A cleaning machine system

Abstract

A cleaning machine system, the cleaning machine includes a machine body, a cleaning component for mopping the floor is arranged on the machine body, the cleaning component is arranged as a movable structure, and when the cleaning component moves, the friction force between the cleaning component and the working surface drives the cleaning machine to displace on the working surface; a docking part is arranged on the machine body. When the cleaning machine executes the self-moving cleaning mode, the handle rod is not installed on the docking part or the handle rod is installed on the docking part and is in a retracted structure relative to the docking part; when the cleaning machine executes the hand-held cleaning mode, the handle rod is installed on the docking part or the handle rod is installed on the docking part and is in an extended structure relative to the docking part. This solution solves the problem that the existing cleaning machine cannot have a multi-functional use effect, and solves the problems that the existing cleaning machine has a complex structure, high cost and is prone to walking deviation during the mopping process. At the same time, it solves the inconvenience of using the existing hand-held mopping machine that needs to be manually pushed to walk for mopping and cleaning.

Description

Technical Field

[0001] The present invention relates to the field of intelligent cleaning machines. The cleaning machine is mainly used for self-displacement walking on the ground to perform mopping and cleaning, and specifically relates to a cleaning machine system. Background Art

[0002] Existing cleaning machines are mainly used for walking on the ground to perform vacuum cleaning and mopping and cleaning. The driving force for the cleaning machine to walk is mainly achieved by setting driving wheels to drive the displacement and walking of the cleaning machine. Generally, two driving wheels are set on the left and right. A mop is set at the rear or front side of the driving wheels. The driving wheels rotate to drive the cleaning machine to walk and drive the mop to displace on the ground to achieve the effect of mopping the floor. The driving wheels mainly drive the cleaning machine to walk through the friction between the tread on the outside of the tire and the ground. Due to the small contact area between the tire and the ground, the driving wheels are prone to slipping problems. Especially when there is a certain amount of moisture on the ground during the mopping process of the cleaning machine, the driving wheels are extremely easy to slip, resulting in the walking trajectory of the cleaning machine being prone to deviation, which is not conducive to the cleaning machine to perform stable mopping and cleaning. At the same time, the overall structure of the cleaning machine is complex and the cost is relatively high.

[0003] At the same time, due to the driving wheels provided on the existing cleaning machines, the structure of the driving wheels limits the position and area of the mop on the cleaning machine, resulting in the mop being difficult to clean the walls and corners of the indoor ground. After long-term use, it is easy to cause dust accumulation on the walls and corners, affecting the user experience. At the same time, because the cleaning machine is set with driving wheels to walk by itself, when the user needs to clean the part of the indoor ground that the cleaning machine cannot mop and clean, at this time, a separate handheld mopping machine needs to be used for independent treatment, resulting in the user having to prepare a cleaning machine and a handheld mopping machine, which is inconvenient for the user to use. Because both the cleaning machine and the handheld mopping machine are provided with mops and water tanks, the operation difficulty for the user increases, and the workload increases. It is necessary to wash the mop and add water and other operations many times. It can be seen that the existing cleaning machines cannot achieve the use effect of having multiple functions. Summary of the Invention

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

[0005] For this reason, the purpose of the present invention is to provide a cleaning machine system, mainly to solve the problem that the existing cleaning machines cannot have the use effect of multiple functions, and to solve the problems that the existing cleaning machines have a complex structure, high cost and are prone to walking deviation during the mopping process. At the same time, it solves the problem of inconvenient use of the existing handheld mopping machine that needs to be manually pushed to walk for mopping and cleaning.

[0006] Embodiments of the present invention provide a cleaning machine system. The cleaning machine includes a machine body, and a cleaning component for mopping the floor is provided on the machine body. The cleaning component is arranged as a movable structure, and when the cleaning component moves, the cleaning machine is driven to displace on the working surface by the frictional force between the cleaning component and the working surface. A docking part is provided on the machine body. When the cleaning machine executes the self-moving cleaning mode, the handle rod is not installed on the docking part, or the handle rod is installed on the docking part and is in a retracted structure relative to the docking part. When the cleaning machine executes the hand-held cleaning mode, the handle rod is installed on the docking part, or the handle rod is installed on the docking part and is in an extended structure relative to the docking part.

[0007] In the aforementioned cleaning machine system, the handle rod is arranged as a structure that can rotate relative to the docking part, and when the handle rod is installed on the docking part, the handle rod can rotate relative to the docking part; and / or the docking part is arranged as a structure that can be rotatably installed on the robot body, and when the handle rod is installed on the docking part, the handle rod can rotate relative to the machine body through the docking part.

[0008] In the aforementioned cleaning machine system, a detachable connection structure is provided between the handle rod and the docking part, and the handle rod is arranged as a telescopic joint structure.

[0009] In the aforementioned cleaning machine system, the length of the machine body is greater than the width of the machine body. When the handle rod is installed on the docking part, the handle rod and the docking part are located at the middle position in the length direction of the machine body and at the middle or rear position in the width direction of the machine body.

[0010] In the aforementioned cleaning machine system, when the handle rod is installed on the docking part, the handle rod can rotate relative to the machine body and rotate towards the width direction of the machine body so that the handle rod is placed on the machine body from the middle or rear position to the front position in the width direction of the machine body.

[0011] In the aforementioned cleaning machine system, when the handle rod is installed on the docking part and is in a retracted structure, a part of the handle rod is arranged as a part of the appearance of the machine body.

[0012] In the aforementioned cleaning machine system, a receiving part is provided on the machine body. When the handle rod is installed on the docking part and is in a retracted structure, a part of the handle rod is located in the receiving part and a part of the handle rod is arranged as a part of the appearance of the machine body.

[0013] In the aforementioned cleaning machine system, a detachable connection structure is provided between the handle rod and the docking part. The handle rod is provided with one or more rod parts. When the handle rod is provided with a plurality of rod parts, the adjacent two rod parts are arranged to be sleeved with each other.

[0014] The aforementioned cleaning machine system has a control module disposed within the machine body. Threshold A for starting the self - moving cleaning mode and threshold B for starting the hand - held cleaning mode are set within the control module. The control module activates the self - moving cleaning mode or the hand - held cleaning mode correspondingly based on the received activation signal.

[0015] The aforementioned cleaning machine system has at least a cliff module, a collision module, an obstacle detection module, or a carpet detection module electrically connected to the control module disposed on the machine body.

[0016] The aforementioned cleaning machine system, in the self - moving cleaning mode, at least includes threshold C where the control module controls the cliff module to detect a suspended position and then controls the cleaning component to move and drive the machine body to perform a backward displacement or a turning displacement; or threshold D where the control module controls the collision module to detect that the machine body contacts an obstacle and then controls the cleaning component to move and drive the cleaning machine to perform a backward displacement or a turning displacement; or threshold E where the control module controls the obstacle detection module to detect an obstacle in the side direction of the machine body and then controls the cleaning component to move and drive the cleaning machine to perform a backward displacement or a turning displacement; or threshold F where the control module controls the carpet detection module to detect a carpet in the lower side direction of the machine body and then controls the cleaning component to move and drive the cleaning machine to perform a backward displacement or a turning displacement.

[0017] The aforementioned cleaning machine system has the cleaning component set as a moving structure that can rotate horizontally in contact with the working surface, and when the cleaning component rotates horizontally, the bottom surface of the cleaning component has uneven friction relative to the working surface, so that the cleaning machine is driven to displace on the working surface through the cleaning component.

[0018] The number of the cleaning components in the aforementioned cleaning machine system is set to two or more; when the number of the cleaning components is set to two, the two cleaning components are arranged in a side - by - side adjacent structure, and at least the horizontal rotation directions of the two cleaning components are opposite.

[0019] In the aforementioned cleaning machine system, the horizontal rotation movement directions of the two cleaning components are from the outside of the machine body towards the inside and from the upper side towards the lower side, and both cleaning components rotate horizontally towards the direction between the two cleaning components.

[0020] In the aforementioned cleaning machine system, in the self - moving cleaning mode, a structure is set where the horizontal rotation movement directions of the two cleaning components are switched to the reverse horizontal rotation movement so that the two cleaning components with reverse horizontal rotation movements drive the cleaning machine to perform a backward displacement.

[0021] The foregoing cleaning machine system has a structure in the self - moving cleaning mode where one of the cleaning components stops moving and the other cleaning component is set to horizontally rotate towards the direction of the one cleaning component to drive the cleaning machine to turn and displace towards the direction of the one cleaning component.

[0022] The foregoing cleaning machine system has a structure in the self - moving cleaning mode where the horizontal rotation direction of one of the cleaning components is switched to be the same as the horizontal rotation direction of the other cleaning component and is set to horizontally rotate towards the direction of the other cleaning component to drive the cleaning machine to turn and displace towards the direction of the other cleaning component.

[0023] The foregoing cleaning machine system has a structure in the self - moving cleaning mode where the frictional force between one of the cleaning components and the working surface is greater than the frictional force between the other cleaning component and the working surface to drive the cleaning machine to turn and displace towards the direction of the other cleaning component.

[0024] The foregoing cleaning machine system has a structure in the hand - held cleaning mode where the control module controls the cleaning component to at least continue to move or stop moving in the current motion state when the cliff module detects a suspended position, or when the collision module detects that the main body of the machine contacts an obstacle, or when the obstacle detection module detects an obstacle on the side of the main body of the machine. Or the control module controls the cleaning component to displace along the edge for cleaning while maintaining a constant distance from the obstacle when the obstacle detection module detects an obstacle on the side of the main body of the machine.

[0025] The foregoing cleaning machine system is provided with a detection module on the main body of the machine for detecting whether the handle rod is installed on the docking part. The detection module is electrically connected to the control module, and the detection module is set to be one of an infrared sensor, a Hall switch, a micro - switch, a pole contact switch, or a reed switch.

[0026] The foregoing cleaning machine system is provided with a crimping component on the main body of the machine. When the cleaning machine is on the working surface and the cleaning component rotates horizontally while fitting the working surface, at least a part of the crimping component contacts the cleaning component, so that the bottom surface of the cleaning component has an uneven frictional force relative to the working surface, causing the cleaning machine to displace.

[0027] The foregoing cleaning machine system is provided with crimping components on two cleaning components respectively, and the two crimping components respectively crimp a part of the two cleaning components. The pressure of one crimping component on one cleaning component is set to F1, and the pressure of the other crimping component on the other cleaning component is set to F2. When the cleaning machine turns and displaces towards the direction of the one cleaning component, then F1 is greater than F2. When the cleaning machine turns and displaces towards the direction of the other cleaning component, then F2 is greater than F1.

[0028] For the above-mentioned cleaning machine system, the bottom surface of the cleaning component is set as a soft structure; when the cleaning component fits the working surface, the cleaning component is in an inclined structure; or when the cleaning component fits the working surface, at least a first deformation part and a second deformation part are formed on the bottom surface of the cleaning component, and the deformation amount of the first deformation part is greater than that of the second deformation part.

[0029] For the above-mentioned cleaning machine system, when the cleaning component is in an inclined structure, the cleaning component is set to be an inclined structure from the inner side to the outer side of the machine body and from high to low.

