A surface cleaning device and a control method therefor

Abstract

The embodiment of the present application discloses a surface cleaning device and a control method thereof. The surface cleaning device comprises a shell, a bottom of the shell is provided with a concave cavity; a vacuum unit is used for extracting air in the sealed space; at least two driving wheels are arranged at the bottom of the shell, and the at least two driving wheels are used for driving the surface cleaning device to walk on the surface to be cleaned. The at least two driving wheels at least include a first driving wheel and a second driving wheel. The included angle between the first rotating shaft of the first driving wheel and the second rotating shaft of the second driving wheel is greater than 0° and less than 180°. The embodiment of the present application can not only control the surface cleaning device to translate on the surface to be cleaned, but also more conveniently control the surface cleaning device to rotate on the surface to be cleaned through the at least two driving wheels with different driving directions. The rotation of the surface cleaning device on the surface to be cleaned improves the cleaning effect on the surface to be cleaned.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning, in particular to a surface cleaning device and a control method thereof. BACKGROUND

[0002] The surface cleaning device is a household appliance that can provide cleaning function, such as window cleaning robot, floor cleaning robot and the like self-moving surface cleaning device.

[0003] Taking the window cleaning robot as an example, the bottom of the window cleaning robot is usually provided with a concave cavity, which is used to define a sealed space with a surface to be cleaned (for example, a glass surface or a ground surface, etc.). A vacuum unit on the window cleaning robot can extract air in the sealed space, so that negative pressure is generated in the sealed space, thereby adsorbing the window cleaning robot on the surface to be cleaned.

[0004] In addition, the bottom of the window cleaning robot is usually also provided with a cleaning unit and a walking unit. For example, the cleaning unit of a window cleaning robot in the prior art is a cleaning cloth arranged at the bottom of the window cleaning robot, and the walking unit is a track wheel. When the track wheel rotates, it can drive the window cleaning robot to move on the surface to be cleaned, thereby driving the cleaning cloth to wipe the surface to be cleaned. However, the cleaning effect of this wiping method on the surface to be cleaned is poor. SUMMARY

[0005] The surface cleaning device and the control method thereof provided in the embodiments of the present application are beneficial to solve the problem of poor cleaning effect of the window cleaning robot on the surface to be cleaned in the prior art.

[0006] In a first aspect, the embodiments of the present application provide a surface cleaning device, comprising:

[0007] a housing, a concave cavity is arranged at the bottom of the housing, and the concave cavity is used to define a sealed space with a surface to be cleaned;

[0008] a vacuum unit, configured to extract air in the sealed space, so that negative pressure is generated in the sealed space, and the surface cleaning device is adsorbed on the surface to be cleaned;

[0009] at least two drive wheels, arranged at the bottom of the housing, configured to drive the surface cleaning device to walk on the surface to be cleaned, wherein the at least two drive wheels at least include a first drive wheel and a second drive wheel, and the included angle between the first rotation axis of the first drive wheel and the second rotation axis of the second drive wheel is greater than 0° and less than 180°.

[0010] In a possible implementation, the at least two drive wheels are arranged around the concave cavity.

[0011] In a possible implementation, the at least two driving wheels further include a third driving wheel, and an included angle between a third rotation axis of the third driving wheel and the first rotation axis and the second rotation axis is greater than 0° and less than 180°.

[0012] In a possible implementation, the at least two driving wheels are uniformly spaced on the bottom of the shell.

[0013] In a possible implementation, the surface cleaning device further includes:

[0014] a first cleaning unit, the first cleaning unit being wrapped around an outer surface of the driving wheel.

[0015] In a possible implementation, an outer surface of any one of the driving wheels is wrapped around the first cleaning unit.

[0016] In a possible implementation, the surface cleaning device further includes:

[0017] a second cleaning unit, the second cleaning unit being arranged on a side of the shell close to the surface to be cleaned.

[0018] In a possible implementation, the surface cleaning device further includes:

[0019] at least one collision sensor, the at least one collision sensor being arranged on a side of the shell, and the at least one collision sensor being configured to detect whether there is a protruding obstacle on the surface to be cleaned in a direction in which the surface cleaning device travels.

[0020] In a possible implementation, the surface cleaning device includes at least two collision sensors, and the at least two collision sensors are uniformly spaced on the side of the shell.

