.

[0146] The control method of the cleaning device includes the cleaning device as described above, and also includes the following control method:

[0147] The controller is configured to control the first roller 1001, the second roller 1002 or the third roller 1003 to rotate and roll, and the controller is mainly electrically connected to the first drive component, the second drive component and the third drive component, so that the controller controls the first drive component to independently drive the first roller 1001 to rotate and roll independently, the second drive component to independently drive the second roller 1002 to rotate and roll independently, and the third drive component to independently drive the third roller 1003 to rotate and roll independently;

[0148] According to the movement mode of the cleaning device, the first roller 1001 is controlled to rotate and roll, and the second roller 1002 or the third roller 1003 is controlled to rotate and roll so that each rotating and rolling cleaner contacts the ground to drive the cleaning device to move on the ground.

[0149] Specifically, in the method of controlling the rotary roller assembly 100 by the controller to drive the cleaning device to move on the ground, at least the controller controls the first rotary roller 1001 to rotate and roll while controlling the second rotary roller 1002 or the third rotary roller 1003 to rotate and roll to drive the cleaning device to move on the ground; if the first rotary roller 1001 and the second rotary roller 1002 are both in a rotating and rolling state, the cleaning device can be driven to move on the ground, and the rotation and rolling directions of the first rotary roller 1001 and the second rotary roller 1002 can be rotated and rolled in the same direction; if the first rotary roller 1001 and the third rotary roller 1003 are both in a rotating and rolling state, the cleaning device can be driven to move on the ground The first roller 1001 and the third roller 1003 are in a state of rotation and rolling, and the rotation and rolling directions of the first roller 1001 and the third roller 1003 can be in the same direction; at this time, the cleaning device can be controlled to move in a straight line on the ground; if the first roller 1001, the second roller 1002 and the third roller 1003 are all in a state of rotation and rolling, the cleaning device can be driven to move on the ground, and the rotation and rolling directions of the first roller 1001, the second roller 1002 and the third roller 1003 can be in the same direction; if it is forward movement, or backward movement, or left turn or right turn movement, the cleaning device can be driven to move on the ground through the roller assembly 100.

[0150] The cleaning device of the present scheme is based on the first rotary roller 1001, the second rotary roller 1002 and the third rotary roller 1003 to realize the movement of the cleaning device on the ground. The linear movement structure of the cleaning device at least includes controlling the first rotary roller 1001 to have the same rotation and rolling direction as the second rotary roller 1002 and the third rotary roller 1003, so as to realize the linear movement effect of the cleaning device. For example, if the cleaning device moves toward the direction of the first rotary roller 1001, it moves forward toward the front direction. If the cleaning device moves toward the direction of the second rotary roller 1002, it moves backward toward the rear direction.

[0151] In the control method, the cleaning device controls at least one of the first roller 1001, the second roller 1002 or the third roller 1003 to change the rotational rolling speed or the rotational rolling direction based on the detection information of the obstacle during the movement so that the cleaning device can move away from the obstacle or turn and move along the edge of the obstacle. An infrared detection module can be set to detect the obstacle, or a laser detection module can be set to detect the obstacle, or a visual detection module can be set to detect the obstacle. Based on the detection information of the obstacle, it is determined whether the motion state of the roller assembly 100 needs to be adjusted in time. Specifically, the controller can control at least one of the first roller 1001, the second roller 1002 or the third roller 1003 to change the rotational rolling speed or the rotational rolling direction so that the cleaning device can move away from the obstacle or turn and move along the edge of the obstacle during the movement.

[0152] Specifically, walking away from an obstacle may be moving backward relative to the obstacle, and turning along the edge of the obstacle may be turning left along the edge of the obstacle to move or turning right along the edge of the obstacle to move.