[0030] For the above-mentioned cleaning machine system, it further includes a cleaning device, which is used to place the cleaning machine to clean the cleaning component; a liquid storage cavity is arranged on the cleaning device, and when the cleaning machine is placed on the cleaning device, the cleaning component is located in the liquid storage cavity, and / or a drying module is arranged on the cleaning device, and when the cleaning machine is placed on the cleaning device, the drying module is located on one side of the cleaning component to dry the cleaning component.

[0031] For the above-mentioned cleaning machine system, a liquid supply module is arranged on the cleaning device, and when the liquid supply module works, the liquid supply module makes the cleaning liquid contact the cleaning component for cleaning the cleaning component.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The cleaning component of the cleaning machine in this solution is set to have a moving structure, specifically a structure that can rotate horizontally. The moving structure of the cleaning component can drive the cleaning machine to move and walk, realizing large-area mopping and cleaning. At the same time, it can replace the driving wheel structure on the existing cleaning machine to drive the cleaning machine to walk. The overall structure is simpler. The cleaning component can cover a large area at the bottom of the machine body and can effectively mop the areas along the walls and in the corners.

[0034] The cleaning component in this solution is set to a horizontal rotation structure. The cleaning component can effectively cover the bottom of the machine body, realizing a large-area horizontal rotation movement structure, so that the contact area between the cleaning component and the ground is large. When driving the cleaning machine to move, it can effectively prevent the problem of slipping, which is beneficial to maintaining the stable displacement and walking of the cleaning machine and will not cause the problem of deviation in displacement and walking.

[0035] The cleaning machine in this solution is set with a self - moving cleaning mode and a hand - held cleaning mode, achieving a multi - functional use effect of the cleaning machine. When the handle rod is not installed in place, the cleaning machine can execute the self - moving cleaning mode, enabling the cleaning machine to perform autonomous displacement and movement on the ground for mopping, without the need for manual operation by the user at this time. When the handle rod is installed in place, the cleaning machine can execute the hand - held cleaning mode, enabling the user to manually control the cleaning machine to mop on the ground. The two cleaning modes are realized to facilitate user selection.

[0036] In this solution, the docking part is used to realize the docking of the handle rod and the main body of the cleaning machine. The handle rod can be rotationally docked and installed relative to the main body of the machine, enabling the cleaning machine to enter the hand - held cleaning mode. A detachable connection structure is set between the handle rod and the docking part, facilitating the user to switch between the self - moving cleaning mode and the hand - held cleaning mode by installing and removing the handle rod.

[0037] The handle rod in this solution can also be set to a telescopic structure. When the handle rod is retracted, it can be directly placed on the cleaning machine, and then the cleaning machine can switch from the hand - held cleaning mode to the self - moving cleaning mode, achieving a multi - functional use effect of quick switching and dual - use of the cleaning machine. At the same time, the handle rod can also be part of the appearance, and the cleaning machine can execute the self - moving cleaning mode without the user disassembling the handle rod, which is convenient for the user to use.

[0038] In this solution, since the cleaning machine can drive the mopping cleaning by hand - held movement in the hand - held cleaning mode, although the user holds the handle rod by hand to mop the floor, due to the horizontal rotational movement of the cleaning component, it can drive the cleaning machine to perform displacement and movement, enabling the user to mop the floor of the cleaning machine very labor - saving without having to push hard when holding the handle rod. The user only needs to manually control the direction of the displacement and movement of the cleaning machine, which is convenient for the user to use.

[0039] Regarding the uneven frictional force between the cleaning component and the working surface, in this solution, the cleaning component can be set to an inclined structure, or it can be set that the cleaning component has a first deformation part and a second deformation part, and has different deformation amounts to achieve uneven frictional force, thereby realizing the horizontal rotation of the cleaning component to drive the displacement and movement of the cleaning machine. The overall structure is simple and has high reliability.

[0040] In this solution, different sizes of frictional forces between the bottom surface of the cleaning component and the working surface can be achieved through the crimping component. When the cleaning component rotates horizontally while fitting the working surface, it can move and walk under the action of different sizes of frictional forces, rather than staying in place, realizing the overall displacement and movement of driving the main body of the machine by the cleaning component.

[0041] Under the contact crimping of the crimping component, the cleaning component of this solution forms uneven pressure or uneven friction on the cleaning component, so that the cleaning component can automatically displace and move when the force is uneven, and can replace the driving wheel for walking.

[0042] This solution realizes the straight forward walking, straight backward walking and turning walking of the cleaning machine by setting two cleaning components and the cooperation of the two cleaning components. Combining the uneven friction of the two cleaning components relative to the working surface, the cleaning machine can perform automatic displacement walking, and the walking direction can be straight or turning. Brief Description of the Drawings

[0043] Figure 1 It is a side view schematic diagram of the cleaning machine;

[0044] Figure 2 It is a schematic diagram of the cleaning machine with the handle rod installed;

[0045] Figure 3 It is a side view schematic diagram of the cleaning machine with the handle rod installed;

[0046] Figure 4 It is a top view schematic diagram of the cleaning machine with the handle rod installed;

[0047] Figure 5 It is a side view schematic diagram of the cleaning machine in the retracted structure and located in the accommodating part;

[0048] Figure 6 It is a top view schematic diagram of the cleaning machine in the retracted structure and located in the accommodating part;

[0049] Figure 7 It is a schematic diagram of the remote control cleaning machine performing cleaning tasks after the handle rod is retracted;

[0050] Figure 8 It is a schematic diagram of the horizontal rotation of the cleaning component in the bottom upward view of the cleaning machine;

[0051] Figure 9 It is a schematic diagram of the inclined structure of the cleaning component relative to the ground;

[0052] Figure 10 It is a schematic diagram of the cleaning component being attached to the ground and having an inclined structure;

[0053] Figure 11 It is a schematic diagram of the cleaning component fitting on the ground with a first deformation part and a second deformation part;

[0054] Figure 12 It is a bottom view schematic diagram of the crimping component on the cleaning machine crimping two cleaning components at the same time;

[0055] Figure 13Schematic side sectional view of the crimping assembly on the cleaning machine for crimping two cleaning components simultaneously;

[0056] Figure 14 Schematic bottom view of the two crimping assemblies on the cleaning machine for crimping two cleaning components respectively;

[0057] Figure 15 Schematic side sectional view of the two crimping assemblies on the cleaning machine for crimping two cleaning components respectively;

[0058] Figure 16 Schematic view of the cleaning machine moving straight forward;

[0059] Figure 17 Schematic view of the cleaning machine turning right under the pressure of the crimping assembly;

[0060] Figure 18 Schematic view of the cleaning machine turning left under the pressure of the crimping assembly;

[0061] Figure 19 Schematic view of turning right with the same horizontal rotation direction of the two cleaning components;

[0062] Figure 20 Schematic view of turning left with the same horizontal rotation direction of the two cleaning components;

[0063] Figure 21 Schematic view of turning right with one cleaning component stopped and the other moving;

[0064] Figure 22 Schematic view of turning left with one cleaning component stopped and the other moving;

[0065] Figure 23 Schematic view of the cleaning machine located on the cleaning device to clean the cleaning components.

[0066] Reference numerals: 1 - cleaning machine, 100 - machine main body, 1001 - docking part, 1002 - accommodating part, 101 - handle rod, 1011 - rod part, 102 - detection module, 103 - cliff module, 104 - collision module, 105 - obstacle detection module, 106 - carpet detection module, 107 - remote control module, 108 - induction module, 109 - cleaning component, 110 - crimping assembly, 111 - first deformation part, 112 - second deformation part, 113 - crimping area, 114 - cleaning area, 115 - cleaning device. Detailed implementation manners

[0067] In order to make the technical means, creative features, achieved purposes and functions realized by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0068] Embodiment: A cleaning machine system of the present invention is as Figures 1 to 23 shown in the composition. The cleaning machine 1 is mainly used for moving on the ground to perform mopping cleaning. At the same time, the cleaning machine 1 can be installed with a handle rod 101 to be a handheld cleaning machine 1, so that the cleaning machine 1 of the present solution has a multi-functional use effect and is convenient for users to use.

[0069] At the same time, the cleaning component 109 on the cleaning machine 1 of the present solution is set to a horizontally rotating motion structure to achieve horizontal rotation for large-area and high-friction mopping cleaning effect, and the cleaning machine 1 is driven to move on the ground by the self-horizontal rotation motion of the cleaning component 109, replacing the way of setting driving wheels on the existing mopping machine to drive the walking, so that the overall structure of the cleaning machine 1 is simple and the cost is lower, and it is beneficial to the distribution arrangement of the cleaning component 109 to achieve a better mopping cleaning effect.

[0070] A cleaning machine system of the present solution, the cleaning machine 1 includes a machine body 100. The machine body 100 can be set to a cylindrical structure or an ellipsoidal cylindrical structure. The cleaning component 109 is arranged on the machine body 100. The cleaning component 109 is set to a movable structure. The cleaning component 109 is mainly used to contact and fit the ground to perform mopping cleaning. Through the movable structure of the cleaning component 109, a large-area and high-friction mopping cleaning effect on the ground is achieved. The cleaning machine system of the present solution includes a self-moving cleaning mode and a handheld cleaning mode; in the self-moving cleaning mode, the cleaning machine 1 moves autonomously on the ground to achieve mopping cleaning. After the cleaning machine 1 is started, the force of the self-movement of the cleaning component 109 is mainly used to achieve the displacement walking on the ground; in the handheld cleaning mode, while the cleaning component 109 of the cleaning machine 1 moves, the user manually controls the cleaning machine 1 to move on the ground to complete mopping cleaning; the self-moving cleaning mode and the handheld cleaning mode of the cleaning machine 1 of the present solution are realized, which is convenient for users to use and has a multi-functional use effect. In the self-moving cleaning mode, the cleaning machine 1 is a self-moving robot, and in the handheld cleaning mode, the cleaning machine 1 is a handheld mopping machine, so that the applicable range of the cleaning machine 1 of the present solution is wider.

[0071] In this solution, a control module is provided inside the machine body 100. Threshold A for starting the self - moving cleaning mode and threshold B for starting the hand - held cleaning mode are set in the control module. The control module starts the self - moving cleaning mode or the hand - held cleaning mode according to the received start signal. The start signal can be manually triggered by the user. Threshold A corresponds to the self - moving cleaning mode, and threshold B corresponds to the hand - held cleaning mode. The start signal includes the first signal for starting the self - moving cleaning mode and the second signal for starting the hand - held cleaning mode. The user can independently choose to determine whether to start the first signal or the second signal.

[0072] Regarding the start signal, it can be started by pressing a button, or by touching, or by voice calling, or by manually touching on the APP, or by using a remote control. The start signal can be triggered in the above - mentioned ways.

[0073] Among them, a handle rod 101 is mainly provided for the cleaning machine 1. The handle rod 101 is set as an independent accessory. A detachable installation structure is set between the handle rod 101 and the machine body 100. When the handle rod 101 is installed on the machine body 100, the user can start the self - moving cleaning mode for the cleaning machine 1 at this time. When the handle rod 101 is detached from the machine body 100, that is, when the handle rod 101 is not installed in place, the user can start the hand - held cleaning mode for the cleaning machine 1 at this time, which is convenient for the user to use the cleaning machine 1 to achieve the mopping cleaning effect.

