A handheld vacuum cleaner

Abstract

The present application discloses a handheld vacuum cleaner, including a floor brush unit. The floor brush unit includes: a floor brush base, on which a walking opening is formed; a walking bracket fixedly arranged on the floor brush base; a walking module rotatably connected to the walking bracket and located at the walking opening; the walking module includes two walking wheels and two driving members; the two walking wheels and the two driving members are connected in one-to-one correspondence, and the rotation axes of the two walking wheels are parallel or coincident; the two driving members independently control the corresponding walking wheels respectively. By changing the rotation speeds of the two walking wheels, the walking module can be driven to rotate relative to the walking bracket in two directions, thereby changing the walking direction of the walking wheels to achieve the automatic walking function of the handheld vacuum cleaner in multiple directions.

Description

Technical Field

[0001] This application relates to the technical field of vacuum cleaners, and particularly to a handheld vacuum cleaner. Background Art

[0002] With the general improvement of living standards, vacuum cleaners play an increasingly important role in household life. However, current handheld vacuum cleaners on the market do not have the function of automatically walking in multiple directions and need to be pushed manually to move and change directions, which is quite laborious to use. Summary of the Invention

[0003] This application provides a handheld vacuum cleaner to solve the technical problem that handheld vacuum cleaners cannot automatically walk in multiple directions.

[0004] To solve the above technical problem, a technical solution adopted in this application is: a handheld vacuum cleaner, including a floor brush part, the floor brush part includes: a floor brush base, on which a walking opening is formed; a walking bracket, which is fixedly arranged on the floor brush base; a walking module, which is rotatably connected to the walking bracket and is located at the walking opening; the walking module includes two walking wheels and two driving parts; the two walking wheels and the two driving parts are connected in one-to-one correspondence, and the rotation axes of the two walking wheels are parallel or coincident; the two driving parts respectively independently control the corresponding walking wheels.

[0005] According to an embodiment of this application, a first limiting structure is arranged on the walking bracket, and a second limiting structure is arranged on the walking module; when the walking module rotates relative to the walking bracket to a preset position, the first limiting structure and the second limiting structure interact to make the walking module and the walking bracket relatively fixed.

[0006] According to an embodiment of this application, the walking module includes a rotating shaft, which is located between the two walking wheels, the walking bracket includes a rotating hole, the rotating shaft passes through the rotating hole, and the second limiting structure is arranged on the part of the rotating shaft that extends out of the rotating hole.

[0007] According to an embodiment of this application, the first limiting structure includes a latch and an elastic part connected to each other, and the elastic part is connected to the walking bracket; the second limiting structure is a clamping groove formed on the rotating shaft; the latch is clamped in the clamping groove under the action of the elastic part.

[0008] According to an embodiment of this application, at least two clamping grooves are formed at intervals along the circumferential direction on the rotating shaft.

[0009] According to an embodiment of the present application, a triggering member is provided on the walking bracket, and a triggering structure is provided on the walking module. When the walking module rotates relative to the walking bracket to a preset position, the triggering structure acts on the triggering member to generate a triggering signal.

[0010] According to an embodiment of the present application, at least two card slots are formed at intervals along the circumference of the rotating shaft.

[0011] According to an embodiment of the present application, at least two triggering members are provided on the walking bracket, and the triggering members are arranged at intervals around the rotation axis of the walking module.

[0012] According to an embodiment of the present application, the walking bracket forms a receiving groove facing the walking module, and the triggering member is arranged in the receiving groove; the walking module includes an installation housing, and a protruding portion is formed on the installation housing, and the protruding portion is located in the receiving groove.

[0013] According to an embodiment of the present application, the walking module includes an installation housing, and the two driving members are arranged side by side on the installation housing, and the output shafts of the two driving members are parallel and extend in opposite directions; the two walking wheels are respectively connected to the output shafts of the two driving members.

[0014] According to an embodiment of the present application, the handheld vacuum cleaner further includes a handheld portion, the handheld portion is connected to the floor brush portion, and a direction control key is provided on the handheld portion, and the direction control key is electrically connected to the two driving members.