[0153] When the cleaning device moves on the ground and an abnormality occurs due to the ground environment, the abnormality can be detected and judged according to the motion state of the first rotating roller 1001, and timely control can be performed based on the abnormal state so that the cleaning device can get rid of the abnormality and enter a normal moving walking state. Specifically, there are the following ways:

[0154] The first method is that when the motion state of the first rotary roller 1001 is abnormal, the controller controls the rotation and rolling speed of the second rotary roller 1002 to increase and / or controls the rotation and rolling speed of the third rotary roller 1003 to increase, and the second rotary roller 1002 and / or the third rotary roller 1003 are increased by increasing the rotation and rolling speed of the second rotary roller 1002 and / or the third rotary roller 1003 to drive the cleaning device to move. For example, if the cleaning device moves toward the direction of the first rotary roller 1001, the thrust of the movement is increased. If the cleaning device moves toward the direction of the second rotary roller 1002, the thrust of the movement is increased. The movement is to increase the driving force of the movement, so as to achieve greater power to drive the cleaning device to move, and to lift the cleaning device to avoid abnormalities; at this time, the rotation and rolling directions of the first roller 1001 and the second roller 1002 and / or the third roller 1003 can be set to rotate and roll in the same direction, and the corresponding cleaning device can move in a straight line toward the front direction, that is, move in a straight line toward the first roller 1001, and the corresponding cleaning device can also move in a straight line toward the rear direction, that is, move in a straight line toward the second roller 1002.

[0155] The second method is that when the motion state of the first roller 1001 is abnormal, the controller controls the rotation and rolling speed of the second roller 1002 to increase and controls the rotation and rolling direction of the second roller 1002 to switch to the opposite direction and / or controls the rotation and rolling speed of the third roller 1003 to increase and controls the rotation and rolling direction of the third roller 1003 to switch to the opposite direction, and the second roller 1002 and / or the third roller 1003 are realized by increasing the rotation and rolling speed of the second roller 1002 and / or the third roller 1003. The power to drive the cleaning device to move is obtained by switching the rolling direction of the second roller 1002 and / or the third roller 1003 to the opposite direction to drive the cleaning device out of the abnormal state from the opposite direction of the cleaning device; if the cleaning device moves toward the direction of the first roller 1001, the second roller 1002 and / or the third roller 1003 is controlled to increase the speed of rotation and switch the direction of rotation to the opposite direction so that the second roller 1002 and / or the third roller 1003 increase the power to move toward The first roller 1001 is driven toward the second roller 1002 to get out of the abnormal state, thereby driving the cleaning device out of the abnormal state. At this time, the rotation and rolling directions of the first roller 1001 and the second roller 1002 and / or the third roller 1003 can be set to rotate and roll in opposite directions to drive the first roller 1001 out of the abnormal state toward the second roller 1002; if the cleaning device moves toward the second roller 1002, it is achieved by controlling the rotation of the second roller 1002 and / or the third roller 1003. The rolling speed is increased and the rolling direction is switched to the opposite direction so that the second roller 1002 and / or the third roller 1003 can increase the power toward the first roller 1001 to drive the first roller 1001 out of the abnormality, thereby driving the cleaning device out of the abnormality. At this time, the rotation and rolling directions of the first roller 1001 and the second roller 1002 and / or the third roller 1003 can be set to rotate and roll in the opposite direction to drive the first roller 1001 out of the abnormal state.

[0156] In order to detect and judge whether the motion state of the first rotating roller 1001 is abnormal, a detection module is mainly set to detect the motion state of the first rotating roller 1001. The detection module can be set to an infrared sensor, a Hall sensor, or a displacement sensor to detect the motion state of the first rotating roller 1001. There are mainly the following ways:

[0157] The first method is that when it is detected that the first roller 1001 is in the current position and continuously rotates and rolls and the cleaning device has not moved, the controller determines that the motion state of the first roller 1001 is abnormal. At this time, the first roller 1001 is in a rotating and rolling state and has not driven the cleaning device to move on the ground. At this time, it can be determined that the first roller 1001 is in an abnormal state, such as the first roller 1001 falls into a pit or cliff on the ground, or the first roller 1001 is trapped in the current position but not stuck. By determining that the first roller 1001 is in an abnormal state, the motion state of the first roller 1001, the second roller 1002 or the third roller 1003 is controlled to make the first roller 1001 out of the abnormal state.

[0158] And / or, the second way is that when it is detected that the first roller 1001 is located at the current position and continuously rotates and rolls and the first roller 1001 is displaced in the vertical direction, the controller determines that the motion state of the first roller 1001 is abnormal. At this time, the first roller 1001 is in a rotating and rolling state and is displaced in the vertical direction. At this time, it can be determined that the first roller 1001 is in an abnormal state, such as the first roller 1001 falls into a pit or cliff on the ground, causing the position of the first roller 1001 to drop, or the first roller 1001 is trapped in the current raised obstacle position but is not stuck, causing the first roller 1001 to be lifted up and displaced in the vertical direction. By determining that the first roller 1001 is in an abnormal state, the motion state of the first roller 1001, the second roller 1002 or the third roller 1003 is controlled to make the first roller 1001 out of the abnormal state.