[0074] For the docking and installation part of the handle rod 101, a docking part 1001 is provided on the machine body 100. The docking part 1001 is mainly used for docking and connecting with the handle rod 101, and can be set to be connected by docking and clamping, or connected by bolts and threads. When the cleaning machine 1 executes the self-moving cleaning mode, the handle rod 101 is not installed on the docking part 1001, or the handle rod 101 is installed on the docking part 1001 and is in a retracted structure relative to the docking part 1001; when the cleaning machine 1 executes the hand-held cleaning mode, the handle rod 101 is installed on the docking part 1001, or the handle rod 101 is installed on the docking part 1001 and is in an extended structure relative to the docking part 1001; that is, in the self-moving cleaning mode, the handle rod 101 can be set to be removed and not installed on the docking part 1001, or the handle rod 101 can be installed on the docking part 1001 but the handle rod 101 is in a retracted structure because it is set as a telescopic structure. At this time, the cleaning machine 1 can normally execute the self-moving cleaning mode, and the handle rod 101 will not block the cleaning machine 1 in the self-moving cleaning mode, and the user can directly start the self-moving cleaning mode to perform mopping cleaning; in the hand-held cleaning mode, it can be set that the handle rod 101 is installed on the docking part 1001. At this time, the handle rod 101 can be set as a rod-shaped structure with a certain length. After the user directly holds the handle rod 101 and installs it on the docking part 1001, the hand-held cleaning mode can be started to perform mopping cleaning. It can also be set that the handle rod 101 is a telescopic structure, and at the same time the handle rod 101 is installed on the docking part 1001. The user can manually make the handle rod 101 in the extended structure state. At this time, the user can directly hold the handle rod 101 to start the hand-held cleaning mode to perform mopping cleaning; the above solution can start the cleaning mode of the cleaning machine 1 according to whether the handle rod 101 is installed on the docking part 1001.

[0075] Regarding the structural parts of the handle rod 101 and the docking part 1001, the handle rod 101 is configured to be rotatable relative to the docking part 1001, and when the handle rod 101 is installed on the docking part 1001, the handle rod 101 can rotate relative to the docking part 1001. It can be that the handle rod 101 is movably sleeved and installed on the docking part 1001, and the handle rod 101 can turn in any direction of front, back, left, or right relative to the docking part 1001, or directly be a universal rotation installation and docking structure, similar to the installation structure of a ball socket, so as to enable the user to hold the handle rod 101 to control the walking direction of the cleaning machine 1 by freely rotating the handle rod 101 when in the hand-held cleaning mode, facilitating the user to operate the cleaning machine 1 through the handle rod 101; and / or it can be that the docking part 1001 is configured to be rotatably installed on the robot main body, and when the handle rod 101 is installed on the docking part 1001, the handle rod 101 can rotate relative to the machine main body 100 through the docking part 1001, that is, the docking part 1001 itself is configured to be rotatably installed on the machine main body 100, and the docking part 1001 can turn in any direction of front, back, left, or right on the machine main body 100, or directly be a universal rotation installation structure to be installed on the machine main body 100, similar to the installation structure of a ball socket. When the handle rod 101 is docked and installed on the docking part 1001, it can rotate relative to the machine main body 100 through the docking part 1001, so as to enable the user to hold the handle rod 101 to control the walking direction of the cleaning machine 1 by driving the handle rod 101 to freely rotate through the docking part 1001 when in the hand-held cleaning mode, facilitating the user to operate the cleaning machine 1 through the handle rod 101.

[0076] For the convenience of the user, the handle rod 101 and the docking part 1001 are set to be detachably connected structures, and it can be determined according to the user's needs whether to install the handle rod 101 on the docking part 1001 or remove the handle rod 101 from the docking part 1001. Moreover, the handle rod 101 is set to be a telescopic joint structure, similar to the telescopic joint structure of an antenna, facilitating the user to use the handle rod 101.

[0077] In this solution, the length of the machine body 100 of the cleaning machine 1 is greater than the width of the machine body 100. When the handle rod 101 is installed on the docking part 1001, the handle rod 101 and the docking part 1001 are located at the middle position in the length direction of the machine body 100 and at the middle or rear position in the width direction of the machine body 100. That is, after the handle rod 101 and the docking part 1001 are docked and installed, the positions of the handle rod 101 and the docking part 1001 on the machine body 100 are at the middle position in the length direction, which is beneficial to driving the cleaning machine 1 to move forward, backward, left and right through the handle rod 101 for mopping the floor. At the same time, the handle rod 101 and the docking part 1001 are located at the middle or rear position in the width direction of the machine body 100, so that it is convenient to drive the cleaning machine 1 to move forward through the handle rod 101, and it is convenient for the user to operate the cleaning machine 1 through the handle rod 101 to mop and clean the floor.

[0078] Optionally, when two cleaning components 109 are provided, the direction in which the two cleaning components 109 are arranged side by side is the length direction, that is, the direction in which the overall sizes of the two cleaning components 109 are added together is the length direction, and the direction in which the two cleaning components 109 are not added together is the width direction, so as to realize the overall shape and size structure of the cleaning machine 1.

[0079] Regarding the installation, turning and placement of the handle rod 101, when the handle rod 101 is installed on the docking part 1001, the handle rod 101 can rotate relative to the machine body 100 and rotate towards the width direction of the machine body 100 so that the handle rod 101 is placed on the machine body 100 from the middle or rear position to the front position in the width direction of the machine body 100. At this time, when the handle rod 101 is in the retracted structure and directly placed on the machine body 100, the cleaning machine 1 can start the self-moving cleaning mode. It can be understood that the handle rod 101 lies on the machine body 100 and is set to be horizontally placed from the middle or rear position to the front position in the width direction of the machine body 100. In this way, even if the handle rod 101 is installed on the docking part 1001, the cleaning machine 1 can start the self-moving cleaning mode. When it is necessary to start the hand-held cleaning mode, the handle rod 101 can be rotated upright and the handle rod 101 can be changed from the retracted structure to the extended structure, and then the handle rod 101 can be manually held to operate the cleaning machine 1.

[0080] In this solution, when the handle rod 101 is installed on the docking part 1001 and is in the retracted structure, a part of the handle rod 101 is set as a part of the appearance of the machine body 100. That is, the handle rod 101 is installed on the upper part of the machine body 100. When the handle rod 101 is placed and installed on the machine body 100 in the retracted structure, the handle rod 101 is a part of the appearance of the machine body 100.

[0081] Specifically, a receiving portion 1002 is provided on the machine body 100. The receiving portion 1002 can be set as a concave structure or a concave groove structure. When the handle rod 101 is installed on the docking portion 1001 and is in a retracted structure, a part of the handle rod 101 is located within the receiving portion 1002, and a part of the handle rod 101 is set as a part of the appearance of the machine body 100. The handle rod 101 can be directly placed within the receiving portion 1002 in the retracted structure, which is convenient for cleaning the cleaning machine 1 in time when the handle rod 101 is installed on the docking portion 1001, and the cleaning machine 1 can also more conveniently execute the self - moving cleaning mode. The handle rod 101 will not form an obstacle to the movement of the cleaning machine 1 in the self - moving cleaning mode.

[0082] Regarding the handle rod 101 and the docking portion 1001, a detachable connection structure is provided between the handle rod 101 and the docking portion 1001. One or more rod portions 1011 are provided on the handle rod 101. When the handle rod 101 is provided with one rod portion 1011, the handle rod 101 is in a non - telescopic structure. The user can execute the hand - held cleaning mode by directly installing the handle rod 101 or execute the self - moving cleaning mode by directly removing the handle rod 101; when the handle rod 101 is provided with multiple rod portions 1011, the adjacent two rod portions 1011 are set to be sleeved with each other to achieve the sleeved installation effect between the multiple rod portions 1011, which is convenient for setting the handle rod 101 as multiple rod portions 1011 with smaller lengths. When the multiple rod portions 1011 are sleeved together, a longer handle rod 101 can be formed, which is convenient for the user to operate the cleaning machine 1 through the handle rod 101 and is also convenient for the storage of the handle rod 101.

[0083] Regarding the perception switching effect between the self - moving cleaning mode and the hand - held cleaning mode, mainly the cleaning machine system of this solution can also be provided with a detection module 102. The detection module 102 is used to detect the handle rod 101. The handle rod 101 is mainly set to be detachably installed on the machine body 100. By means of the detection module 102, it is detected whether the handle rod 101 is installed in place. Specifically, when the detection module 102 detects that the handle rod 101 is not installed in place, the cleaning machine 1 can execute the self - moving cleaning mode; when the detection module 102 detects that the handle rod 101 is installed in place, the cleaning machine 1 can execute the hand - held cleaning mode; by detecting whether the handle rod 101 is in place through the detection module 102, it is determined which mode the cleaning machine 1 can execute, that is, it can execute the self - moving cleaning mode or the hand - held cleaning mode, which is convenient for switching and using. Most of the time, the user can start the self - moving cleaning mode of the cleaning machine 1. At this time, the cleaning machine 1 moves and walks automatically on the indoor floor to complete the mopping and cleaning task. When the user needs to use the cleaning machine 1 to mop and clean a specific area, the handle rod 101 can be installed on the machine body 100 of the cleaning machine 1 and then the hand - held cleaning mode can be started. At this time, it is convenient for the user to manually mop and clean.

[0084] The cleaning machine 1 of this solution is set with a self - moving cleaning mode and a hand - held cleaning mode to achieve the multi - functional use effect of the cleaning machine 1. When the handle rod 101 is not installed in place, the cleaning machine 1 can execute the self - moving cleaning mode, realizing the autonomous displacement and movement of the cleaning machine 1 on the ground for mopping, without the need for manual operation by the user at this time. When the handle rod 101 is installed in place, the cleaning machine 1 can execute the hand - held cleaning mode, realizing the user's manual control of the cleaning machine 1 to mop on the ground. The two cleaning modes are convenient for the user to choose.

[0085] Since the cleaning machine 1 of this solution can drive the mopping cleaning by hand - holding through the handle rod 101, although the user holds the handle rod 101 by hand to mop the floor, due to the horizontal rotational movement of the cleaning component 109, it can drive the cleaning machine 1 to move and displace, so that when the user holds the handle rod 101, there is no need to push hard to easily achieve the mopping cleaning of the cleaning machine 1. The user only needs to manually control the displacement direction of the cleaning machine 1, which is convenient for the user to use.

[0086] Regarding the handle rod 101, the handle rod 101 can be set as a multi - section telescopic structure. When the user needs to install the handle rod 101, the multi - sections can be extended at this time to achieve the control of the cleaning machine 1 through the handle rod 101. When the handle rod 101 is disassembled, the multi - section telescopic structure can be compressed and shortened. At this time, the handle rod 101 can also remotely control the cleaning machine 1 to start working.