[0021] In a possible implementation, the surface cleaning device further includes:

[0022] at least one step-out sensor, the at least one step-out sensor being arranged on the bottom of the shell and close to a side of the shell, and the at least one step-out sensor being configured to detect a step-out edge of the surface to be cleaned, a gap or a hole on the surface to be cleaned.

[0023] In a possible implementation, the surface cleaning device includes at least two step-out sensors, and the at least two step-out sensors are uniformly spaced on the bottom of the shell and close to the side of the shell.

[0024] In a possible implementation, rotation axes of the at least two driving wheels are parallel to a bottom plane of the shell.

[0025] In a second aspect, the embodiments of the present application provide a surface cleaning device control method, applied to the surface cleaning device of any one of the first aspect, the method comprising:

[0026] Driving the surface cleaning device to move on the surface to be cleaned by at least one of the following methods:

[0027] Sending a first driving signal to the at least two driving wheels, and controlling the at least two driving wheels to move according to the first driving signal to drive the surface cleaning device to translate on the surface to be cleaned;

[0028] Sending a second driving signal to the at least two driving wheels, and controlling the at least two driving wheels to move according to the second driving signal to drive the surface cleaning device to rotate on the surface to be cleaned;

[0029] Sending a third driving signal to the at least two driving wheels, and controlling the at least two driving wheels to move according to the third driving signal to drive the surface cleaning device to simultaneously translate and rotate on the surface to be cleaned.

[0030] In a possible implementation, when the surface cleaning device is provided with at least one collision sensor, the method further comprises:

[0031] According to the signal detected by the at least one collision sensor that a convex obstacle is detected, sending a first steering signal to the at least two driving wheels, and controlling the at least two driving wheels to move according to the first steering signal to drive the surface cleaning device to adjust the moving direction on the surface to be cleaned.

[0032] In a possible implementation, when the surface cleaning device is provided with at least one step-out sensor, the method further comprises:

[0033] According to the signal detected by the at least one step-out sensor that a step-out edge of the surface to be cleaned, a gap or a hole on the surface to be cleaned is detected, sending a second steering signal to the at least two driving wheels, and controlling the at least two driving wheels to move according to the second steering signal to drive the surface cleaning device to adjust the moving direction on the surface to be cleaned.

[0034] In a possible implementation, the at least two driving wheels comprise a first driving wheel and a second driving wheel, and the controlling the at least two driving wheels to move according to the second driving signal to drive the surface cleaning device to rotate on the surface to be cleaned comprises cyclically executing the following sub-steps:

[0035] controlling the first driving wheel and the second driving wheel to rotate according to the second driving signal with the second driving wheel as the center, so as to drive the surface cleaning device to rotate a second angle on the surface to be cleaned.

[0036] controlling the first driving wheel and the second driving wheel to rotate according to the second driving signal with the second driving wheel as the center, so as to drive the surface cleaning device to rotate a second angle on the surface to be cleaned.

[0037] In a possible implementation, the at least two driving wheels further include a third driving wheel, and the sub-steps further include:

[0038] controlling the first driving wheel, the second driving wheel and the third driving wheel to rotate according to the second driving signal with the third driving wheel as the center, so as to drive the surface cleaning device to rotate a third angle on the surface to be cleaned.

[0039] The embodiment of the present application provides at least two driving wheels with non-parallel driving shafts at the bottom of the surface cleaning device, that is, at least two driving wheels with different driving directions. Through the at least two driving wheels with different driving directions, the surface cleaning device can not only be controlled to translate on the surface to be cleaned, but also be more conveniently controlled to rotate on the surface to be cleaned, so that the cleaning effect on the surface to be cleaned is improved through the rotation of the surface cleaning device on the surface to be cleaned. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0041] Figure 1 A perspective structural schematic diagram of a surface cleaning device provided by the embodiment of the present application;

[0042] Figure 2 Another perspective structural schematic diagram of a surface cleaning device provided by the embodiment of the present application;

[0043] Figure 3 A bottom view of a surface cleaning device provided by the embodiment of the present application;

[0044] Figure 4 A driving principle schematic diagram of a driving wheel provided by the embodiment of the present application;

[0045] Figure 5 An application scenario schematic diagram provided by the embodiment of the present application;

[0046] Figure 6 A schematic diagram of the working principle of a step-off sensor provided in an embodiment of the present application;

[0047] Figure 7 A flow chart of a surface cleaning device control method provided in an embodiment of the present application

[0048] Figures 8A-8D A schematic diagram of another application scenario provided for an embodiment of the present application.