[0159] And / or, the third method is that when it is detected that the current threshold B of the first driving component that drives the first roller 1001 to rotate and roll is greater than the rated current threshold A, the controller determines that the movement state of the first roller 1001 is abnormal. At this time, the first roller 1001 is in a state of rotation and rolling, but the load driving the first roller 1001 increases, that is, the use current threshold B of the first driving component is greater than the rated current threshold A, corresponding to the first roller 1001 may be stuck by foreign objects such as wires but not completely stuck, so that the current driving the first roller 1001 to rotate and roll increases. It can be judged that the first roller 1001 is in an abnormal state to control the movement state of the first roller 1001, the second roller 1002 or the third roller 1003 to make the first roller 1001 out of the abnormality.

[0160] In response to detecting that the first roller 1001 is in an abnormal state, the above-mentioned control method can be promptly controlled based on the abnormal state so that the cleaning device can get rid of the abnormality and enter a normal moving walking state. The rotational rolling speed or rotational rolling direction of the first roller 1001, the second roller 1002 or the third roller 1003 is mainly controlled to enable the first roller 1001 to get rid of the abnormality.

[0161] Regarding the control method for controlling the turning movement of the cleaning device on the ground, the method for controlling the movement state of the rotary roller assembly 100 to control the left or right turning movement of the cleaning device on the ground is mainly implemented by the following control method.

[0162] The method for controlling the cleaning device to turn and move on the ground can be that when the controller controls the cleaning device to turn and move, it at least includes controlling the second roller 1002 to increase its rotation and rolling speed or controlling the third roller 1003 to increase its rotation and rolling speed. When the cleaning device moves linearly on the ground, the first roller 1001 has the same rotation and rolling direction as the second roller 1002 and the third roller 1003, so that the combined force direction of the friction generated by each cleaning device is the same, so that the cleaning device is driven to move linearly on the ground. When it is necessary to control the cleaning device to turn, the second roller 1002 can be controlled to rotate. As the rotational rolling speed increases, the friction force generated by the cleaner on the second roller 1002 increases, thereby pushing the cleaning device to turn toward the area between the first roller 1001 and the third roller 1003. When the cleaning device needs to be turned, the rotational rolling speed of the third roller 1003 can be controlled to increase, thereby increasing the friction force generated by the cleaner on the third roller 1003, thereby pushing the cleaning device to turn toward the area between the first roller 1001 and the second roller 1002. The cleaning device can be driven to turn.

[0163] The method for controlling the cleaning device to turn and move on the ground may be that when the controller controls the cleaning device to turn and move, it at least includes controlling the rotation and rolling speed of the second roller 1002 to increase and controlling the rotation and rolling speed of the third roller 1003 to decrease, or controlling the rotation and rolling speed of the third roller 1003 to increase and controlling the rotation and rolling speed of the second roller 1002 to decrease. When the cleaning device moves in a straight line on the ground, the first roller 1001 has the same rotation and rolling direction as the second roller 1002 and the third roller 1003, so that the combined force direction of the friction generated by each cleaning device is the same, so as to drive the cleaning device to move in a straight line on the ground. When it is necessary to control the cleaning device to turn, the rotation and rolling speed of the second roller 1002 can be controlled to increase and the rotation and rolling speed of the third roller 1003 can be controlled to increase. The speed is reduced, at this time, the friction force generated by the cleaner on the second roller 1002 is increased and the friction force generated by the cleaner on the third roller 1003 is reduced, so as to push the cleaning device to turn and move in the direction of the area between the first roller 1001 and the third roller 1003; when it is necessary to control the steering of the cleaning device, the rotation and rolling speed of the third roller 1003 can be controlled to increase and the rotation and rolling speed of the second roller 1002 can be controlled to decrease, at this time, the friction force generated by the cleaner on the third roller 1003 is increased and the friction force generated by the cleaner on the second roller 1002 is reduced, so as to push the cleaning device to turn and move in the direction of the area between the first roller 1001 and the second roller 1002; the cleaning device can be driven to turn and move.