[0087] To facilitate the user's switching and use between the self - moving cleaning mode and the hand - held cleaning mode, this solution is provided with a first start key on the handle rod 101, and when the user starts the first start key, the cleaning machine 1 executes the hand - held cleaning mode; a second start key is set on the machine body 100, and when the user starts the second start key, the cleaning machine 1 executes the self - moving cleaning mode. That is, the user independently judges whether the handle rod 101 is installed in place. At the same time, the user starts different modes by starting the first start key or the second start key. When the handle rod 101 is installed in place, at this time, the user can more conveniently reach the handle rod 101 to start the first start key, and at this time, the hand - held cleaning mode can be started to perform mopping cleaning correspondingly. When the user needs to start the self - moving cleaning mode, at this time, the user needs to start the second start key on the machine body 100. Under normal circumstances, the handle rod 101 is not installed in place at this time, and the user can only start the self - moving cleaning mode through the second start key. Thus, the user can independently start the mode of the cleaning machine 1, which is convenient for the user to use, and the cleaning machine 1 does not need to detect whether the handle rod 101 is in place.

[0088] In this solution, the self - moving cleaning mode or the handheld cleaning mode includes that when the cleaning component 109 moves, the friction force between the cleaning component 109 and the working surface during its own movement drives the cleaning machine 1 to displace on the working surface. That is, the friction force between the cleaning component 109 during horizontal rotational movement and the ground drives the cleaning machine 1 to displace and walk, replacing the existing driving wheels to realize the way of driving the cleaning machine 1 to displace and walk. While the cleaning component 109 realizes large - area mopping and cleaning, it can replace the driving wheels on the existing cleaning machine 1 to drive the cleaning machine 1 to walk. The overall structure is simpler. The cleaning component 109 can cover a large area at the bottom of the machine body 100 and can effectively mop the areas along the walls and at the corners.

[0089] The cleaning component 109 of this solution is set as a horizontal rotation structure. The cleaning component 109 can effectively cover the bottom of the machine body 100, realizing a large - area horizontal rotation movement structure, so that the contact area between the cleaning component 109 and the ground is large. When driving the cleaning machine 1 to displace, it can effectively prevent the slipping problem, which is beneficial to keeping the cleaning machine 1 moving stably without the problem of deviation during displacement walking.

[0090] Regarding the power of the horizontal rotation structure of the cleaning component 109, a driving mechanism is provided. The driving mechanism mainly includes a motor. The motor drives the horizontal rotation of the cleaning component 109. The motor shaft can be connected to the cleaning component 109 through a bracket to form the horizontal rotation structure of the cleaning component 109, or the motor shaft can be connected to a gear, and the gear is used to drive the horizontal rotation structure of the cleaning component 109. The rotation speed of the cleaning component 109 can be correspondingly configured according to the rotation speed of the motor, and the horizontal rotation direction of the cleaning component 109 can be adjusted by the forward and reverse rotation of the motor.

[0091] Among them, in this solution, the control module of the cleaning machine 1 is electrically connected to the cleaning component 109. The opening, stopping, and horizontal rotation direction (such as forward or reverse rotation) of the horizontal rotation of the cleaning component 109 are mainly controlled by the control module, which can be achieved by setting the control program in the control module. When there are two cleaning components 109, the control module can separately control the independent opening, stopping, horizontal rotation direction and other functions of the two cleaning components 109. Of course, one motor can also be set to drive the synchronous work of the two cleaning components 109 simultaneously. At this time, the control module can control this motor to realize the synchronous control of the work of the two cleaning components 109.

[0092] In order to enable the cleaning machine 1 to move automatically on the ground for mopping and cleaning, and to detect obstacles and suspended positions during the automatic movement, at least a cliff module 103, a collision module 104, an obstacle detection module 105 or a carpet detection module 106 electrically connected to the control module is provided on the machine body 100. The control module controls the detection of the suspended position and obstacles so as to realize obstacle avoidance processing during the automatic movement of the cleaning machine 1.

[0093] In the automatic cleaning mode, at least include setting a threshold C for the control module to control the cliff module 103 to control the cleaning component 109 to move and drive the machine body 100 to perform a backward displacement or a turning displacement when detecting a suspended position; or setting a threshold D for the control module to control the collision module 104 to control the cleaning component 109 to move and drive the cleaning machine 1 to perform a backward displacement or a turning displacement when detecting that the machine body 100 contacts an obstacle; or setting a threshold E for the control module to control the obstacle detection module 105 to control the cleaning component 109 to move and drive the cleaning machine 1 to perform a backward displacement or a turning displacement when detecting an obstacle in the side direction of the machine body 100; or setting a threshold F for the control module to control the carpet detection module 106 to control the cleaning component 109 to move and drive the cleaning machine 1 to perform a backward displacement or a turning displacement when detecting a carpet in the lower side direction of the machine body 100.

[0094] In the automatic cleaning mode of this solution, the threshold C includes that when the cliff module 103 on the machine body 100 detects a suspended position, the cleaning component 109 moves and drives the machine body 100 to perform a backward displacement or a turning displacement. At this time, the control module controls the cliff module 103 to normally judge whether the cleaning machine 1 is in a suspended position to prevent the cleaning machine 1 from falling. The cliff module 103 can be set as an infrared transmitter and an infrared receiver to achieve the detection effect of the suspended position.

[0095] In the automatic cleaning mode of this solution, the threshold D includes that when the collision module 104 detects that the machine body 100 contacts an obstacle, the cleaning component 109 moves and drives the cleaning machine 1 to perform a backward displacement or a turning displacement. At this time, the control module controls the collision module 104 to normally detect and judge whether the machine body 100 of the cleaning machine 1 contacts an obstacle. If it contacts an obstacle, the collision module 104 is triggered to achieve obstacle avoidance processing, that is, to control the cleaning machine 1 to perform a backward displacement or a turning displacement. The collision module 104 is a microswitch. The collision module 104 can also be set as a trigger with a swinging structure. One end of the trigger is installed with an infrared receiver and an infrared transmitter. When the machine body 100 contacts an obstacle, the infrared receiver cannot receive the infrared signal emitted by the infrared transmitter. At this time, it can be judged that an obstacle is contacted, and thus the obstacle avoidance effect is achieved.

[0096] In the self - moving cleaning mode of this solution, the threshold E means that when the obstacle detection module 105 detects an obstacle in the lateral direction of the machine body 100, the cleaning component 109 moves and drives the cleaning machine 1 to perform a backward displacement or a turning displacement. At this time, the control module controls the obstacle detection module 105 to normally detect obstacles in the lateral direction of the machine body 100, that is, obstacles in the circumferential direction. The obstacle detection module 105 includes an infrared emitter and an infrared receiver. When there is an obstacle in the lateral direction of the machine body 100 and the obstacle blocks the infrared signal emitted by the infrared emitter so that the infrared receiver cannot receive it, it can be determined that there is an obstacle at this time. The control module controls the cleaning machine 1 to avoid the obstacle, thereby achieving the obstacle avoidance effect.

[0097] Among them, the collision detection module 102 and the obstacle detection module 105 are located on the side of the machine body 100 to detect whether there are obstacles in the lateral direction of the machine body 100. The collision detection module 102 detects obstacles by means of contact collision, and the obstacle detection module 105 detects obstacles by means of distance detection.

[0098] A collision shell is arranged on the outer side of the machine body 100. The collision shell is movably installed on the machine body 100. When the collision shell touches an obstacle, the collision shell will trigger the collision module 104 at this time to realize the detection of the obstacle. This is the prior art and will not be described in detail; the obstacle detection module 105 is installed on the side of the machine body 100. When the distance between the obstacle and the machine body 100 is relatively close, the obstacle will trigger the obstacle detection module 105 to realize the detection of the obstacle. This is the prior art and will not be described in detail.

[0099] Optionally, the collision detection module 102 can be set as an acceleration sensor. When the acceleration sensor detects that the displacement walking speed of the cleaning machine 1 suddenly decreases or suddenly stops, it is determined at this time that the cleaning machine 1 touches an obstacle, and the cleaning component 109 can be controlled to move and drive the cleaning machine 1 to perform a backward displacement or a turning displacement.

[0100] In the self - moving cleaning mode of this solution, the threshold F means that when the carpet detection module 106 detects a carpet in the downward direction of the machine body 100, the cleaning component 109 moves and drives the cleaning machine 1 to perform a backward displacement or a turning displacement. At this time, the control module controls the carpet detection module 106 to normally detect whether there is a carpet below the machine body 100. The carpet detection module 106 can be an infrared sensor or an ultrasonic sensor. Carpet detection is the prior art and will not be described in detail. To prevent the cleaning machine 1 from entering the carpet and causing pollution or wetting the carpet, it can effectively avoid the carpet in the self - moving cleaning mode.

[0101] In the above solution, in the self - moving cleaning mode, the control module controls the cliff module 103, the collision module 104, the obstacle detection module 105, and the carpet detection module 106 to normally execute the detection function, and realizes obstacle avoidance processing in the self - moving cleaning mode to ensure that the cleaning machine 1 walks and displaces normally for mopping cleaning.

[0102] Regarding the specific movement mode of the cleaning component 109, the cleaning component 109 is set as a movement structure that can horizontally rotate in contact with the working surface. And when the cleaning component 109 rotates horizontally, the bottom surface of the cleaning component 109 has uneven friction relative to the working surface, so that the cleaning machine 1 is driven to displace on the working surface through the cleaning component 109. That is, different friction force areas are formed on the bottom surface of the cleaning component 109 when it contacts the working surface, so that the bottom of the cleaning component 109 will displace and walk under the action of different friction force areas during the horizontal rotation movement. When two cleaning components 109 are provided, the bottom surfaces of the two cleaning components 109 respectively have different friction forces, and the cleaning component 109 can drive the cleaning machine 1 to displace and walk.

[0103] In this solution, the number of the cleaning components 109 is set to two or more; when the number of the cleaning components 109 is set to two, the two cleaning components 109 are arranged in a side - by - side adjacent structure, and at least the horizontal rotation directions of the two cleaning components 109 are opposite; the number of the cleaning components 109 can be set according to needs for mopping cleaning; preferably, when the number of the cleaning components 109 is set to two, the two cleaning components 109 are arranged in a side - by - side adjacent structure, and at least the horizontal rotation directions of the two cleaning components 109 are opposite; the opposite horizontal rotation directions of the two cleaning components 109 are beneficial to the combined action of the two cleaning components 109 to drive the linear displacement walking and the steering displacement walking of the cleaning machine 1, and are beneficial to maintaining stability during the walking process of the cleaning machine 1, realizing the cancellation of part of the horizontal rotation force of the cleaning component 109, but can drive the cleaning machine 1 to displace and walk through the uneven friction forces of the two cleaning components 109 with the working surface respectively.

[0104] Two cleaning components 109 are provided on the cleaning machine 1, and the horizontal rotation movement directions of the two cleaning components 109 are set to be from the outside of the machine body 100 towards the inside, from the upper side towards the lower side, and both cleaning components 109 rotate horizontally towards the direction between the two cleaning components 109. Looking at the bottom view of the cleaning machine 1, the left - hand cleaning component 109 rotates horizontally in a clockwise direction, and the right - hand cleaning component 109 rotates horizontally in a counter - clockwise direction. The rotation directions of the left - hand cleaning component 109 and the right - hand cleaning component 109 are both horizontally rotating towards the middle position between the two cleaning components 109. This is beneficial to the linear displacement walking and the steering displacement walking of the cleaning machine 1.

