A liftable side brush assembly and a sweeping robot

Abstract

The application discloses a liftable side brush assembly, which comprises a rotating part arranged on a power source, a side brush body in screw transmission cooperation with the rotating part, and a cover arranged on the side brush body; the rotating part is directly connected with an output shaft of the power source and rotates coaxially with the output shaft; the side brush body has a cleaning position and an obstacle avoidance position relative to the rotating part; the rotating part drives the side brush body to screw up and down between the cleaning position and the obstacle avoidance position by changing the rotating direction; when the side brush body is in the cleaning position, the side brush body is in contact with a cleaned surface and rotates with the rotating part to clean the cleaned surface; when the side brush body is in the obstacle avoidance position, a set interval for obstacle avoidance is formed between the side brush body and the cleaned surface; the cover and the rotating part are provided with a limiting structure for limiting the screw down stroke of the side brush body. The application also discloses a sweeping robot provided with the side brush assembly. The application can reduce the structural complexity of the side brush assembly and the cost.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a liftable side brush assembly and a sweeping robot. Background Technology

[0002] Robotic vacuum cleaners are intelligent mobile cleaning products. When performing cleaning tasks, they primarily rely on a central roller brush to stir up dust from the floor and then use an internal fan to draw the dust into the dustbin. Since the area covered by the roller brush is limited, two side brushes are arranged on either side of the front roller brush. As the side brushes rotate on the floor, they gather dust from the sides of the roller brush into the area it can cover, facilitating cleaning and increasing the cleaning area. Currently, most robotic vacuum cleaners on the market also have one or two side brushes at the bottom, fixed to the chassis. These side brushes are constantly rotating during operation. When the machine is climbing obstacles or carpets, these side brushes can hinder the machine's ascent or stir up the carpet, causing malfunctions and ultimately severely impacting the user experience. To address the aforementioned issues, related technologies employ a drive mechanism to propel the side brush assembly in an oscillating motion. When encountering an obstacle, the oscillating motion causes the side brush assembly to rise and fall relative to the surface being cleaned, thus avoiding the obstacle. However, this drive mechanism requires a separate, dedicated drive unit (typically including a drive motor and transmission components), resulting in an overly complex and costly overall structure. Furthermore, because the side brush assembly needs to oscillate to avoid obstacles, its range of motion is significant, necessitating substantial additional space for its oscillation. This increases the overall size of the robotic vacuum cleaner, contradicting the trend towards miniaturization. Summary of the Invention

[0003] This invention provides a height-adjustable side brush assembly and a sweeping robot, which solves the problems of complex overall structure, high cost and large size caused by the side brush assembly in the prior art in order to avoid obstacles.

[0004] The present invention adopts the following technical solution: a liftable side brush assembly for rotating under the drive of a power source to clean the surface to be cleaned. The side brush assembly includes: a rotating component for assembly with the output shaft of the power source; a side brush body for helical transmission with the rotating component; and a cover body disposed on the side brush body and moving synchronously with the side brush body. The rotating component is directly connected to the output shaft of the power source and rotates coaxially with the output shaft. The side brush body has a cleaning position and an obstacle avoidance position relative to the rotating component. The rotating component drives the side brush body to helically move up and down between the cleaning position and the obstacle avoidance position by changing its rotation direction. When the side brush body is in the cleaning position, it contacts the surface to be cleaned and rotates with the rotating component to clean the surface. When the side brush body is in the obstacle avoidance position, there is a set distance between it and the surface to be cleaned for obstacle avoidance. A limiting structure is provided between the cover body and the rotating component to limit the helical descent stroke of the side brush body to prevent the side brush body from falling off the rotating component.

[0005] The present invention has the following beneficial effects:

[0006] 1. By structurally improving the existing side brush and adding a rotating component, the side brush body and the rotating component are designed to rotate in a helical manner. This allows the rotating component to change the direction of rotation, driving the side brush body to helically rise and fall. The side brush body can then avoid obstacles through linear helical movement, eliminating the need for a complex additional drive mechanism, thus reducing structural complexity and cost. Furthermore, because the side brush body moves in a linear helical motion, there is no need for a large additional space for its swing, further reducing the overall product size compared to existing technologies.