[0164] The method for controlling the cleaning device to turn and move on the ground can also be that when the controller controls the cleaning device to turn and move, it at least includes controlling the rotation and rolling direction of the second roller 1002 to switch to the opposite direction or controlling the rotation and rolling direction of the third roller 1003 to switch to the opposite direction; when the cleaning device moves in a straight line on the ground, the rotation and rolling directions of the first roller 1001, the second roller 1002 and the third roller 1003 are the same, so that the combined force direction of the friction generated by each cleaner is the same, and the cleaning device is driven to move in a straight line on the ground. When it is necessary to control the cleaning device to turn, the rotation and rolling direction of the second roller 1002 can be controlled to switch to the opposite direction so that the direction of the friction generated by the cleaner on the second roller 1002 contacting the ground becomes the opposite direction, so as to form a resistance in the opposite direction of the current moving direction of the cleaning device to block the cleaning device. When the cleaning device moves in the current direction, the first roller 1001 and the third roller 1003 do not switch the rotation and rolling directions, so that the cleaning device will turn and move in the direction of the area between the first roller 1001 and the second roller 1002; when it is necessary to control the cleaning device to turn, the rotation and rolling direction of the third roller 1003 can be controlled to switch to the opposite direction, so that the direction of the friction force generated by the cleaner on the third roller 1003 contacting the ground becomes the opposite direction, so as to form a resistance in the opposite direction of the current moving direction of the cleaning device to block the cleaning device from moving in the current direction. At this time, when the first roller 1001 and the second roller 1002 do not switch the rotation and rolling directions, the cleaning device will turn and move in the direction of the area between the first roller 1001 and the third roller 1003; the cleaning device can be driven to turn and move.

[0165] The method for controlling the cleaning device to turn and move on the ground can also be that when the controller controls the cleaning device to turn and move, it at least includes controlling the rotation and rolling direction of the second roller 1002 to switch to the opposite direction and controlling the rotation and rolling direction of the first roller 1001 to switch to the opposite direction, or controlling the rotation and rolling direction of the third roller 1003 to switch to the opposite direction and controlling the rotation and rolling direction of the first roller 1001 to switch to the opposite direction. When the cleaning device moves straight on the ground, the rotation and rolling directions of the first roller 1001, the second roller 1002 and the third roller 1003 are the same, so that the directions of the resultant forces of the frictional forces generated by the cleaning devices are the same, so as to drive the cleaning device to move straight on the ground. When it is necessary to control the cleaning device to turn, the rotation and rolling directions of the second roller 1002 can be controlled to switch to the opposite direction and the rotation and rolling direction of the first roller 1001 can be controlled to switch to the opposite direction so that the directions of the frictional forces generated by the cleaning devices on the second roller 1002 contacting the ground become opposite directions and the directions of the frictional forces generated by the cleaning devices on the first roller 1001 contacting the ground become opposite directions and the directions of the frictional forces generated by the cleaning devices on the second roller 1002 contacting the ground become opposite directions and the directions of the frictional forces generated by the frictional forces on the first roller 1001 contacting the ground become opposite directions and the directions of the frictional forces on the second roller 1002 and the third roller 1003 are opposite. When the cleaning device 1001 contacts the ground, the direction of the friction force generated by the cleaning device 1001 contacts the ground becomes the opposite direction. At this time, when the first roller 1001 and the second roller 1002 are switched to rolling and rotating in opposite directions, the cleaning device will turn and move toward the direction of the area between the first roller 1001 and the second roller 1002; when it is necessary to control the cleaning device to turn, the rotation and rolling direction of the third roller 1003 can be controlled to switch to the opposite direction, and the rotation and rolling direction of the first roller 1001 can be controlled to switch to the opposite direction, so that the direction of the friction force generated by the cleaning device 1003 contacting the ground becomes the opposite direction, and the direction of the friction force generated by the cleaning device 1001 contacting the ground becomes the opposite direction. At this time, when the first roller 1001 and the third roller 1003 are switched to rolling and rotating in opposite directions, the cleaning device will turn and move toward the direction of the area between the first roller 1001 and the third roller 1003; the cleaning device can be driven to turn and move.