[0015] According to an embodiment of the present application, the handheld vacuum cleaner further includes: a handheld portion, connected to the floor brush portion; a sensing member, arranged on the handheld portion or the floor brush portion to obtain the swinging information of the handheld portion relative to the floor brush portion; a controller, coupled to the sensing member, for obtaining the swinging information through the sensing member to control the movement of the floor brush portion according to the swinging information.

[0016] The beneficial effects of the present application are as follows: The walking module of the present application is rotatably connected to the walking bracket, and the two driving members respectively independently control the corresponding walking wheels. When the rotation speeds of the two walking wheels of the walking module are different, the walking module rotates relative to the walking bracket. By changing the rotation speeds of the two walking wheels, the walking module can be driven to rotate relative to the walking bracket in two directions, thereby changing the walking direction of the walking wheels to realize the automatic walking function of the handheld vacuum cleaner in multiple directions. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings, where:

[0018] Figure 1 is a schematic perspective view of an embodiment of a handheld vacuum cleaner of the present application;

[0019] Figure 2 is a schematic perspective view of an embodiment of the floor brush part of the handheld vacuum cleaner of the present application;

[0020] Figure 3 is a schematic bottom view of an embodiment of the floor brush part of the handheld vacuum cleaner of the present application in a walking state;

[0021] Figure 4 is a schematic view of the walking wheel state of an embodiment of the floor brush part of the handheld vacuum cleaner of the present application in a walking state;

[0022] Figure 5 is a schematic bottom view of another embodiment of the floor brush part of the handheld vacuum cleaner of the present application in another walking state;

[0023] Figure 6 is a schematic view of the walking wheel state of another embodiment of the floor brush part of the handheld vacuum cleaner of the present application in another walking state;

[0024] Figure 7 is a schematic view of the limiting structure of an embodiment of the floor brush part of the handheld vacuum cleaner of the present application;

[0025] Figure 8 is an exploded view of an embodiment of the floor brush part of the handheld vacuum cleaner of the present application;

[0026] Figure 9 is a schematic view of the swing of an embodiment of the handheld vacuum cleaner of the present application. Detailed implementation manners

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0028] References to "embodiments" in this specification mean that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] Please refer to Figures 1 to 7 , Figure 1 which is a schematic perspective view of an embodiment of a handheld vacuum cleaner of the present application;

[0030] Figure 2 which is a schematic perspective view of an embodiment of the floor brush part of the handheld vacuum cleaner of the present application; Figure 3 which is a schematic bottom view of an embodiment of the floor brush part of the handheld vacuum cleaner of the present application in a walking state; Figure 4 which is a schematic view of the walking wheel state of an embodiment of the floor brush part of the handheld vacuum cleaner of the present application in a walking state; Figure 5 which is a schematic bottom view of another embodiment of the floor brush part of the handheld vacuum cleaner of the present application in another walking state; Figure 6 which is a schematic view of the walking wheel state of another embodiment of the floor brush part of the handheld vacuum cleaner of the present application in another walking state; Figure 7 which is a schematic view of the limiting structure of an embodiment of the floor brush part of the handheld vacuum cleaner of the present application; Figure 8 which is an exploded schematic view of an embodiment of the floor brush part of the handheld vacuum cleaner of the present application; Figure 9 which is a schematic view of the swing of an embodiment of the handheld vacuum cleaner of the present application.

[0031] An embodiment of the present application provides a handheld vacuum cleaner 100, as Figure 1 and Figure 2 shown, the handheld vacuum cleaner 100 includes a floor brush part 110, and the floor brush part 110 includes a floor brush base 111, a walking bracket 112, and a walking module 113. Among them, a walking opening 1111 is formed on the floor brush base 111, the walking bracket 112 is fixedly arranged on the floor brush base 111, the walking module 113 is rotatably connected to the walking bracket 112, and the walking module 113 is located at the walking opening 1111. Thus, the walking module 113 is rotatably connected to the walking bracket 112 and is exposed through the walking opening 1111 to walk on the ground.