[0105] In the self - moving cleaning mode, for the backward displacement walking of the cleaning machine 1, mainly a structure that controls the horizontal rotation movement direction of the two cleaning components 109 to switch to the reverse horizontal rotation movement so that the two cleaning components 109 with reverse horizontal rotation movements drive the cleaning machine 1 to perform backward displacement. That is, in the forward state of the linear displacement walking of the cleaning machine 1, the horizontal rotation direction of the cleaning component 109 is switched to the reverse horizontal rotation. At this time, the horizontal rotation of the cleaning component 109 can drive the cleaning machine 1 to perform linear displacement backward walking, realizing the backward movement of the cleaning machine 1; when two cleaning components 109 are provided on the cleaning machine 1, the horizontal rotation directions of the two cleaning components 109 are both switched to the reverse horizontal rotation, and at this time, the stable linear backward displacement walking of the cleaning machine 1 is realized.

[0106] In the self - moving cleaning mode, that is, when the cleaning machine 1 is turning, the turning can be a left turn or a right turn, and it can also be achieved in the following way. When controlling the horizontal rotation direction of one of the cleaning components 109 to switch to the same as the horizontal rotation direction of the other cleaning component 109 and set to horizontally rotate in the direction towards the other cleaning component 109 to drive the cleaning machine 1 to turn and displace in the direction towards the other cleaning component 109. At this time, by setting the horizontal rotation directions of the two cleaning components 109 to rotate in the same direction, the forces of the horizontal rotation of the two cleaning components 109 are concentrated in one direction, thus enabling the cleaning machine 1 to turn. Among them, the rotation directions of the two cleaning components 109 are horizontally rotated in the direction towards which the cleaning machine 1 needs to turn; specifically, it can be understood that one of the cleaning components 109 is the left - hand cleaning component 109 and the other cleaning component 109 is the right - hand cleaning component 109. When the cleaning machine 1 needs to turn to the left, the horizontal rotation direction of the right - hand cleaning component 109 is set to switch to the same as the horizontal rotation direction of the left - hand cleaning component 109, and the horizontal rotation directions of the left - hand cleaning component 109 and the right - hand cleaning component 109 are rotated in the direction towards the left - hand cleaning component 109, that is, rotated in the direction towards the left side of the cleaning machine 1, and set to horizontally rotate from the front side to the rear side of the cleaning machine 1. At this time, the turning of the cleaning machine 1 can be better realized; similarly, the right - turn effect of the cleaning machine 1 can be achieved. When the cleaning machine 1 needs to turn to the right, the horizontal rotation direction of the left - hand cleaning component 109 is set to switch to the same as the horizontal rotation direction of the right - hand cleaning component 109, and the horizontal rotation directions of the left - hand cleaning component 109 and the right - hand cleaning component 109 are rotated in the direction towards the right - hand cleaning component 109, that is, rotated in the direction towards the right side of the cleaning machine 1, and set to horizontally rotate from the front side to the rear side of the cleaning machine 1. At this time, the turning of the cleaning machine 1 can be better realized.

[0107] In the self - moving cleaning mode, when the cleaning machine 1 turns, that is, when the cleaning machine 1 makes a turn, the turn can be a left turn or a right turn, and can also be in the following way. Mainly by setting one of the cleaning components 109 to stop moving and the other cleaning component 109 to rotate horizontally in the direction towards the one cleaning component 109, a structure is formed to drive the cleaning machine 1 to turn and displace in the direction of the one cleaning component 109. At this time, by setting the horizontal rotation of the one cleaning component 109 to stop, the other cleaning component 109 generates a rotational force during horizontal rotation to achieve the overall turning of the cleaning machine 1; specifically, it can be understood that one of the cleaning components 109 is the left - hand cleaning component 109 and the other cleaning component 109 is the right - hand cleaning component 109. When the cleaning machine 1 needs to turn left, at this time the left - hand cleaning component 109 stops horizontal rotation, the right - hand cleaning component 109 is in a horizontal rotation state and the horizontal rotation direction of the right - hand cleaning component 109 is to rotate towards the left side of the cleaning machine 1 and is to rotate horizontally from the front side to the rear side of the cleaning machine 1, so that at least under the action of the rotational force of the cleaning component 109, the cleaning machine 1 is driven to turn, which is a left turn; similarly, when the cleaning machine 1 needs to turn right, at this time the right - hand cleaning component 109 stops horizontal rotation, the left - hand cleaning component 109 is in a horizontal rotation state and the horizontal rotation direction of the left - hand cleaning component 109 is to rotate towards the right side of the cleaning machine 1 and is to rotate horizontally from the front side to the rear side of the cleaning machine 1, so that at least under the action of the rotational force of the cleaning component 109, the cleaning machine 1 is driven to turn, which is a left turn; at this time, the turning of the cleaning machine 1 can be better realized.

[0108] In this solution, in the self - moving cleaning mode, a structure is provided to drive the cleaning machine 1 to turn and displace in the direction of the other cleaning component 109 by controlling the frictional force between one of the cleaning components 109 and the working surface to be greater than the frictional force between the other cleaning component 109 and the working surface; specifically, when the frictional forces of the two cleaning components 109 with the ground are equal, at this time the cleaning machine 1 can move straight forward or backward on the ground. If the frictional force between one of the cleaning components 109 and the working surface is increased, at this time the stability of the cleaning machine 1 moving straight is broken and the cleaning machine 1 will turn and move, that is, the turning of the cleaning machine 1 is realized.

[0109] In this solution, in the hand-held cleaning mode, when the control module detects a suspended position based on the cliff module 103, or detects based on the collision module 104, or detects an obstacle in the lateral direction of the machine body 100 based on the obstacle detection module 105, it controls the cleaning component 109 to at least continue to move or stop moving in the current motion state; in the hand-held cleaning mode, the user has greater autonomy in operating the cleaning machine 1. Buttons such as start and pause can be set on the handle rod 101, and the user can control the cleaning machine 1 through the buttons. Among them, the control module in the cleaning machine 1 will control the cleaning component 109 to continue to move or stop moving when the cliff module 103 detects a suspended position, or detects based on the collision module 104, or detects an obstacle in the lateral direction of the machine body 100 based on the obstacle detection module 105. It can be set according to the user's usage habits, or default set to continue to move, giving the user manual autonomous operation in the hand-held cleaning mode and facilitating the user's use.

[0110] Among them, when the user manually lifts the cleaning machine 1 and suspends it, at this time the control module can control the cleaning component 109 to continue to rotate horizontally or stop moving. Preferably, the cleaning component 109 stops moving to prevent the problem of water splashing and polluting the indoor floor caused by the horizontal rotation movement of the cleaning component 109 when it is suspended. When the obstacle detection module 105 or the collision detection module 102 detects an obstacle, at this time the control module controls the cleaning component 109 to continue to rotate horizontally. Since this is the hand-held cleaning mode at this time, the user can change the displacement direction of the cleaning machine 1 through the handle rod 101 to avoid the obstacle.

[0111] In this solution, in the hand-held cleaning mode, when the control module detects an obstacle in the lateral direction of the machine body 100 based on the obstacle detection module 105, it controls the cleaning component 109 to displace along the edge of the obstacle at a constant distance for edge cleaning. This structure can better drive the cleaning machine 1 to perform edge cleaning along the edge of the obstacle through the horizontal rotation movement of the cleaning component 109 in the hand-held cleaning mode, that is, displace and walk at a constant distance along the edge of the obstacle for mopping cleaning, which is beneficial to improving the cleaning effect of the edge of the obstacle.

[0112] The detection module 102 in this solution is electrically connected to the control module. The detection module 102 feeds back the detected detection signal into the control module. The control module determines whether the cleaning machine 1 can start the self - moving cleaning mode or the hand - held cleaning mode according to the detection signal. The detection module 102 is set to be one of an infrared sensor, a Hall switch, a micro - switch, a pole piece contact switch, or a reed switch. Specifically, the detection module 102 can be installed on the machine body 100. When the handle rod 101 is installed on or removed from the machine body 100, it will trigger the detection signal on the detection module 102. At this time, the detection signal is fed back into the control module. The control module determines accordingly that the user installs the handle rod 101 in place or removes the handle from the machine body 100. At this time, the cleaning machine 1 can judge according to the detection signal whether to start the hand - held cleaning mode or the self - moving cleaning mode, which is convenient for the user to use the cleaning machine 1 for mopping cleaning according to needs. When the user needs to manually handle the ground, only by installing the handle rod 101 in place can the user start the hand - held cleaning mode to use the cleaning component 109 for mopping cleaning, making the applicable range of the cleaning machine 1 wider.

[0113] For the convenience of users, a remote control module 107 is provided on the handle rod 101. When the handle rod 101 is not installed on the machine body 100, the cleaning machine 1 can be remotely controlled by the handle rod 101 to start the self - moving cleaning mode. The remote control module 107 is mainly an infrared transmitter. When the handle rod 101 is not installed on the machine body 100, at this time, the cleaning machine 1 can be located on the ground to perform displacement walking and execute the self - moving cleaning mode. The user can use the remote control module 107 on the handle rod 101 to remotely control the cleaning machine 1 to start the self - moving cleaning mode, which is convenient for users.

[0114] At the same time, an induction module 108 is provided on the machine body 100. The induction module 108 is mainly an infrared receiver. When the detection module 102 detects that the handle rod 101 is not installed in place, the induction module 108 can detect the remote control signal emitted by the handle rod 101 and control the cleaning machine 1 to start the self - moving cleaning mode. When the detection module 102 detects that the handle rod 101 is not installed in place, at this time, the cleaning machine 1 can execute the self - moving cleaning mode. The user can emit a remote control signal through the remote control module 107 on the handle rod 101. After the induction module 108 receives the remote control signal, it can start the self - moving cleaning mode of the cleaning machine 1, which is convenient for users to remotely control and start the cleaning machine 1 to work.

[0115] For the structure where there is an unbalanced friction force between the cleaning component 109 and the working surface to drive the cleaning machine 1 to displace and walk on the ground, there are the following several ways:

[0116] In the first method, the bottom surface of the cleaning component 109 is set as a soft structure; when the cleaning component 109 is attached to the working surface, the cleaning component 109 is in an inclined structure; the bottom surface of the cleaning component 109 is in an inclined structure when attached to the working surface, so that there are different pressures between different positions of the bottom surface of the cleaning component 109 and the working surface. The pressure on the working surface of the higher side of the inclined structure is small, and the pressure on the working surface of the lower side of the inclined structure is large. Thus, different frictions are generated between the bottom surface of the cleaning component 109 and the working surface under different pressures, and the frictions are uneven. At the same time, during the horizontal rotation of the cleaning component 109, the cleaning machine 1 is driven to move forward based on the uneven frictions.

[0117] Specifically, the inclined structure can be that when the cleaning component 109 is in an inclined structure, the cleaning component 109 is set to be inclined from the inside to the outside of the machine body 100 and from high to low. That is, the area of the outer edge part of the bottom surface of the cleaning component 109 is more closely attached to the working surface, and the pressure on the working surface is large. The area of the middle part and the inner edge part of the bottom surface of the cleaning component 109 is less closely attached to the working surface, and the pressure on the working surface is small. Thus, the effect of uneven friction between the bottom surface of the cleaning component 109 and the working surface is achieved.