[0166] The method for controlling the cleaning device to turn and move on the ground can also be that when the controller controls the cleaning device to turn and move, it also includes controlling the rotation and rolling speed of the first roller 1001 to decrease. By controlling the rotation and rolling speed of the first roller 1001 to decrease, the speed of the cleaning device movement is reduced, and at the same time, the friction generated by the cleaner on the first roller 1001 contacting the ground is reduced, further reducing the resistance of the cleaning device to turn and move, which is conducive to further adjusting the rotation and rolling speed or rotation and rolling direction of the second roller 1002 or the third roller 1003 to enable the cleaning device to turn and move effectively, prevent the cleaning device from colliding with obstacles or prevent the cleaning device from requiring greater power to turn and move effectively, so as to control the cleaning device to turn and move quickly in time.

[0167] The method for controlling the cleaning device to turn and move on the ground can also be that when the controller controls the cleaning device to turn and move, it also includes controlling the rotation and rolling speed of the first roller 1001 to decrease and making the rotation and rolling speed of the first roller 1001 lower than the rotation and rolling speed of the second roller 1002 or lower than the rotation and rolling speed of the third roller 1003. By controlling the rotation and rolling speed of the first roller 1001 to decrease, the speed of the cleaning device is reduced, and at the same time, the friction force generated by the cleaning device on the first roller 1001 contacting the ground is reduced, and by controlling the rotation and rolling speed of the first roller 1001 to be lower than the rotation and rolling speed of the second roller The rotational rolling speed of roller 1002 or lower than the rotational rolling speed of the third roller 1003 makes it easier to make the cleaning device effectively turn based on adjusting the rotational rolling speed or rotational rolling direction of the second roller 1002 or the third roller 1003, so that the friction generated by the cleaner on the first roller 1001 contacting the ground is reduced, thereby reducing the speed of the cleaning device, further reducing the resistance to the turning movement of the cleaning device, preventing the cleaning device from colliding with obstacles or preventing the cleaning device from requiring greater power to effectively turn, so as to control the cleaning device to turn quickly in time.

[0168] The above schemes can realize effective turning movement of the cleaning device, such as left turning movement or right turning movement, so that the idle cleaning device can turn in time to prevent the cleaning device from colliding with obstacles, and at the same time it is beneficial to adjust the cleaning device to perform effective edge cleaning along the edge position of the obstacle.

[0169] Working principle: The cleaning device of this scheme mainly moves on the ground by itself to achieve the cleaning treatment of the ground. The cleaning device is provided with a rotary roller assembly 100. The rotary roller assembly 100 can not only realize the driving of the cleaning device to move and walk on the ground autonomously, but also realize the cleaning treatment of the dirt on the ground; specifically, the rotary roller assembly 100 mainly includes a first rotary roller 1001, a second rotary roller 1002 and a third rotary roller 1003 to realize the driving of the cleaning device to move on the ground. The fixed cleaner contacts the ground to form friction during the rotation and rolling to drive the cleaning device to move and walk, so that the cleaning device does not need to be provided with a driving wheel structure, and the overall structure is simple. At the same time, the cleaner contacts the ground to achieve the cleaning treatment effect on the ground; at the same time, the structure of the rotary roller assembly 100 can realize the step-by-step deep cleaning treatment of the ground. The cleaning device 1002 and the third roller 1003 can realize effective cleaning of the edges of walls, corners or obstacles, and the scheme can realize effective centralized collection of sewage generated by the roller assembly 100 in the process of cleaning the ground, which can effectively prevent the secondary pollution of the ground by sewage. The moving walking method of the cleaning device of the scheme can effectively realize turning movement or straight line movement by controlling the movement of the roller assembly 100, so that the cleaning device can move stably according to the planned path, and can effectively move away from the obstacle or turn along the edge of the obstacle based on the detection information of the obstacle, thereby improving the stability and reliability of the movement of the intelligent cleaning device and improving the movement to avoid obstacles better.

[0170] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made in form and detail without departing from the spirit and scope of the present invention, all of which are within the protection scope of the present invention.