[0032] As Figure 2As shown, the traveling module 113 includes two traveling wheels 1131 and two driving members 1132. The two traveling wheels 1131 and the two driving members 1132 are connected in one-to-one correspondence, and the two driving members 1132 independently control the corresponding traveling wheels 1131 respectively. The rotation axes of the two traveling wheels 1131 are parallel or coincident, so that the two traveling wheels 1131 keep rolling forward in the same direction. The driving member 1132 drives the traveling wheel 1131 to rotate forward around the rotation axis, and the handheld vacuum cleaner 100 realizes automatic traveling. The traveling module 113 is rotatably connected to the traveling bracket 112. When the rotation speeds of the two traveling wheels 1131 of the traveling module 113 are different, the traveling module 113 rotates relative to the traveling bracket 112. Specifically, when the rotation speed of one of the traveling wheels 1131 is greater than that of the other traveling wheel 1131, the tangential force generated by the traveling wheel 1131 with a higher rotation speed to drive the traveling module 113 to rotate in the first direction is greater than the tangential force generated by the traveling wheel 1131 with a slower rotation speed to drive the traveling module 113 to rotate in the second direction. The first direction is opposite to the second direction. Thus, the traveling module 113 as a whole rotates relative to the traveling bracket 112 and drives the two traveling wheels 1131 to change the traveling direction. By changing the rotation speeds of the two traveling wheels 1131, the traveling module 113 can be driven to rotate relative to the traveling bracket 112 in two directions, and further change the traveling direction of the traveling wheels 1131, so as to realize the automatic traveling function of the handheld vacuum cleaner 100 in multiple directions.

[0033] In some embodiments, as Figures 3 to 6 shown, when the traveling module 113 rotates relative to the traveling bracket 112, it is necessary to determine whether the traveling module 113 reaches a preset position. A trigger member 133 is provided on the traveling bracket 112, and a trigger structure 134 is provided on the traveling module 113. When the traveling module 113 rotates relative to the traveling bracket 112 to the preset position, the trigger structure 134 acts on the trigger member 133 to generate a trigger signal. The preset position of the traveling module 113 can be judged through this trigger signal. Thus, the two driving members 1132 can control the two traveling wheels 1131 to rotate at the same rotation speed according to this trigger signal and travel in the preset traveling direction. Moreover, according to the trigger signal corresponding to the trigger member 133, the traveling direction state of the current traveling module 113 can be identified, and then the relevant cleaning movement control can be carried out.

[0034] In order to achieve multi-directional automatic walking of a handheld robot, at least two trigger members 133 are provided on the walking bracket 112. The trigger members 133 are arranged at intervals around the rotation axis of the walking module 113. Different trigger members 133 correspond to different walking directions. Thus, the walking module 113 rotates around the axis of the rotation axis 1133, and the triggering structure 134 touches the corresponding trigger member 133 to generate a corresponding trigger signal. Among them, the touching structure and the trigger member 133 can be arranged in one-to-one correspondence. The walking module 113 rotates in two directions, clockwise and counterclockwise, so that different touching structures touch the corresponding trigger members 133. Thus, the trigger member 133 generates a corresponding trigger signal. Through the trigger signal, it can be judged the preset position reached by the walking module 113 and the walking direction state of the current walking module 113 can be identified. Of course, one touching structure can be provided. By rotating the walking module 113 in one or two directions, the touching structure touches different trigger members 133. Thus, the trigger member 133 generates a corresponding trigger signal. Through the trigger signal, it can be judged the preset position reached by the walking module 113 and the walking direction state of the current walking module 113 can be identified.

[0035] Preferably, two trigger members 133 are provided. The included angle between the connection lines of the two trigger members 133 and the rotation axis of the walking module 113 is 90°. Thus, the walking module 113 can rotate and be respectively positioned in two perpendicular walking directions. In the generally understood sense, the two perpendicular walking directions are the front-back direction and the left-right direction respectively. Thus, automatic multi-dimensional cleaning is achieved, labor is saved, and it is more relaxed and labor-saving to use, improving the user experience. Of course, three, four or more trigger members 133 can also be provided to enable the walking module 113 to be positioned in more directions and achieve automatic walking.