[0007] 2. By adding a cover, the spiral descent stroke of the side brush body can be limited by the cooperation between the cover and the rotating part, thus preventing the side brush body from falling off the rotating part.

[0008] 3. The rotating component is designed to be directly connected to the output shaft of the power source and rotates coaxially with the output shaft under the drive of the power source. This eliminates the need for an additional transmission mechanism, further reducing structural complexity and cost. Furthermore, the simple structure of this side brush assembly facilitates its integration with the output shaft of existing robotic vacuum cleaners, making it easier to promote its adoption.

[0009] Preferably, the rotating component is provided with external drive thread teeth, and the side brush body is provided with internal drive thread groove. The rotating component and the side brush body achieve helical drive engagement through the external drive thread teeth and the internal drive thread groove.

[0010] Preferably, the side brush body includes a base plate, the base plate is provided with a cylinder, and the inner drive thread groove is formed inside the cylinder; the rotating component includes a top plate, the top plate is provided with a cylinder, and the outer drive thread teeth are formed outside the cylinder. By setting the inner drive thread groove on the side brush body and the outer drive thread teeth on the rotating component, given that the dimensions of the side brush body and the rotating component are fixed, the above arrangement can maximize the size of the inner drive thread groove, thereby increasing the stability of the side brush body rotation and reducing the shaking of the side brush body during rotation.

[0011] Preferably, the substrate has a first annular side plate surrounding the outside of the cylinder, the top plate has a second annular side plate surrounding the outside of the cylinder, and the cover includes an annular cover plate disposed on the first annular side plate. The annular cover plate has a circular hole that fits with the second annular side plate with a clearance. The substrate, top plate, first annular side plate, second annular side plate, and annular cover plate cooperate to form a sealed cavity. The external drive thread teeth and internal drive thread groove are configured to always be located within the sealed cavity. By providing a sealed cavity and configuring the external drive thread teeth and internal drive thread groove to always be located within the sealed cavity, external hair or thread ends can be blocked, preventing the helical drive structure from getting caught in hair or thread ends and reducing the failure rate.

[0012] Preferably, the second annular side plate extends outward from its opening edge to form an annular flange. The annular cover plate has a limiting portion for abutting against the annular flange when the side brush body is in the cleaning position. The annular flange and the limiting portion cooperate to form the limiting structure. This cover plate serves two purposes: firstly, it helps to form a sealed cavity; secondly, it cooperates with the annular flange to form a limiting structure. The structure is simple while achieving multiple functions.

[0013] Preferably, the rotating component is provided with a mounting groove or mounting hole extending from the top plate towards the cylinder. The rotating component is tightly fitted onto the output shaft through the mounting groove or mounting hole, and the rotating component has an overall shape symmetrical about the axis of the output shaft. Providing a mounting groove or mounting hole facilitates the assembly operation of the rotating component and the output shaft.

[0014] Preferably, the cover further includes a third annular side plate integrally formed with the annular cover plate. A snap-fit ​​structure is provided between the third annular side plate and the first annular side plate, and the cover and the side brush body are snapped together and fixed by the snap-fit ​​structure. The third annular side plate and the snap-fit ​​structure facilitate the assembly operation of the cover and the side brush body.

[0015] Preferably, the set spacing is a selected value between 2mm and 10mm.

[0016] To solve the above-mentioned technical problems, the present invention also adopts the following technical solution: a sweeping robot, including a shell, a power source and a controller are disposed inside the shell, a roller brush assembly and a side brush assembly are disposed below the shell, the side brush assembly is a height-adjustable side brush assembly as described in any of the above technical solutions, and a rotating component is disposed on the output shaft of the power source; the controller is signal-connected to a sensor for real-time monitoring of the environment of the surface being cleaned, and the controller controls the power source to drive the rotating component to rotate according to the monitoring results. Because the sweeping robot is equipped with the height-adjustable side brush assembly of the above technical solution, the controller can control the rotating component to rotate in different directions to drive the side brush body to spiral up and down, realizing the switching of the side brush body between the cleaning position and the obstacle avoidance position. The structure is simple, the cost is low, and the design volume can be reduced, conforming to the trend of miniaturization design.