Claims

1. A cleaning device, comprising a device body, characterized in that: A rotary roller assembly is installed on the device body for cleaning the ground, and the rotary roller assembly is also used to drive the cleaning device to move on the ground; The rotary roller assembly is installed at the bottom of the device body; The rotary roller assembly includes a first rotary roller, a second rotary roller and a third rotary roller which can respectively fix the cleaner, and the first rotary roller, the second rotary roller and the third rotary roller are all configured to be capable of rotating and rolling relative to the ground; The first roller is arranged at the front side, the second roller and the third roller are arranged in a parallel distribution structure, a second gap portion is arranged between the second roller and the third roller, and the outer diameter of the second roller and / or the outer diameter of the third roller is arranged to be less than or equal to the outer diameter of the first roller, and the outer diameter value of the first roller is arranged to be 1.1-1.5 times the outer diameter value of the second roller and / or the third roller, so as to form a structure in which the first roller guides the cleaning device at the front side so that the cleaning device can better cross obstacles when moving on the ground; A controller is also arranged in the device body. When the controller controls the first rotary roller to rotate and controls at least one of the second rotary roller and the third rotary roller to rotate, the rotating and rolling cleaners can drive the cleaning device to move on the ground. The device body is also provided with a water storage part for supplying clean water to the tumble assembly and a sewage part for collecting sewage; At least a portion of the water storage part is located within the projection area of ​​the first rotating roller on the device body in the vertical direction, and at least a portion of the water storage part is located within the projection area of ​​the second rotating roller on the device body in the vertical direction and within the projection area of ​​the third rotating roller on the device body in the vertical direction, so that when the water storage part is full of clean water and the amount of clean water gradually decreases until it is empty, the center of gravity of the device body can be maintained between the first rotating roller and the second rotating roller or the third rotating roller, so that the first rotating roller, the second rotating roller and the third rotating roller can withstand stable and balanced pressure, so that the friction generated by each cleaner contacting the ground during rotation and rolling is stable; At least a portion of the sewage portion is located between the first roller and the second roller or the third roller and at least a portion of the sewage portion is located within the projection area of ​​the first gap portion and the second gap portion on the device body in the vertical direction, so that the center of gravity of the device body is located between the first roller and the second roller and the third roller, and the sewage portion is configured so that the center of gravity of the device body can be maintained between the first roller and the second roller and the third roller during the process from being idle to gradually collecting sewage, thereby allowing the first roller, the second roller and the third roller to withstand stable and balanced pressure.

2. The cleaning device according to claim 1, characterized in that: A driver is also provided in the device body, the controller is electrically connected to the driver, and the driver comprises at least a second driving component connected to the second roller and a third driving component connected to the third roller, so that the second roller and the third roller form a structure that can rotate and roll independently of each other.

3. The cleaning device according to claim 2, characterized in that: A threshold value Q is set in the controller, and the threshold value Q at least includes controlling the second roller or the third roller to rotate and roll along the M direction when the first roller is controlled to rotate and roll along the M direction.

4. The cleaning device according to claim 1, 2 or 3, characterized in that: The first rotary roller is arranged to be located at one side of the second rotary roller and the third rotary roller, and a first gap portion is arranged between the first rotary roller and the second rotary roller and the third rotary roller; At least a portion of the first rolling element is arranged to be located within a region corresponding to a region on the device body of the second gap portion extending toward the direction of the first rolling element.

5. The cleaning device according to claim 4, characterized in that: The vertical distance of the first gap is set to H1 and the horizontal distance of the second gap is set to H2, and H1 is set to be greater than H2, and H1 is set to be more than twice of H2; Or, the distance L1 of the first roller in the horizontal direction is set to be greater than or equal to the distance H2 of the second gap in the horizontal direction; Alternatively, the positions of the two side end surfaces of the second gap portion are located within the area position extending toward the second gap portion at the corresponding area position on the device body between the two side end surfaces of the first roller.

6. The cleaning device according to claim 4, characterized in that: The side end surface of the first rotary roller close to the second rotary roller is arranged to be located between the two side end surfaces of the second rotary roller and within the area extending toward the first rotary roller at the corresponding area on the device body; and / or; The side end surface position of the first rotating roller close to the third rotating roller is set to be located between the two side end surfaces of the third rotating roller and within the area position extending toward the first rotating roller at the corresponding area position on the device body.

7. The cleaning device according to claim 1, 5 or 6, characterized in that: The axis of rotation of the second roller and the axis of rotation of the third roller are set to be the same axis in the horizontal direction.

8. The cleaning device according to claim 4, characterized in that: The side end surface position of the second roller away from the second gap portion is located within the side end surface of the device body close to the second roller, and / or the side end surface position of the third roller away from the second gap portion is located within the side end surface of the device body close to the third roller.