[0036] Such as Figures 3 to 6As shown, the walking bracket 112 is formed with a receiving groove 1134 facing the walking module 113. The triggering member 133 is disposed in the receiving groove 1134. The walking module 113 includes a mounting housing 140, and a protruding portion (not shown in the figure) is formed on the mounting housing 140. The protruding portion is located in the receiving groove 1134. During the process of the walking module 113 being rotatably connected to the walking bracket 112, the protruding portion on the mounting housing 140 rotates in the receiving groove 1134 and correspondingly touches different triggering members 133, so that the triggering members 133 generate corresponding triggering signals. At this time, the triggering members 133 and the protruding portions are arranged in one-to-one correspondence. When the walking module 113 rotates clockwise, the protruding portion touches the corresponding triggering member 133, and the corresponding triggering member 133 generates a triggering signal. Through the triggering signal, it can be determined that the walking module 113 reaches the first preset position, and the driving member 1132 can perform further driving control. When the walking module 113 rotates counterclockwise, another protruding portion touches the corresponding triggering member 133, and the corresponding triggering member 133 generates a corresponding triggering signal. Through the triggering signal, it can be determined that the walking module 113 reaches the second preset position, and the driving member 1132 can perform further driving control.

[0037] Specifically, the triggering member 133 can be a micro switch. When the protruding portion touches the micro switch, the micro switch generates a triggering signal.

[0038] To ensure that the walking module 113 stops in time after rotating relative to the walking bracket 112 to the preset position and walks in a predetermined walking direction, as Figure 7 shown, a first limiting structure 121 is provided on the walking bracket 112 of the embodiment of the present application, and a second limiting structure 122 is provided on the walking module 113. When the walking module 113 rotates relative to the walking bracket 112 to the preset position, the first limiting structure 121 and the second limiting structure 122 interact to make the walking module 113 and the walking bracket 112 relatively fixed. Thus, the walking wheels 1131 of the walking module 113 can stably walk in a predetermined walking direction, ensuring that the walking wheels 1131 do not deviate from the predetermined walking direction due to excessive rotation of the walking module 113.

[0039] Specifically, the walking module 113 includes a rotating shaft 1133 located between two walking wheels 1131, ensuring that when the rotation speeds of the two walking wheels 1131 are different, the walking module 113 can rotate relative to the walking bracket 112. The walking bracket 112 includes a rotating hole 1121, the rotating shaft 1133 passes through the rotating hole 1121, and the second limiting structure 122 is arranged on the part of the rotating shaft 1133 that extends out of the rotating hole 1121. Thus, through the interaction between the second limiting structure 122 and the first limiting structure 121, the rotation of the rotating shaft 1133 can be restricted, ensuring that the walking module 113 stops in time after rotating a predetermined angle relative to the walking bracket 112. Furthermore, the walking wheels 1131 of the walking module 113 can stably walk in a predetermined walking direction, ensuring that the walking wheels 1131 will not deviate from the predetermined walking direction due to excessive rotation of the walking module 113.

[0040] Specifically, as Figure 8 shown, the walking module 113 is rotatably connected to the walking bracket 112 through a bearing 114.

[0041] Furthermore, as Figure 7 and Figure 8 shown, the first limiting structure 121 includes a latch 1211 and an elastic member 1212 connected to each other, and the elastic member 1212 is connected to the walking bracket 112; the second limiting structure 122 is a card slot 1221 formed on the rotating shaft 1133; the latch 1211 is clamped in the card slot 1221 under the action of the elastic member 1212. When the walking module 113 rotates relative to the walking bracket 112, the rotating shaft 1133 presses the latch 1211 and the elastic member 1212. When the walking module 113 rotates to a position where the card slot 1221 of the rotating shaft 1133 is directly opposite the latch 1211, the latch 1211 is clamped in the card slot 1221 under the resilience of the elastic member 1212. The latch 1211 restricts the rotation of the rotating shaft 1133, and thus the rotation of the walking module 113 stops. The walking wheels 1131 of the walking module 113 can stably walk in a predetermined walking direction, ensuring that the walking wheels 1131 will not deviate from the predetermined walking direction due to excessive rotation of the walking module 113. When the walking module 113 needs to change the walking direction again, the two driving members 1132 drive the two walking wheels 1131 to rotate at different speeds. The card slot 1221 of the rotating shaft 1133 pushes the latch 1211 and compresses the elastic member 1212, and the latch 1211 disengages from the card slot 1221, and the walking module 113 continues to rotate to the required changed walking direction.

[0042] Furthermore, the first limiting structure 121 includes a limiting frame 1213. A receiving groove is provided on the limiting frame 1213, the elastic member 1212 is arranged in the receiving groove, and is covered by a cover plate 1214 to limit the elastic member 1212 in the receiving groove.