[0118] In the second method, the bottom surface of the cleaning component 109 is set as a soft structure; when the cleaning component 109 is attached to the working surface, at least a first deformation part 111 and a second deformation part 112 are formed on the bottom surface of the cleaning component 109, and the deformation amount of the first deformation part 111 is greater than that of the second deformation part 112. That is, the pressure contact between the first deformation part 111 on the bottom surface of the cleaning component 109 and the working surface is closer, and the pressure contact between the second deformation part 112 and the working surface is looser. Thus, the deformation amount of the first deformation part 111 is larger, and the deformation amount of the second deformation part 112 is smaller than that of the first deformation part 111, achieving uneven frictions between the first deformation part 111 and the second deformation part 112 and the working surface. During the horizontal rotation of the cleaning component 109, the displacement and walking effect of the cleaning machine 1 is driven by the uneven frictions.

[0119] Optionally, the first deformation part 111 is located at a position outside the middle part of the cleaning component 109, and the second deformation part 112 is located at a position inside the middle part; or the first deformation part 111 is located at the outer edge position of the cleaning component 109, and the second deformation part 112 is located at the inner edge position of the cleaning component 109.

[0120] The third method is that a crimping component 110 is provided on the machine body 100. When the cleaning machine 1 is located on the working surface and the cleaning component 109 rotates horizontally while being in contact with the working surface, at least a part of the crimping component 110 contacts the cleaning component 109, so that the bottom surface of the cleaning component 109 has uneven friction force relative to the working surface, causing the cleaning machine 1 to displace. By providing the crimping component 110 to apply pressure to the cleaning component 109, the cleaning component 109 has uneven friction force relative to the working surface, thereby realizing the displacement and walking of the cleaning machine 1 driven by the cleaning component 109. Mainly, when the crimping component 110 crimps the cleaning component 109, a crimping area 113 and a cleaning area 114 are formed on the cleaning component 109. By means of the cleaning area 114 and the crimping area 113, the bottom surface of the cleaning component 109 has uneven pressure relative to the working surface, thereby realizing the automatic displacement and walking of the cleaning machine 1. The cleaning area 114 and the crimping area 113 are mainly formed on the bottom surface of the cleaning component 109, so that these two areas are formed on the bottom surface of the cleaning component 109. The crimping component 110 makes the bottom surface of the cleaning component 109 have uneven pressure with the working surface, thereby realizing that the cleaning component 109 can automatically walk under the condition of uneven force, and can automatically displace along the force direction, eliminating the problem that the existing mopping robot needs to be provided with driving wheels for walking. The structure is simple, the cost is low, and the reliability is high.

[0121] Among them, the maximum pressure of the crimping area 113 relative to the working surface is greater than the minimum pressure of the cleaning area 114 relative to the working surface; when the crimping component 110 contacts the cleaning component 109, the maximum pressure of the crimping area 113 relative to the working surface is greater than the minimum pressure of the cleaning area 114 relative to the working surface. The pressure is the ratio of the force to the force-bearing area. In the case of this solution with the cleaning area 114 and the crimping area 113, it is only necessary to ensure that the maximum pressure existing in the crimping area 113 can be greater than the minimum pressure in the cleaning area 114 to ensure that the bottom surface of the cleaning component 109 has uneven pressure relative to the working surface. On the cleaning component 109 of this solution, the area of the cleaning area 114 is larger than the area of the crimping area 113. Since the cleaning area 114 is mainly used to contact the working surface over a large area for cleaning, while the crimping area 113 has a greater pressure relative to the cleaning area 114 while contacting the working surface for cleaning, this enables the crimping area 113 to also have the effect of realizing the autonomous displacement and walking of the cleaning machine 1.

[0122] Preferably, two cleaning components 109 are provided, and two cleaning components 109 are provided on the machine body 100, which is more conducive to the displacement and walking of the cleaning machine 1 along the planned path.

[0123] Specifically, the structure can be that a crimping component 110 is provided on the machine body 100, and the crimping component 110 crimps at least a part of two cleaning components 109; that is, the crimping component 110 is located between the two cleaning components 109, and can be at the position where the distance between the two cleaning components 109 is the smallest. It only needs to satisfy that at least a part of the crimping component 110 can respectively contact the two cleaning components 109 for crimping and form crimping areas 113 on the two cleaning components 109 respectively. At this time, the crimping component 110 can not only form the crimping area 113 through the applied pressure and thus have uneven frictional force to satisfy the displacement walking of the cleaning machine 1 by the two cleaning components 109, but also make there be no area with missed dragging between the two cleaning components 109 through the crimping component 110, which is beneficial to solving the problem of the missed dragging gap at the position where the distance between the two cleaning components 109 is the smallest, so that the cleaning machine 1 can maintain a complete single cleaning effect during the process of cleaning the working surface; if there is no crimping component 110 at the position where the distance between the two cleaning components 109 is the smallest, there will be a problem that the position where the distance between the two cleaning components 109 is the smallest cannot effectively fit the working surface, resulting in a missed dragging gap; at the same time, by setting one crimping component 110, the effect of applying pressure to crimp the two cleaning components 109 can be achieved. The overall structure is relatively simple, and the consistency and synchronism of the applied pressure for crimping are better.

[0124] Specifically, the structure can also be that crimping components 110 are respectively provided on the two cleaning components 109, and the two crimping components 110 respectively crimp at least a part of the two cleaning components 109; that is, two independent crimping components 110 are respectively provided on the two independent cleaning components 109, that is, one crimping component 110 independently applies pressure to crimp one of the cleaning components 109, and the other crimping component 110 independently applies pressure to crimp the other cleaning component 109, and separately form separate crimping areas 113 on the two cleaning components 109 respectively. Through the two separate crimping areas 113, the separately uniform and uneven pressures on the two cleaning components 109 are independently realized, and then uneven frictional force is formed, so as to realize the displacement walking of the cleaning machine 1 under the condition that there is uneven frictional force under the two cleaning components 109.

[0125] The structure of the above-mentioned crimping component 110 can be that it includes a crimping piece, and the crimping piece extends at least partially downward to crimp and contact the cleaning component 109; by the downward extension of the crimping piece to contact a part of the cleaning component 109, the effect of applying pressure to the cleaning component 109 is achieved, so that there are different pressures in the area where the bottom surface of the cleaning component 109 contacts the working surface, and then there are different frictional forces during horizontal rotation, so as to realize the automatic displacement walking effect of the cleaning machine 1 through the cleaning component 109.

[0126] For the specific structural part of the above-mentioned crimping assembly 110, the crimping member can also be at least partially extended downward to crimp and contact the cleaning assembly 109, and the crimping member is arranged to be movable, and an elastic member is connected to the crimping member; by arranging the crimping member to be movable, when maintaining the pressure applied to the cleaning assembly 109, that is, when applying pressure to the crimping area 113, the position height can also be adjusted with the fluctuation of the cleaning assembly 109. For example, when the cleaning assembly 109 rotates horizontally on an uneven working surface, it may be affected by the working surface and present an uneven height. At this time, the elastic member can play a role in buffering the force; of course, most of the time, the cleaning machine 1 of this solution is used for mopping and cleaning on a relatively flat working surface, such as the user's ceramic tile floor.

[0127] In order to enable the pressure applied by the crimping assembly 110 to the cleaning assembly 109 to be adjustable, mainly the pressure applied to the crimping area 113 can be adjustable. The crimping assembly 110 further includes an adjusting member for adjusting the distance that the crimping member extends downward. The adjusting member can be provided with a motor, and the motor is used to drive the adjusting member to move up and down a certain distance. The rotational force of the motor can be transmitted into the up and down movement force of the adjusting member. When it is necessary to increase the pressure of the crimping assembly 110 on the cleaning assembly 109, that is, the pressure on the crimping area 113 on the cleaning assembly 109, at this time, the adjusting member can be used to adjust the distance that the crimping member extends downward to contact the cleaning assembly 109, so that the crimping distance of the crimping member to the cleaning assembly 109 is larger, that is, the crimping is tighter. At this time, the pressure on the crimping area 113 corresponding to the cleaning assembly 109 is greater. At this time, the friction force between the cleaning assembly 109 and the working surface can be controlled by adjusting the size of the pressure, and then the traveling direction of the cleaning machine 1 can be adjusted through the cleaning assembly 109. For example, when the cleaning machine 1 turns left or right, it can be realized by adjusting different pressures on the crimping areas 113 of the two crimping assemblies 110 on the two cleaning assemblies 109 respectively. The overall structure is simple and can replace the problem of adjusting the steering by different rotational speeds of the existing drive wheels.

[0128] In the self - moving cleaning mode, when crimping components 110 are respectively arranged on two cleaning components 109, at this time, the turning displacement of the cleaning machine 1 can be driven towards the direction of the other cleaning component 109 by adjusting and controlling the friction force between one cleaning component 109 and the working surface to be greater than that between the other cleaning component 109 and the working surface; specifically, crimping components 110 are respectively arranged on the two cleaning components 109, and the two crimping components 110 respectively crimp a part of the two cleaning components 109. The pressure of one crimping component 110 on one cleaning component 109 is set as F1, and the pressure of the other crimping component 110 on the other cleaning component 109 is set as F2. When the cleaning machine 1 turns and displaces towards the direction of one cleaning component 109, then F1 is greater than F2; when the cleaning machine 1 turns and displaces towards the direction of the other cleaning component 109, then F2 is greater than F1, thus realizing the turning displacement walking of the cleaning machine 1.

[0129] Among them, for the structure with two cleaning components 109, the pressure of one crimping component 110 on one cleaning component 109 is set as F1, and the pressure of the other crimping component 110 on the other cleaning component 109 is set as F2. One way to understand it is that when the two cleaning components 109 are arranged side by side left and right, there are a left cleaning component 109 and a right cleaning component 109, and a left crimping component 110 and a right crimping component 110 are correspondingly set. The pressure of the right crimping component 110 on the right cleaning component 109 is F1, and the pressure of the left crimping component 110 on the left cleaning component 109 is F2; when the cleaning machine 1 moves in the direction of one of the cleaning components 109, F1 is greater than F2. This one cleaning component 109 can be understood as the right cleaning component 109. When the cleaning machine 1 moves in the direction of the other cleaning component 109, F2 is greater than F1. This other cleaning component 109 can be understood as the left cleaning component 109. By adjusting the magnitude values of F1 and F2, the steering displacement walking of the cleaning machine 1 can be correspondingly realized, such as left-turn walking or right-turn walking. That is, when turning right, F1 is greater than F2, and when turning left, F2 is greater than F1. By adjusting the pressure received by the two cleaning components 109 from the crimping component 110, when the pressure of one of them is increased, the cleaning machine 1 will cause the cleaning component 109 with a smaller pressure to move and rotate in the direction of the cleaning component 109 with a larger pressure due to the larger pressure of one of them. Through the above adjustment, the steering walking of the cleaning machine 1 can be realized. Of course, this method can also be used to adjust the linear displacement walking of the cleaning machine 1. When the cleaning component 109 slips or an abnormality occurs, resulting in the linear bending or deviation to an oblique line of the displacement walking, it can be corrected back to the straight walking direction at this time. A direction sensor or an angle sensor can be installed in the machine body 100 to realize the perception of the walking direction of the cleaning machine 1. Among them, at this time, the crimping component 110 can be set to a structure that can actively crimp the cleaning component 109, which is convenient for adjusting the crimping height distance or depth distance of the crimping component 110, and further realizes the adjustment of the pressure.