9. The cleaning device according to claim 8, characterized in that: The distance between the end surface of the second roller away from the second gap and the side end surface of the device body close to the second roller is set to K1, and K1 is set to be less than or equal to the outer diameter of the second roller or K1 is less than or equal to 30 mm; and / or, The distance from the end face of the third roller away from the second gap to the side end face of the device body close to the third roller is set to K2, and K2 is set to be less than or equal to the outer diameter of the third roller or K2 is less than or equal to 30 mm.

10. The cleaning device according to claim 4, characterized in that: The distance between the maximum outer diameter position of the first roller close to the outer side of the second roller and the maximum outer diameter position of the second roller close to the outer side of the first roller is greater than or equal to half of the maximum outer diameter value of the first roller; and / or, the distance from the maximum outer diameter position on the first roller close to the outer side of the third roller to the maximum outer diameter position on the third roller close to the outer side of the first roller is greater than or equal to half of the maximum outer diameter value of the first roller; And / or, a distance H1 of the first gap portion in the vertical direction is greater than or equal to half of the maximum outer diameter of the first roller.

11. The cleaning device according to claim 4, characterized in that: A sewage collecting component is arranged in the main body of the device, and the sewage collecting component is connected with the sewage part for collecting sewage. At least a part of the sewage collecting component is arranged to contact with the first roller to squeeze out the sewage structure and to contact with the second roller and / or the third roller to squeeze out the sewage structure.

12. The cleaning device according to claim 4, characterized in that: The roller assembly further includes a fourth roller, which is located on one side of the second roller and the third roller away from the first roller, and a third gap is provided between the fourth roller and the second roller and the third roller.

13. A method for controlling a cleaning device, characterized in that: The cleaning device according to any one of claims 1 to 12 further comprises the following control method: The controller is configured to be a structure capable of controlling the first rotating roller, the second rotating roller or the third rotating roller to perform rotating and rolling motion; According to the movement mode of the cleaning device, the first roller is controlled to rotate and roll, and the second roller or the third roller is controlled to rotate and roll so that each rotating and rolling cleaner contacts the ground to drive the cleaning device to move on the ground; When the cleaning device moves linearly on the ground, at least the first roller is controlled to rotate in the same direction as the second roller and the third roller so that the resultant force of the friction generated by each cleaning device is in the same direction, thereby causing the cleaning device to move forward in the front direction or to move backward in the rear direction; It is arranged that when the cleaning device moves on the ground and an abnormality occurs due to the ground environment, the abnormality is detected and judged according to the movement state of the first roller, and the rotational rolling speed or rotational rolling direction of the first roller, the second roller or the third roller is timely controlled based on the abnormal state to make the first roller get rid of the abnormality and thus make the cleaning device get rid of the abnormality and enter a normal moving walking state.

14. The control method of the cleaning device according to claim 13, characterized in that: During the movement, the cleaning device controls at least one of the first roller, the second roller or the third roller to change the rotational rolling speed or the rotational rolling direction based on the detection information of the obstacle so that the cleaning device moves away from the obstacle or turns along the edge of the obstacle.

15. The control method of the cleaning device according to claim 13 or 14, characterized in that: When the motion state of the first roller is abnormal, the controller controls the rotation and rolling speed of the second roller to increase so that the friction force generated by the cleaner on the second roller is increased to push the cleaning device to turn and move toward the area between the first roller and the third roller and / or controls the rotation and rolling speed of the third roller to increase so that the friction force generated by the cleaner on the third roller is increased to push the cleaning device to turn and move toward the area between the first roller and the second roller; or, When the motion state of the first roller is abnormal, the controller controls the second roller to increase its rotational rolling speed and switch its rotational rolling direction to the opposite direction and / or controls the third roller to increase its rotational rolling speed and switch its rotational rolling direction to the opposite direction.

16. The control method of the cleaning device according to claim 15, characterized in that: Setting a detection module to detect the motion state of the first rotation; When it is detected that the first rotary roller is continuously rotating and rolling at the current position and the cleaning device is not moving, the controller determines that the motion state of the first rotary roller is abnormal; And / or, when it is detected that the first roller is located at the current position and continuously rotates and rolls and the first roller is displaced in the vertical direction, the controller determines that the motion state of the first roller is abnormal; And / or, when it is detected that the current threshold B of the first driving component driving the first roller to rotate is greater than the rated current threshold A, the controller determines that the motion state of the first roller is abnormal.