[0043] Preferably, the end of the latch 1211 is conical or spherical, so that the latch 1211 can be easily inserted into the slot 1221 and the slot 1221 can push the latch 1211 to compress the elastic member 1212 .

[0044] In order to facilitate the rotation and positioning of the walking module 113 in different walking directions, at least two slots 1221 are formed on the rotating shaft 1133 along the circumferential interval, each slot 1221 corresponds to a walking direction, and the walking module 113 is rotated until the latch 1211 is stuck in different slots 1221, so that the walking module 113 can be rotated and positioned in at least two walking directions. Preferably, there are two slots 1221, and the angle between the two slots 1221 and the line connecting the center of the rotating shaft 1133 is 90°, so that the walking module 113 can be rotated and positioned in two vertical walking directions respectively. In the commonly understood sense, the two vertical walking directions are the front and back directions and the left and right directions, respectively, so as to realize automatic multi-dimensional cleaning, save manpower, use more easily and labor-saving, and improve user experience. Of course, the trigger member 133 can also be provided with three, four or more, so as to realize the positioning of the walking module 113 in more directions and realize automatic walking.

[0045] The first limiting structure 121 and the second limiting structure 122 cooperate with the trigger structure 134 and the trigger member 133, and the specific cooperation mode is as follows: when the walking module 113 rotates to the first preset position, the trigger structure 134 acts on the trigger member 133, and the trigger member 133 generates a corresponding trigger signal, and the trigger signal can be used to determine that the walking module 113 has reached the first preset position. Thus, the two driving members 1132 can control the two walking wheels 1131 to rotate at the same rotation speed according to the trigger signal, so as to walk in the preset walking direction. At the same time, when the walking module 113 rotates to the point where the slot 1221 of the rotating shaft 1133 faces the latch 1211, the latch 1211 is stuck in the slot 1221 under the action of the resilience of the elastic member 1212, and the latch 1211 limits the rotation of the rotating shaft 1133. At this time, the rotation of the walking module 113 cannot make the slot 1221 push the latch 1211 and compress the elastic member 1212, and the latch 1211 cannot be separated from the slot 1221, so that the rotation of the walking module 113 stops in time, the walking module 113 is located at the first preset position, and the walking wheel 1131 of the walking module 113 can stably walk in the predetermined walking direction, ensuring that the walking wheel 1131 will not deviate from the predetermined walking direction as the walking module 113 rotates excessively. In addition, according to the trigger signal of the corresponding trigger member 133, the walking direction state of the current walking module 113 can be identified, and then the relevant cleaning motion control is performed.

[0046] When the walking module 113 needs to change the walking direction again to rotate to the second preset position, the two driving members 1132 drive the two walking wheels 1131 to rotate at different rotational speeds. The slot 1221 of the rotating shaft 1133 pushes the pin 1211 and compresses the elastic member 1212. The pin 1211 disengages from the slot 1221, and the walking module 113 continues to rotate to the second preset position. The corresponding trigger structure 134 acts on the corresponding trigger member 133, and the trigger member 133 generates a corresponding trigger signal. Through this trigger signal, it can be determined that the walking module 113 reaches the second preset position. Thus, the two driving members 1132 can control the two walking wheels 1131 to rotate at the same rotational speed according to this trigger signal to walk in the preset walking direction. At the same time, when the walking module 113 rotates to the position where another slot 1221 of the rotating shaft 1133 faces the pin 1211, the pin 1211 is caught in the slot 1221 under the restoring force of the elastic member 1212. The pin 1211 restricts the rotation of the rotating shaft 1133, and at this time, the rotation of the walking module 113 cannot cause the slot 1221 to push the pin 1211 and compress the elastic member 1212, and the pin 1211 cannot disengage from the slot 1221. Furthermore, the rotation of the walking module 113 stops in time. The walking module 113 is located at the second preset position, and the walking wheels 1131 of the walking module 113 can stably walk in the predetermined walking direction, ensuring that the walking wheels 1131 do not deviate from the predetermined walking direction due to excessive rotation of the walking module 113. Moreover, according to the trigger signal of the corresponding trigger member 133, the walking direction state of the current walking module 113 can be identified, and then relevant cleaning movement control can be performed.