[0130] For the structure with two cleaning components 109, when the cleaning machine 1 moves linearly along the A direction, it is set that at least the magnitude of the F1 value is equal to the magnitude of the F2 value. At this time, it is beneficial for the cleaning machine 1 to maintain linear displacement. The crimping areas 113 on the two cleaning components 109 can be correspondingly set to be symmetric in the horizontal direction or the vertical direction. This is more conducive to the cleaning machine 1 maintaining stability and consistency during the displacement walking process, and is beneficial for the cleaning machine 1 to perform linear walking, and can perform displacement walking in a straight forward or straight backward manner.

[0131] In this solution, when the cleaning machine 1 moves linearly in the A direction, the resultant forces of the two cleaning components 109 relative to the working surface do not cancel each other out; that is, the resultant forces of the cleaning areas 114 and the crimping areas 113 on the two cleaning components 109 relative to the bottom surface of the entire cleaning component 109 and the working surface do not cancel each other out, which means they are not equal and opposite. At this time, under the action of the resultant forces of the two cleaning components 109 relative to the working surface respectively, the cleaning machine 1 can move and can move linearly. At this time, the resultant forces of the two cleaning components 109 relative to the working surface can be symmetric along the A direction to jointly push the cleaning machine 1 to move along the A direction, and it is beneficial to maintain linear displacement walking.

[0132] When the cleaning machine 1 moves in a rotational direction, such as turning left or right, that is, when the cleaning machine 1 moves in a rotational direction, the resultant torques of the two cleaning components 109 relative to the working surface do not cancel each other out, so that the two cleaning components 109 have their respective torques, that is, rotational forces or angular forces, under the action of the resultant forces of their respective relative working surfaces, and the resultant torques of their respective relative working surfaces do not cancel each other out. At this time, the cleaning machine 1 can turn and move under the combined action of the respective resultant torques of the two cleaning components 109, that is, the cleaning machine 1 can turn left or right.

[0133] Optionally, the turning movement of the cleaning machine 1 can be achieved by setting the magnitude values of the pressures of the corresponding crimping components 110 on the two cleaning components 109 and correspondingly forming the magnitude values of the resultant torques of the two cleaning components 109 relative to the working surface to achieve the turning displacement of the cleaning machine 1; when the cleaning machine 1 moves in the direction of one of the cleaning components 109, the resultant torque of this one cleaning component 109 is greater than the resultant torque of the other cleaning component 109, and when the cleaning machine 1 moves in the direction of the other mopping component, the resultant torque of this other cleaning component 109 is greater than the resultant torque of this one cleaning component 109, thereby realizing the turning displacement of the cleaning machine 1. Specifically, it can be achieved by adjusting the magnitude of the pressure of the crimping component 110 on the crimping area 113. It can be understood that one of the cleaning components 109 is the left cleaning component 109 and the other cleaning component 109 is the right cleaning component 109.

[0134] In this solution, when the cleaning machine 1 moves linearly in the A direction, the resultant forces of the crimping areas 113 on one of the cleaning components 109 are equal in magnitude and symmetric in direction along the A direction to the resultant forces of the crimping areas 113 on the other cleaning component 109; that is, the resultant force of the crimping area 113 on one of the cleaning components 109 relative to the working surface is equal in magnitude and symmetric in direction along the A direction to the resultant force of the crimping area 113 on the other cleaning component 109 relative to the working surface. In this way, the cleaning machine 1 realizes linear displacement in the A direction under the combined action of the resultant forces of the respective crimping areas 113 on the two cleaning components 109, and it is beneficial to keep the cleaning machine 1 moving linearly in displacement. The A direction can be the forward direction of the linear displacement of the cleaning machine 1 or the backward direction of the linear displacement of the cleaning machine 1. Under the combined action of the two resultant forces, the cleaning machine 1 can move forward or backward linearly stably.

[0135] Regarding this solution, the structure of the cleaning component 109 is that a pressure plate is provided on the cleaning component 109, and a mop is placed under the pressure plate. The mop can be adhered to the pressure plate through Velcro, or the mop and the pressure plate are integrally sewn. The cleaning component 109 is detachably installed on the bottom of the machine body 100 and is set to be rotatable horizontally.

[0136] In this solution, for the convenience of users, a status prompt for the handle rod 101 can be set. Specifically, when the handle rod 101 is installed in place or removed, the user can manually install the handle rod 101 in place or manually remove the handle rod 101. By setting a voice unit on the machine body 100, the voice unit can be a buzzer or a speaker, and the voice unit is electrically connected to the control module or electrically connected to the detection module 102. When the detection module 102 detects the current status of the handle rod 101, the voice unit on the machine body 100 emits a status change prompt for the handle rod 101, such as the handle rod 101 being installed in place or the handle rod 101 not being installed in place. The user is reminded of the current status of the handle rod 101 through the voice unit, as well as the change prompt when the status of the handle rod 101 is switched, which facilitates the user to promptly know and start the self-moving cleaning mode or the handheld cleaning mode; or the display unit displays the status change prompt of the handle rod 101, that is, setting display lamp beads or a display screen to display the status of the handle rod 101, reminding the user of the current status of the handle rod 101 or the change prompt of the switching status of the handle rod 101; or the cleaning component 109 makes continuous intermittent movements to emit the status change prompt of the handle rod 101, that is, reminding the user through the movement state of the cleaning component 109. For example, when the handle rod 101 is installed in place or removed, the cleaning component 109 makes intermittent movements, that is, intermittently changing to start the horizontal rotation movement and stop the horizontal rotation movement for such continuous multiple intermittent movements to remind the user that the handle rod 101 is being installed or removed. When the handle rod 101 is installed in place or the handle rod 101 is not installed in place, at this time, the cleaning component 109 can make continuous horizontal rotation movements to mop and clean the floor.

[0137] For cleaning the cleaning component 109 on the cleaning machine 1 of this solution, this solution further includes a cleaning device 115. The cleaning device 115 is used to place the cleaning machine 1 to clean the cleaning component 109; a liquid storage cavity is provided on the cleaning device 115. When the cleaning machine 1 is placed on the cleaning device 115, the cleaning component 109 is located in the liquid storage cavity; the cleaning device 115 is an independent structural part relative to the cleaning machine 1 to facilitate the user to place the cleaning machine 1 on the cleaning device 115 to clean the cleaning component 109. The cleaning component 109 can be cleaned by using its own movement. For the liquid storage cavity, the liquid storage cavity is set to a concave structure, and cleaning liquid, that is, clean water, can be directly placed in the liquid storage cavity. The cleaning component 109 directly contacts the cleaning liquid to achieve the cleaning of the cleaning component 109. When the cleaning component 109 contacts the cleaning liquid, it starts its own movement structure to realize the power for cleaning the cleaning component 109.

[0138] For cleaning the cleaning component 109 inside the solution cavity, a liquid supply module can also be set up to supply cleaning liquid to the cleaning component 109. After the cleaning liquid contacts the cleaning component 109, the cleaning effect is achieved by using the self-movement power of the cleaning component 109 itself. The liquid supply module can be an electromagnetic valve, a water pump, etc., as long as starting the liquid supply module can enable the cleaning component 109 to contact the cleaning liquid for cleaning.

[0139] To solve the problem that the cleaning component 109 is prone to mildew and odor in a wet state, a drying module can also be provided on the cleaning device 115 of this solution. When the cleaning machine 1 is placed on the cleaning device 115, the drying module is located on one side of the cleaning component 109 to dry the cleaning component 109. The drying device mainly dries the cleaning part by heating, effectively solving the problem that the cleaning component 109 will emit odor and mildew in a wet state.

[0140] Working principle: The cleaning machine 1 of this solution can drive the displacement and walking of the cleaning machine 1 through the uneven friction force between the self-movement of the cleaning component 109 and the ground. It can drive the cleaning machine 1 to move forward, backward, and turn. The machine body 100 of the cleaning machine 1 does not need to be provided with drive wheels to achieve the displacement and walking of the cleaning machine 1. The overall structure is simple and the cost is lower. At the same time, a detachable handle rod 101 is set, so that the cleaning machine 1 can be used as a hand-held cleaning machine 1, enabling the cleaning machine 1 to have a multi-functional use effect. Specifically, the cleaning machine 1 is set with a self-moving cleaning mode and a hand-held cleaning mode, and the detection module 102 is used to detect whether the handle rod 101 is in place, so as to realize the self-moving cleaning mode of the cleaning machine 1 on the indoor ground or the hand-held cleaning mode of mopping the floor under the manual operation of the user according to the detection result, which is convenient for the user to switch the use of the cleaning machine 1. In the hand-held cleaning mode, the areas that the cleaning machine 1 cannot reach autonomously can be cleaned, or the hand-held cleaning mode can be manually operated according to the user's needs, improving the applicable range of the cleaning machine 1 for mopping the floor and facilitating the user's use.

[0141] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes can be made in form and details without departing from the spirit and scope of the present invention, and all are within the protection scope of the present invention.

Claims

1. A cleaning machine system, the cleaning machine includes a machine body, and a cleaning component for mopping the floor is arranged on the machine body. Characterized in that: The cleaning component is set as a movable structure, and when the cleaning component moves, the cleaning machine is driven to displace on the working surface by the frictional force between the cleaning component and the working surface; A docking part is arranged on the machine body. When the cleaning machine executes the self-moving cleaning mode, the handle rod is not installed on the docking part or the handle rod is installed on the docking part and is in a retracted structure relative to the docking part; when the cleaning machine executes the hand-held cleaning mode, the handle rod is installed on the docking part or the handle rod is installed on the docking part and is in an extended structure relative to the docking part; A crimping component is arranged on the machine body. When the cleaning machine is on the working surface and the cleaning component rotates horizontally in contact with the working surface, at least a part of the crimping component contacts the cleaning component, so that the bottom surface of the cleaning component has uneven frictional force relative to the working surface, causing the cleaning machine to displace; When the crimping component applies pressure to the cleaning component, the bottom surface of the cleaning component is in contact with the working surface, and there are different pressures in the contact area; When the crimping component crimps the cleaning component, a crimping area and a cleaning area are formed on the cleaning component. Among them, the crimping area and the cleaning area are formed on the bottom surface of the cleaning component; The cleaning area is set as a structure in contact with the working surface for cleaning the working surface; The crimping area is set as a structure in contact with the working surface for cleaning the working surface; The area of the cleaning area is larger than the area of the crimping area, and the crimping area also has a greater pressure on the working surface relative to the cleaning area, so that the uneven pressure of the bottom surface of the cleaning component in contact with the working surface is formed through the cleaning area and the crimping area, thereby realizing the automatic displacement and walking of the cleaning machine.