[0017] Preferably, the sensor includes a vision sensor and / or a ground material sensor.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a height-adjustable side brush assembly provided in an embodiment of the present invention;

[0020] Figure 2 This is an exploded view of the side brush component provided in the embodiment;

[0021] Figure 3 This is a lower schematic diagram of a sweeping robot using the side brush assembly provided in this embodiment;

[0022] Figure 4 yes Figure 3 A diagram of the lower part after removing the brush component;

[0023] Figure 5 yes Figure 4 An enlarged schematic diagram of part A in the middle;

[0024] Figure 6 This is a partial cross-sectional view of the robot vacuum cleaner when the side brush is in the cleaning position;

[0025] Figure 7 This is a partial cross-sectional view of the robotic vacuum cleaner when the side brush is in the obstacle avoidance position.

[0026] Figure 8 This is a structural schematic diagram of the rotating component;

[0027] Figure 9 This is a structural diagram of the side brush body;

[0028] Figure 10 This is a schematic diagram of the cover structure.

[0029] Among them, 1. Rotating component, 10. Top plate, 11. Cylinder, 110. External drive threaded tooth, 12. Second annular side plate, 120. Annular flange, 13. Mounting hole, 130. Slot, 2. Side brush body, 20. Base plate, 21. Cylinder, 210. Internal drive threaded groove, 22. First annular side plate, 220. Locking block, 23. Cleaning part, 3. Cover, 30. Annular cover plate, 31. Third annular side plate, 310. Bayonet, 4. Sealed cavity, 5. Housing, 6. Output shaft, 60. Claw, 7. Vision sensor, 8. Ground material sensor. Detailed Implementation

[0030] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0031] Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0032] Example: This example provides a height-adjustable side brush assembly, which is used to rotate under the drive of a power source to clean the surface being cleaned. For example... Figure 1 and Figure 2 As shown, the side brush assembly includes a rotating component 1, a side brush body 2, and a cover 3. The rotating component 1 is mounted on the output shaft of the power source, and in this embodiment, the rotating component 1 is directly connected to the output shaft of the power source. This way, when the power source drives the output shaft to rotate, the output shaft directly drives the rotating component 1 to rotate coaxially, eliminating the need for an additional transmission mechanism, reducing structural complexity, and lowering costs. The side brush body 2 and the rotating component 1 are engaged in a helical transmission. Specifically, in this embodiment, the side brush body 2 has an inner transmission thread groove 210, and the rotating component 1 has an outer transmission thread tooth 110. The two are engaged in a helical transmission through the inner transmission thread groove 210 and the outer transmission thread tooth 110. The cover 3 is mounted on the side brush body 2 and moves synchronously with the side brush body 2.

[0033] In this embodiment, the side brush body 2 has a cleaning position and an obstacle avoidance position relative to the rotating component 1. The rotating component 1 drives the side brush body 2 to spirally rise and fall between the cleaning position and the obstacle avoidance position by changing its rotation direction. When the side brush body 2 is in the cleaning position, it contacts the surface to be cleaned and rotates with the rotating component 1 to clean the surface. When the side brush body 2 is in the obstacle avoidance position, there is a set distance between it and the surface to be cleaned for obstacle avoidance. By improving the structure of the existing side brush and adding the rotating component 1, the side brush body 2 and the rotating component 1 are designed to rotate in a spiral manner. In this way, the rotating component 1 can change its rotation direction to drive the side brush body 2 to spirally rise and fall. The side brush body 2 can avoid obstacles by spiraling in a straight line without the need for an additional complex drive mechanism, thus reducing structural complexity and cost. At the same time, since the side brush body 2 moves in a straight spiral, there is no need to set up a large space for its swing, which can further reduce the overall product design volume compared with the prior art. In addition, in this embodiment, the cover 3 and the rotating member 1 have a limiting structure to restrict the spiral descent stroke of the side brush body 2, so as to prevent the side brush body 2 from falling off the rotating member 1. By adding the cover 3, the cover 3 and the rotating member 1 cooperate to restrict the spiral descent stroke of the side brush body 2, thus preventing the side brush body 2 from falling off the rotating member 1.