[0047] In some embodiments, as Figure 2 shown, the walking module 113 includes a mounting housing 140. The two driving members 1132 are arranged side by side in the mounting housing 140. The output shafts of the two driving members 1132 are parallel and extend in opposite directions. The two walking wheels 1131 are respectively connected to the output shafts of the two driving members 1132. Since the two walking wheels 1131 are arranged side by side, and the output shafts of the two walking wheels 1131 are parallel and extend in opposite directions, the structures of the two walking wheels 1131 are more compact, the space required for the rotation of the walking module 113 is smaller, the structure of the handheld vacuum cleaner 100 is reasonable and delicate, and the volume is reduced.

[0048] As Figure 1As shown, the handheld vacuum cleaner 100 further includes a handheld part 150. The handheld part 150 is connected to the floor brush part 110, and the handheld part 150 can perform simple drive control on the floor brush part 110. In some embodiments, a direction control key (not shown in the figure) is provided on the handheld part 150. The direction control key is electrically connected to two drive members 1132. The user can control the drive states of the two drive members 1132 by pressing the corresponding direction control key. The two drive members 1132 respectively control the rotation speeds of the two walking wheels 1131, and then drive the rotation of the walking module 113 to change the overall walking direction of the floor brush part 110. Further, at least one speed gear key can be provided on the handheld part 150 so that the user can select the corresponding gear based on needs.

[0049] In other embodiments, the handheld vacuum cleaner 100 further includes a handheld part 150, a sensing member (not shown in the figure), and a controller (not shown in the figure). The handheld part is swingably connected to the floor brush part 110. The sensing member is disposed on the handheld part 150 or the floor brush part 110 to obtain the swing information of the handheld part 150 relative to the floor brush part 110. The controller is coupled to the sensing member and is configured to obtain the swing information through the sensing member, and then control the movement of the floor brush part 110 according to the swing information.

[0050] The sensing member 210 can be in various forms, such as a gyroscope or a micro switch.

[0051] As Figure 9 shown, taking the sensing member as a gyroscope disposed on the handheld part 150 as an example, the first-axis angle and the second-axis angle obtained by the controller through the gyroscope can be used as the swing information, and the controller can control the movement of the floor brush part 110 according to the first-axis angle and the second-axis angle. Among them, by setting the coordinates of the gyroscope, the first-axis angle (X-axis angle - i.e., roll angle Roll) of the gyroscope corresponds to the front-back swing angle of the handheld part 150 and the floor brush part 110, that is, Figure 9 the included angle between the floor brush part 110 and the X-Z plane in Figure 9 ; and the second-axis angle (Y-axis angle - i.e., pitch angle Pitch) of the gyroscope corresponds to the left-right swing angle of the handheld part 150 relative to the floor brush part 110, that is,

[0052] Taking the sensing member as multiple micro switches disposed on the floor brush assembly 100 as an example. Among them, the multiple micro switches are located in different orientations. When the handheld part 150 swings relative to the floor brush assembly 100, the micro switches can be triggered, so that the controller controls the floor brush assembly 100 to move in a direction opposite to the swing information of the dust collection assembly 220. Among them, the micro switch can be a Hall switch or the like.

[0053] In other embodiments, the floor brush unit 110 is further provided with a main controller (not shown in the figure), which controls the driving state of the two driving members 1132 based on external instructions, and the two driving members 1132 respectively control the rotation speed of the two walking wheels 1131, thereby driving the rotation of the walking module 113 to change the overall walking direction of the floor brush unit 110. Among them, the external instructions can be voice instructions or gesture instructions parsed by the main controller. Of course, the external instructions can also be instructions issued by a terminal device that is connected to the main controller.

[0054] The control process of the handheld vacuum cleaner of the embodiment of the present application is described with a specific implementation method:

[0055] The handheld vacuum cleaner 100 has two perpendicular walking directions, and the walking module 113 is located at a first preset position and a second preset position respectively.

[0056] When the user wants to change the walking direction of the handheld vacuum cleaner 100, the user touches the corresponding direction control key to control the driving state of the two driving members 1132. The two driving members 1132 respectively control the two walking wheels 1131 to rotate at different rotation speeds, thereby driving the walking module 113 to rotate in the first direction, from the second preset position to the first preset position.