2. A cleaning machine system according to claim 1, Characterized in that: The handle rod is set as a structure that can rotate relative to the docking part, and when the handle rod is installed on the docking part, the handle rod can rotate relative to the docking part; and / or the docking part is set as a structure that can be rotatably installed on the robot body, and when the handle rod is installed on the docking part, the handle rod can rotate relative to the machine body through the docking part.

3. A cleaning machine system according to claim 2, Characterized in that: A detachable connection structure is set between the handle rod and the docking part, and the handle rod is set as a telescopic joint structure.

4. A cleaning machine system according to claim 3, Characterized in that: The length of the machine body is greater than the width of the machine body. When the handle rod is installed on the docking part, the handle rod and the docking part are located at the middle position in the length direction of the machine body and the middle or rear position in the width direction.

5. A cleaning machine system according to claim 4, Characterized in that: When the handle rod is installed on the docking part, the handle rod can rotate relative to the machine body and rotate towards the width direction of the machine body, so that the handle rod is placed on the machine body from the middle or rear position to the front position in the width direction of the machine body.

6. A cleaning machine system according to claim 5, Characterized in that: When the handle rod is installed on the docking part and is in a retracted structure, a part of the handle rod is set as a part of the appearance of the machine body.

7. A cleaning machine system according to claim 6, wherein: A receiving part is provided on the machine body. When the handle rod is installed on the docking part and is in a retracted structure, a part of the handle rod is located inside the receiving part and a part of the handle rod is set as a part of the appearance of the machine body.

8. A cleaning machine system according to claim 2, wherein: The handle rod and the docking part are set as a detachable connected structure. The handle rod is provided with one or more rod parts. When there are multiple rod parts on the handle rod, the adjacent two rod parts are set as sleeved and installed with each other.

9. A cleaning machine system according to any one of claims 1-8, wherein: A control module is provided inside the machine body. A threshold value A for starting the self-moving cleaning mode and a threshold value B for starting the hand-held cleaning mode are set in the control module. The control module starts the self-moving cleaning mode or the hand-held cleaning mode correspondingly according to the received start signal.

10. A cleaning machine system according to claim 9, wherein: At least a cliff module, a collision module, an obstacle detection module or a carpet detection module electrically connected to the control module is provided on the machine body.

11. A cleaning machine system according to claim 10, wherein: In the self-moving cleaning mode, it at least includes setting a threshold value C for the control module to control the cliff module to drive the cleaning component to move and drive the machine body to perform a backward displacement or a turning displacement when detecting a suspended position; or setting a threshold value D for the control module to control the collision module to drive the cleaning component to move and drive the cleaning machine to perform a backward displacement or a turning displacement when detecting that the machine body contacts an obstacle; or setting a threshold value E for the control module to control the obstacle detection module to drive the cleaning component to move and drive the cleaning machine to perform a backward displacement or a turning displacement when detecting an obstacle on the side direction of the machine body; or setting a threshold value F for the control module to control the carpet detection module to drive the cleaning component to move and drive the cleaning machine to perform a backward displacement or a turning displacement when detecting a carpet on the lower side direction of the machine body.

12. A cleaning machine system according to claim 11, wherein: The cleaning component is set as a moving structure that can rotate horizontally in contact with the working surface, and when the cleaning component rotates horizontally, the bottom surface of the cleaning component has uneven friction with the working surface so that the cleaning machine is driven to displace on the working surface through the cleaning component.

13. A cleaning machine system according to claim 12, wherein: The number of cleaning components is set to two or more; when the number of cleaning components is two, the two cleaning components are arranged in a side-by-side adjacent structure, and the horizontal rotation directions of the two cleaning components at least include opposite directions.

14. A cleaning machine system according to claim 13, wherein: The horizontal rotation movement directions of the two cleaning components are from the outside of the machine body towards the inside and from the upper side towards the lower side, and both cleaning components rotate horizontally towards the direction between the two cleaning components.

15. A cleaning machine system according to claim 14, wherein: In the self - moving cleaning mode, a structure is provided to switch the horizontal rotation movement directions of the two cleaning components to opposite horizontal rotation movements, so that the cleaning components with opposite horizontal rotation movements drive the cleaning machine to perform a backward displacement.

16. A cleaning machine system according to claim 14, wherein: In the self - moving cleaning mode, a structure is provided in which one of the cleaning components stops moving and the other cleaning component is set to horizontally rotate in the direction towards the one cleaning component to drive the cleaning machine to turn and displace in the direction towards the one cleaning component.

17. A cleaning machine system according to claim 14, wherein: In the self - moving cleaning mode, a structure is provided to switch the horizontal rotation direction of one of the cleaning components to be the same as the horizontal rotation direction of the other cleaning component and set it to horizontally rotate in the direction towards the other cleaning component to drive the cleaning machine to turn and displace in the direction towards the other cleaning component.

18. A cleaning machine system according to claim 14, wherein: In the self - moving cleaning mode, a structure is provided in which the friction between one of the cleaning components and the working surface is greater than the friction between the other cleaning component and the working surface to drive the cleaning machine to turn and displace in the direction towards the other cleaning component.

19. A cleaning machine system according to claim 14, wherein: In the hand - held cleaning mode, a structure is provided such that the control module controls the cleaning component to at least continue to move or stop moving in the current motion state when the cliff module detects a suspended position, or when the collision module detects that the main body of the machine contacts an obstacle, or when the obstacle detection module detects an obstacle on the side of the main body of the machine. Or a structure is provided such that when the obstacle detection module detects an obstacle on the side of the main body of the machine, the control module controls the cleaning component to displace along the side of the obstacle at a constant distance for edge cleaning.

20. A cleaning machine system according to claim 14, wherein: A detection module for detecting whether the handle rod is installed on the docking part is provided on the main body of the machine. The detection module is electrically connected to the control module, and the detection module is set to be one of an infrared sensor, a Hall switch, a micro - switch, a pole piece contact switch, or a reed switch.

21. A cleaning machine system according to any one of claims 15 - 20, wherein: The crimping component crimps at least a part of the two cleaning components. The crimping component is arranged between the two cleaning components and is set to be at the position where the distance between the two cleaning components is the smallest, so as to form crimping areas on the two cleaning components respectively through the crimping component and form an area where there is no missed dragging between the two cleaning components.

22. A cleaning machine system according to any one of claims 15 - 20, wherein: Crimping components are respectively arranged on two cleaning components, and the two crimping components respectively crimp a part of the two cleaning components. The pressure of one crimping component on one cleaning component is set as F1, and the pressure of the other crimping component on the other cleaning component is set as F2. When the cleaning machine turns and displaces in the direction of one of the cleaning components, F1 is greater than F2; when the cleaning machine turns and displaces in the direction of the other cleaning component, F2 is greater than F1.

23. A cleaning machine system according to claim 1, characterized in that: it further includes a cleaning device for placing the cleaning machine to clean the cleaning components; a liquid storage cavity is arranged on the cleaning device, and when the cleaning machine is placed on the cleaning device, the cleaning components are located in the liquid storage cavity, and / or a drying module is arranged on the cleaning device, and when the cleaning machine is placed on the cleaning device, the drying module is located on one side of the cleaning components to dry the cleaning components.

24. A cleaning machine system according to claim 1, characterized in that: a liquid supply module is arranged on the cleaning device, and when the liquid supply module works, the liquid supply module makes the cleaning liquid contact the cleaning components for cleaning the cleaning components.

25. A cleaning machine system according to claim 1, characterized in that: it is set that when the crimping component contacts the cleaning component, the maximum pressure on the relative working surfaces in the crimping area is greater than the minimum pressure on the relative working surfaces in the cleaning area, and the area of the cleaning area is greater than the area of the crimping area.

26. A cleaning machine system according to claim 1, characterized in that: when the cleaning machine linearly displaces and walks along the A direction, it is set that the resultant forces on the respectively relative working surfaces of the two cleaning components do not cancel each other out. The resultant force is the resultant force of the cleaning area and the crimping area on the bottom surface of the entire cleaning component on the respectively relative working surfaces of the cleaning components, so that the cleaning machine can linearly displace and walk under the action of the resultant forces on the respectively relative working surfaces of the two cleaning components.

27. A cleaning machine system according to claim 1, characterized in that: when the cleaning machine linearly displaces and walks along the A direction, the resultant force of the crimping area on one cleaning component is equal in magnitude to the resultant force of the crimping area on the other cleaning component and is symmetric along the A direction; so that the cleaning machine linearly displaces and walks along the A direction under the combined action of the resultant forces of the respectively crimping areas on the two cleaning components.

28. A cleaning machine system according to claim 1, characterized in that: when the cleaning machine rotates and displaces and walks, it is set that the resultant moments on the respectively relative working surfaces of the two cleaning components do not cancel each other out, so that the two cleaning components have their respective moments under the action of the resultant forces on their respective relative working surfaces, and the cleaning machine turns and displaces and walks under the combined action of the respective resultant moments of the two cleaning components.

29. A cleaning machine system according to claim 22, characterized in that: When crimping components are respectively provided on two cleaning components, two independent crimping components are respectively provided on the two independent cleaning components, so that one of the crimping components independently applies pressure to one of the cleaning components by crimping, and the other crimping component independently applies pressure to the other cleaning component by crimping, and separate crimping areas are respectively formed on the two cleaning components alone. Uneven pressures are independently achieved on both cleaning components through the two separate crimping areas.

30. A cleaning machine system according to claim 29, wherein: When crimping components are respectively provided on two cleaning components, at this time, the friction between one of the cleaning components and the working surface can be adjusted and controlled to be greater than the friction between the other cleaning component and the working surface, so as to drive the cleaning machine to turn and displace in the direction of the other cleaning component.

31. A cleaning machine system according to claim 29, wherein: When crimping components are respectively provided on two cleaning components, at this time, the friction between one of the cleaning components and the working surface can be adjusted and controlled to be greater than the friction between the other cleaning component and the working surface, so as to adjust the cleaning machine to move in a straight line. When the cleaning component slips or an abnormality occurs, resulting in a straight line bend or an offset to an oblique line during the displacement walking, it can be corrected back to the straight walking direction at this time.

32. A cleaning machine system according to claim 1, wherein: The crimping component includes a crimping member, and the crimping member is arranged to extend at least partially downward to crimp and contact the cleaning component, so that a structure for applying pressure to the cleaning component is formed by the downward extension of the crimping member to contact a part of the cleaning component.

33. A cleaning machine system according to claim 32, wherein: The crimping member is arranged as a movable structure, and an elastic member is connected to the crimping member, so that the position height of the crimping member can be adjusted along with the fluctuation of the cleaning component when applying pressure to the crimping area.

34. A cleaning machine system according to claim 33, wherein: The crimping component further includes an adjusting member, and the adjusting member is used to adjust the distance that the crimping member extends downward, so that the adjusting member can move up and down a certain distance. When it is necessary to increase the pressure of the crimping component on the crimping area of the cleaning component, the distance that the crimping member extends downward to contact the cleaning component can be adjusted through the adjusting member, so that the crimping distance of the crimping member on the cleaning component is large.

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