[0034] The working principle of this side brush component is explained below: Figure 3 A lower schematic diagram of a robotic vacuum cleaner using this side brush assembly is shown. The robotic vacuum cleaner includes a housing 5, within which a power source and controller are housed. A roller brush assembly and the side brush assembly provided in this embodiment are located below the housing 5. During assembly, the side brush assembly is mounted to the output shaft of the power source via a rotating component 1, and then... Figure 4 , Figure 5 and Figure 8 As shown, in this embodiment, a mounting hole 13 is provided on the rotating component 1, and a slot 130 is provided on the inner wall of the mounting hole 13. A claw 60 adapted to the slot 130 is provided on the output shaft 6. The rotating component 1 is tightly mounted on the output shaft 6 through the mounting hole 13, and the connection is further secured by the cooperation of the claw 60 and the slot 130. It is understood that in other embodiments, the mounting hole 13 can be changed to a slot structure. The sweeping robot is also equipped with a controller and various sensors. The sensors can monitor the surrounding environment and transmit corresponding monitoring parameters to the controller. The controller controls the corresponding actions of the sweeping robot based on the monitoring parameters. The sensors in this embodiment include a vision sensor 7 and a floor material sensor 8. Through the monitoring data of the floor material sensor 8 and the vision sensor 7, the controller can determine whether there are obstacles such as carpets in the direction of the sweeping robot's movement. The sensors used are not limited to the vision sensor 7 and the floor material sensor 8 proposed in this embodiment; infrared sensors, etc., can also be used.

[0035] In this embodiment, two sets of side brush assemblies are installed on the robot vacuum cleaner. It is understood that in other embodiments, one or more sets can be installed. Taking one set of side brush assemblies as an example, the rotating component 1 in this side brush assembly has a first rotation direction and a second rotation direction that are opposite to each other. Figure 6 As shown, when the robot vacuum cleaner is cleaning the surface, the side brush body 2 is in the cleaning position, and at this time, the side brush body 2 is in contact with the surface being cleaned. At this time, the rotating component 1 rotates in the first rotation direction, and the side brush body 2, driven by the rotating component 1, follows the rotating component 1 and rotates in the first rotation direction to clean. When the controller detects an obstacle in the direction of travel through a sensor, the controller controls the output shaft 6 to change its rotation direction through the power source, thereby causing the rotating component 1 to switch from the first rotation direction to the second rotation direction. Because the side brush body 2 is in contact with the surface being cleaned, there is friction between them. When the rotating component 1 changes its rotation direction, the side brush body 2 will not rotate synchronously with the rotating component 1. Due to the helical transmission between the two, when their rotations are asynchronous, a relative helical lifting motion will occur. Since the rotating component 1 is fixed vertically relative to the output shaft 6, the side brush body 2 will spiral upwards until... Figure 7 The obstacle avoidance position shown creates a set distance between the robot and the surface being cleaned to avoid obstacles. After the robot leaves the obstacle, the controller controls the rotating component 1 to change its rotation direction via the power source. Similarly, due to the helical transmission between the side brush body 2 and the rotating component 1, the side brush body 2 spirals down to the cleaning position and then continues the cleaning operation. In this embodiment, the set distance is 4mm. It can be understood that the specific value of the set distance can be changed according to the product's usage environment. Optionally, the set distance can be a selected value between 2mm and 10mm.

[0036] It should be noted that after the side brush body 2 leaves the surface being cleaned, its rotation direction may change to be the same as that of the rotating component 1. However, due to the difference in rotation speed, the side brush body 2 will continue to spiral upward. When the side brush body 2 rises to a certain extent, the external drive threaded teeth 110 on the rotating component 1 will spirally move to the end position of the internal drive threaded groove 210 on the side brush body 2, preventing the side brush body 2 from continuing to spiral upward. This limits the spiral upward stroke of the side brush body 2, ensuring that the side brush body 2 cannot continue to spiral upward after spiraling to the preset obstacle avoidance position. As for the spiral downward stroke of the side brush body 2, as mentioned above, it is limited by the limiting structure between the cover 3 and the rotating component 1, ensuring that the side brush body 2 cannot continue to spiral downward after spiraling down to the preset cleaning position.