[0057] When the walking module 113 rotates to the first preset position in the first direction, the trigger structure 134 acts on the trigger member 133, and the trigger member 133 generates a corresponding trigger signal. The trigger signal can be used to determine that the walking module 113 has reached the first preset position. At the same time, the two driving members 1132 can control the two walking wheels 1131 to rotate at the same rotation speed according to the trigger signal to walk in the preset walking direction. At the same time, when the walking module 113 rotates to the point where the slot 1221 of the rotating shaft 1133 is directly opposite to the bayonet 1211, the bayonet 1211 is stuck in the slot 1221 under the action of the rebound force of the elastic member 1212, and the bayonet 1211 limits the rotation of the rotating shaft 1133. At this time, the two walking wheels 1131 of the walking module 113 are adjusted to the same rotation speed, and the movement inertia of the walking module 113 cannot make the card slot 1221 push the card pin 1211 and compress the elastic member 1212, and the card pin 1211 cannot be separated from the card slot 1221, so that the walking module 113 stops rotating in time, and the walking module 113 is located at the first preset position. The walking wheels 1131 of the walking module 113 can stably walk in the predetermined walking direction, ensuring that the walking wheels 1131 will not deviate from the predetermined walking direction as the walking module 113 rotates excessively. In addition, according to the trigger signal of the corresponding trigger member 133, the walking direction state of the current walking module 113 can be identified, and then the relevant cleaning motion control can be performed.

[0058] When the user wants to change the traveling direction of the handheld vacuum cleaner 100 again, the user presses the corresponding direction control key to control the driving states of the two driving members 1132. The two driving members 1132 respectively control the two traveling wheels 1131 to rotate at different rotational speeds, thereby driving the traveling module 113 to rotate in a second direction, and further driving the traveling module 113 to rotate in the second direction, from a first preset position to a second preset position. The second direction is opposite to the first direction.

[0059] When the traveling module 113 rotates in the second direction to the second preset position, the two driving members 1132 drive the two traveling wheels 1131 to rotate at different rotational speeds. The slot 1221 of the rotating shaft 1133 pushes the pin 1211 and compresses the elastic member 1212. The pin 1211 disengages from the slot 1221, and the traveling module 113 continues to rotate to the second preset position. The corresponding trigger structure 134 acts on the corresponding trigger member 133, and the trigger member 133 generates a corresponding trigger signal. Through this trigger signal, it can be determined that the traveling module 113 reaches the second preset position. Thus, the two driving members 1132 can control the two traveling wheels 1131 to rotate at the same rotational speed according to this trigger signal to travel in a preset traveling direction. At the same time, when the traveling module 113 rotates to a position where another slot 1221 of the rotating shaft 1133 is facing the pin 1211, the pin 1211 is clamped in the slot 1221 under the resilience of the elastic member 1212, and the pin 1211 restricts the rotation of the rotating shaft 1133. And at this time, the two traveling wheels 1131 of the traveling module 113 are adjusted to the same rotational speed, and the inertia of the movement of the traveling module 113 cannot cause the slot 1221 to push the pin 1211 and compress the elastic member 1212, and the pin 1211 cannot disengage from the slot 1221. Thus, the rotation of the traveling module 113 stops in time. The traveling module 113 is located at the second preset position, and the traveling wheels 1131 of the traveling module 113 can stably travel in a predetermined traveling direction, ensuring that the traveling wheels 1131 will not deviate from the predetermined traveling direction due to excessive rotation of the traveling module 113. And, according to the trigger signal of the corresponding trigger member 133, the traveling direction state of the current traveling module 113 can be recognized, and then relevant cleaning movement control can be performed.

[0060] The terms "first", "second", and "third" in this application are for descriptive purposes only and should not be construed as indicating the quantity of the indicated technical features. Thus, features defined with "first", "second", and "third" may explicitly or implicitly include at least one of such features. All directional indications (such as up, down, left, right, front, back...) in the embodiments of this application are only used to explain the relative positional relationship and movement of components in a specific posture (as shown in the drawings). If this specific posture changes, the directional indications will change accordingly. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0061] The above are only embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or equivalent process transformation made using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of this application by the same token.