17. The control method of the cleaning device according to claim 13, 14 or 16, characterized in that: When the controller controls the cleaning device to turn and move, it at least includes controlling the rotation and rolling speed of the second roller to increase so that the friction force generated by the cleaner on the second roller is increased to push the cleaning device to turn and move toward the direction of the area between the first roller and the third roller, or controlling the rotation and rolling speed of the third roller to increase so that the friction force generated by the cleaner on the third roller is increased to push the cleaning device to turn and move toward the direction of the area between the first roller and the second roller; or, When the controller controls the cleaning device to turn and move, it at least includes controlling the rotational rolling speed of the second roller to increase and controlling the rotational rolling speed of the third roller to decrease, so that the friction force generated by the cleaner on the second roller increases and the friction force generated by the cleaner on the third roller decreases, thereby pushing the cleaning device to turn and move toward the area position between the first roller and the third roller, or controlling the rotational rolling speed of the third roller to increase and controlling the rotational rolling speed of the second roller to decrease, so that the friction force generated by the cleaner on the third roller increases and the friction force generated by the cleaner on the second roller decreases, thereby pushing the cleaning device to turn and move toward the area position between the first roller and the second roller.

18. The control method of the cleaning device according to claim 13, 14 or 16, characterized in that: When the controller controls the cleaning device to turn and move, it at least includes controlling the rotation and rolling direction of the second roller to switch to the opposite direction so that the direction of the friction force generated by the cleaner on the second roller contacting the ground becomes the opposite direction, thereby forming a resistance in the opposite direction of the current moving direction of the cleaning device to block the cleaning device from moving in the current direction. At this time, if the first roller and the third roller do not switch the rotation and rolling directions, the cleaning device will turn and move in the direction of the regional position between the first roller and the second roller, or control the rotation and rolling direction of the third roller to switch to the opposite direction so that the direction of the friction force generated by the cleaner on the third roller contacting the ground becomes the opposite direction, thereby forming a resistance in the opposite direction of the current moving direction of the cleaning device to block the cleaning device from moving in the current direction. At this time, if the first roller and the second roller do not switch the rotation and rolling directions, the cleaning device will turn and move in the direction of the regional position between the first roller and the third roller; or, When the controller controls the cleaning device to turn and move, it at least includes controlling the rotation and rolling direction of the second roller to switch to the opposite direction and controlling the rotation and rolling direction of the first roller to switch to the opposite direction so that the direction of the friction force generated by the cleaner on the second roller contacting the ground becomes the opposite direction and the direction of the friction force generated by the cleaner on the first roller contacting the ground becomes the opposite direction. At this time, when the first roller and the second roller are switched to rolling and rotating in opposite directions, the cleaning device will turn and move toward the direction of the area position before the first roller and the second roller, or control the rotation and rolling direction of the third roller to switch to the opposite direction and control the rotation and rolling direction of the first roller to switch to the opposite direction so that the direction of the friction force generated by the cleaner on the third roller contacting the ground becomes the opposite direction and the direction of the friction force generated by the cleaner on the first roller contacting the ground becomes the opposite direction. At this time, when the first roller and the third roller are switched to rolling and rotating in opposite directions, the cleaning device will turn and move toward the direction of the area position before the first roller and the third roller.

19. The control method of the cleaning device according to claim 13, 14 or 16, characterized in that: When the controller controls the cleaning device to turn and move, it also includes controlling the rotation and rolling speed of the first rotary roller to decrease so that the speed of the cleaning device is reduced and the friction force generated by the cleaning device on the first rotary roller contacting the ground is reduced; or, When the controller controls the turning movement of the cleaning device, it also includes controlling the rotational rolling speed of the first roller to decrease and making the rotational rolling speed of the first roller lower than the rotational rolling speed of the second roller or lower than the rotational rolling speed of the third roller so that the friction generated by the cleaner on the first roller contacting the ground is reduced, thereby reducing the speed of the cleaning device, thereby reducing the resistance of the cleaning device to the turning movement, preventing the cleaning device from colliding with obstacles or preventing the cleaning device from requiring greater power to effectively turn and move.

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