[0037] It should also be noted that the side brush assembly in this embodiment is provided in two sets. For the rotating component 1 in one set of side brush assemblies, its first rotation direction is clockwise and its second rotation direction is counterclockwise. For the rotating component 1 in the other set of side brush assemblies, its first rotation direction is counterclockwise and its second rotation direction is clockwise. That is, the first and second rotation directions are not limited to one direction; they can simply be opposite.

[0038] Combination Figure 8 and Figure 9 As shown in the diagram, the rotating component 1 in this embodiment includes a top plate 10, on which a cylinder 11 is provided, and an external drive thread tooth 110 is formed on the outside of the cylinder 11. The side brush body 2 includes a base plate 20, on which a cylinder 21 is provided, and an internal drive thread groove 210 is formed inside the cylinder 21. In addition, a cleaning part 23 extends outward from the base plate 20. When the side brush body 2 rotates, the cleaning part gathers the dust on both sides of the roller brush assembly into the area that the roller brush can cover, making it easier to clean the roller brush assembly. By setting the internal drive thread groove 210 on the side brush body 2 and the external drive thread tooth 110 on the rotating component 1, with the dimensions of the side brush body 2 and the rotating component 1 being fixed, the above-described arrangement can maximize the size of the internal drive thread groove 210. This can increase the proportion of the size of the cylinder 21 relative to the size of the base plate 20, and at the same time increase the helical drive contact area between the side brush body 2 and the rotating component 1, thereby increasing the stability of the rotation of the side brush body 2 and reducing the shaking of the side brush body 2 during rotation. It is understood that in other embodiments, a cylinder 11 with external drive thread teeth 110 may be disposed on a substrate 20, and a cylinder 21 with internal drive thread grooves 210 may be disposed on a top plate 10. Of course, in this case, the assembly method between the rotating member 1 and the output shaft 6 needs to be changed accordingly.

[0039] Furthermore, in combination Figure 6 , Figure 7 and Figure 10As shown in the diagram, in this embodiment, the substrate 20 is provided with a first annular side plate 22 surrounding the outside of the cylinder 21, the top plate 10 is provided with a second annular side plate 12 surrounding the outside of the cylinder 11, and the cover 3 includes an annular cover plate 30 provided on the first annular side plate 22. The annular cover plate 30 has a circular hole that fits with the second annular side plate 12 with a clearance. The substrate 20, the top plate 10, the first annular side plate 22, the second annular side plate 12, and the annular cover plate 30 cooperate to form a sealed cavity 4. The external drive thread teeth 110 and the internal drive thread groove 210 are configured to always be located within the sealed cavity 4. By providing a sealed cavity 4 and configuring the external drive thread teeth 110 and the internal drive thread groove 210 to always be located within the sealed cavity 4, external hair or thread ends can be blocked, preventing the spiral drive structure from getting caught in hair or thread ends and reducing the failure rate. In addition, in this embodiment, an annular flange 120 extends outward from the edge of the second annular side plate 12, and the annular cover plate 30 has a limiting part for abutting against the annular flange 120 when the side brush body 2 is in the cleaning position. The annular flange 120 and the limiting part cooperate to form a limiting structure. The cover plate configured in this way serves to form a sealed cavity 4 on the one hand, and can cooperate with the annular flange 120 to form a limiting structure on the other hand. The structure is simple and achieves multiple functions at the same time.

[0040] In this embodiment, the cover 3 also includes a third annular side plate 31 integrally formed with the annular cover plate 30. A snap-fit ​​structure is provided between the third annular side plate 31 and the first annular side plate 22, and the cover 3 and the side brush body 2 are snapped together and fixed by the snap-fit ​​structure. The third annular side plate 31 and the snap-fit ​​structure facilitate the assembly operation of the cover 3 and the side brush body 2. Specifically, the snap-fit ​​structure includes a slot 310 provided on the third annular side plate 31 and a locking block 220 provided on the first annular side plate 22. During assembly, the locking block 220 is first aligned with the slot 310 and moved in, and then the cover 3 is rotated so that the locking block 220 is inserted into the slot 310 circumferentially.

[0041] In this invention, unless otherwise explicitly specified or limited in the embodiments, the terms "installation," "connection," "joining," and "fixing" appearing in the embodiments should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral part; it can also be a mechanical connection, an electrical connection, etc. Of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components, or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific implementation.