Claims

1. A handheld vacuum cleaner (100), characterized in that, It includes a floor brush part (110) and a handheld part (150), and the handheld part (150) is connected to the floor brush part (110); the floor brush part (110) includes: A floor brush base (111) with a walking opening (1111) formed thereon; A walking bracket (112) fixedly arranged on the floor brush base (111); A walking module (113) including a rotating shaft (1133), and the walking module (113) is rotationally connected to the walking bracket (112) through the rotating shaft (1133) and is located at the walking opening (1111); The walking module (113) includes two walking wheels (1131) and two driving parts (1132); the two walking wheels (1131) and the two driving parts (1132) are connected in one-to-one correspondence, and the rotation axes of the two walking wheels (1131) are parallel or coincident; the two driving parts (1132) independently control the corresponding walking wheels (1131); when the rotation speeds of the two walking wheels (1131) of the walking module (113) are different, the walking module (113) can be driven to rotate relative to the walking bracket (112).

2. The handheld vacuum cleaner (100) according to claim 1, characterized in that, A first limiting structure (121) is arranged on the walking bracket (112), and a second limiting structure (122) is arranged on the walking module (113); when the walking module (113) rotates relative to the walking bracket (112) to a preset position, the first limiting structure (121) and the second limiting structure (122) interact to make the walking module (113) and the walking bracket (112) relatively fixed.

3. The handheld vacuum cleaner (100) according to claim 2, characterized in that, The rotating shaft (1133) is located between the two walking wheels (1131), the walking bracket (112) includes a rotating hole, the rotating shaft (1133) passes through the rotating hole, and the second limiting structure (122) is arranged on the part of the rotating shaft (1133) extending out of the rotating hole.

4. The handheld vacuum cleaner (100) according to claim 3, characterized in that, The first limiting structure (121) includes a pin (1211) and an elastic part (1212) connected to each other, and the elastic part (1212) is connected to the walking bracket (112); the second limiting structure (122) is a clamping groove (1221) formed on the rotating shaft (1133); the pin (1211) is clamped in the clamping groove (1221) under the action of the elastic part (1212).

5. The handheld vacuum cleaner (100) according to claim 4, characterized in that, At least two clamping grooves (1221) are formed on the rotating shaft (1133) at intervals along the circumferential direction.

6. The handheld vacuum cleaner (100) according to claim 1, characterized in that, A triggering part (133) is arranged on the walking bracket (112), and a triggering structure (134) is arranged on the walking module (113); when the walking module (113) rotates relative to the walking bracket (112) to a preset position, the triggering structure (134) acts on the triggering part (133) to generate a triggering signal.

7. The handheld vacuum cleaner (100) according to claim 6, characterized in that, At least two trigger members (133) are provided on the walking bracket (112), and the trigger members (133) are arranged at intervals around the rotation axis of the walking module (113).

8. The handheld vacuum cleaner (100) according to claim 6, characterized in that, The walking bracket (112) forms a receiving groove (1134) facing the walking module (113), and the trigger member (133) is arranged in the receiving groove (1134); the walking module (113) includes a mounting housing (140), and a protruding portion is formed on the mounting housing (140), and the protruding portion is located in the receiving groove (1134).

9. The handheld vacuum cleaner (100) according to claim 1, characterized in that, The walking module (113) includes a mounting housing (140), and the two driving members (1132) are arranged side by side on the mounting housing (140), and the output shafts of the two driving members (1132) extend in parallel and in opposite directions; the two walking wheels (1131) are respectively connected to the output shafts of the two driving members (1132).

10. The handheld vacuum cleaner (100) according to claim 1, characterized in that, The handheld vacuum cleaner (100) further includes a handheld portion (150), the handheld portion (150) is connected to the floor brush portion (110), and a direction control key is provided on the handheld portion (150), and the direction control key is electrically connected to the two driving members (1132).

11. The handheld vacuum cleaner (100) according to claim 1, characterized in that, The handheld vacuum cleaner (100) further includes: a sensing member (160), arranged on the handheld portion (150) or the floor brush portion (110) to obtain the swinging information of the handheld portion (150) relative to the floor brush portion (110); a controller, coupled to the sensing member (160), for obtaining the swinging information through the sensing member (160) to control the movement of the floor brush portion (110) according to the swinging information.

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