[0042] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A lift-up side brush assembly for cleaning a surface to be cleaned by rotating under the drive of a power source, characterized in that, The side brush assembly comprises: a rotating part (1) for assembling with an output shaft of a power source; a side brush body (2) in screw transmission cooperation with the rotating part (1); and a cover (3) arranged on the side brush body (2) and synchronously moving with the side brush body (2); wherein the rotating part (1) is directly connected with the output shaft of the power source and coaxially rotates with the output shaft; the side brush body (2) has a cleaning position and an obstacle avoidance position relative to the rotating part (1), the rotating part (1) drives the side brush body (2) to screw up and down between the cleaning position and the obstacle avoidance position by changing the rotating direction, the side brush body (2) is in contact with the cleaned surface when being in the cleaning position and rotates with the rotating part (1) to clean the cleaned surface, and the side brush body (2) has a set distance for obstacle avoidance between the cleaned surface when being in the obstacle avoidance position; the cover (3) and the rotating part (1) have a limiting structure for limiting the screw down stroke of the side brush body (2) to prevent the side brush body (2) from falling off the rotating part (1); the rotating part (1) is provided with outer transmission thread teeth (110), the side brush body (2) is provided with inner transmission thread grooves (210), and the rotating part (1) and the side brush body (2) are in screw transmission cooperation through the outer transmission thread teeth (110) and the inner transmission thread grooves (210).

2. The lift-up edge brush assembly of claim 1, wherein, The side brush body (2) comprises a base plate (20) provided with a cylinder (21) in which the inner transmission thread grooves (210) are formed; the rotating part (1) comprises a top plate (10) provided with a cylinder (11) outside which the outer transmission thread teeth (110) are formed.

3. The lift-up edge brush assembly of claim 2, wherein, The base plate (20) is provided with a first annular side plate (22) surrounding the outside of the cylinder (21), the top plate (10) is provided with a second annular side plate (12) surrounding the outside of the cylinder (11), the cover (3) comprises an annular cover plate (30) arranged on the first annular side plate (22), the annular cover plate (30) has a circular hole in gap cooperation with the second annular side plate (12), the base plate (20), the top plate (10), the first annular side plate (22), the second annular side plate (12) and the annular cover plate (30) cooperate to form a sealed cavity (4), and the outer transmission thread teeth (110) and the inner transmission thread grooves (210) are always located in the sealed cavity (4).

4. The lift-up edge brush assembly of claim 3, wherein An annular flange (120) is formed at the mouth of the second annular side plate (12) and extends outward, the annular cover plate (30) has a limiting part for abutting against the annular flange (120) when the side brush body (2) is in the cleaning position, and the annular flange (120) and the limiting part cooperate to form the limiting structure.

5. The lift-up edge brush assembly of claim 3 wherein, The rotating part (1) is provided with a mounting groove or mounting hole (13) extending from the top plate (10) to the cylinder (11), the rotating part (1) is tightly fitted and mounted on the output shaft through the mounting groove or mounting hole (13), and the rotating part (1) has a symmetrical overall shape about the axis of the output shaft.

6. The lift-up edge brush assembly of claim 5 wherein, The cover body (3) further comprises a third annular side plate (31) integrally formed with the annular cover plate (30), a buckle structure is arranged between the third annular side plate (31) and the first annular side plate (22), and the cover body (3) and the brush body (2) are clamped and fixed through the buckle structure.

7. The lift-up edge brush assembly of claim 1 wherein, The set interval is a selected value between 2mm and 10mm.

8. A sweeping robot comprising a housing (5), a power source and a controller are arranged in the housing (5), a roller brush assembly and an edge brush assembly are arranged below the housing (5), characterized in that, The brush assembly is the liftable brush assembly of any one of claims 1 to 7, and the rotating part (1) is arranged on the output shaft of the power source. The controller is connected with a sensor for monitoring the environment of the surface to be cleaned in real time, and the controller controls the power source to drive the rotating part (1) to rotate according to the monitoring result.

9. The robotic vacuum cleaner of claim 8, wherein, The sensor comprises a visual sensor (7) and / or a ground material sensor (8).

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