[0049] The symbols in the figure are represented as: 100-housing, 110-concave cavity, 120-first driving wheel accommodating cavity, 130-second driving wheel accommodating cavity, 140-third driving wheel accommodating cavity, 200-vacuum unit, 310-first driving wheel, 320-second driving wheel, 330-third driving wheel, 410-first cleaning unit, 420-second cleaning unit, 510-collision sensor, 520-stepping sensor, 521-transmitting signal, 522-reflecting signal, 600-surface to be cleaned, 610-frame. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0051] Figure 1 This is a schematic diagram of the three-dimensional structure of a surface cleaning device provided in an embodiment of the present application. Figure 2 This is a schematic diagram of the three-dimensional structure of another surface cleaning device provided in an embodiment of the present application. Figure 3 This is a bottom view of a surface cleaning device provided in an embodiment of the present application. For ease of explanation, an up-down direction is defined on the surface cleaning device. The up-down direction is perpendicular to the bottom plane of the surface cleaning device, that is, perpendicular to the surface to be cleaned 600 (e.g., Figure 5 and Figure 6 ), "above" refers to the side of the surface cleaning device away from the surface to be cleaned 600, and "below" refers to the side of the surface cleaning device close to the surface to be cleaned 600. In some possible implementations, "above" may also be referred to as "top"; and "below" may also be referred to as "bottom".

[0052] like Figures 1-3As shown, the surface cleaning device comprises a housing 100, and a bottom of the housing 100 is provided with a concave cavity 110. When the surface cleaning device is placed on a surface 600 (for example, a glass or a ground surface, etc.) to be cleaned, the concave cavity 110 is used to define a sealed space with the surface 600 to be cleaned. It should be noted that the concave cavity 110 can directly define the sealed space with the surface 600 to be cleaned; or the concave cavity 110 defines the sealed space with the surface 600 to be cleaned through other functional units / modules in the surface cleaning device, which should all belong to the definition of the sealed space in the embodiments of the present application. For example, in actual application, the bottom of the surface cleaning device can also be provided with a cleaning unit (for example, a cloth or a sponge, etc.), and the concave cavity 110 defines the sealed space with the surface 600 to be cleaned through the cleaning unit. Further, the cleaning unit can be connected to the bottom of the surface cleaning device through a cleaning unit support, and at this time, the concave cavity 110 defines the sealed space with the surface 600 to be cleaned through the cleaning unit support and the cleaning unit.

[0053] The surface cleaning device is also provided with a vacuum unit 200, and an air inlet of the vacuum unit 200 is connected in communication with the concave cavity 110. When the vacuum unit 200 works, the air in the sealed space can be extracted, so that a negative pressure is generated in the sealed space, and then the surface cleaning device can be adsorbed on the surface 600 to be cleaned. In specific implementation, the vacuum unit 200 can be a fan, a vacuum pump, etc., and the embodiments of the present application do not make specific limitation thereto.

[0054] In the prior art, in order to drive the surface cleaning device to move on the surface 600 to be cleaned, two driving wheels with parallel rotation shafts are usually arranged at the bottom of the surface cleaning device, that is, two driving wheels with the same driving direction are arranged. Although this driving mode can realize the fast movement of the surface cleaning device on the surface 600 to be cleaned, the cleaning effect of the cleaning unit on the surface 600 to be cleaned is poor.

[0055] In view of the above problems, the embodiments of the present application arrange at least two driving wheels with non-parallel driving shafts at the bottom of the surface cleaning device, that is, at least two driving wheels with different driving directions are arranged. Through the at least two driving wheels with different driving directions, not only the surface cleaning device can be controlled to translate on the surface 600 to be cleaned, but also the surface cleaning device can be more conveniently controlled to rotate on the surface 600 to be cleaned, and the rotation of the surface cleaning device on the surface 600 to be cleaned improves the cleaning effect on the surface 600 to be cleaned.

[0056] In order to facilitate understanding, in the following embodiments, the bottom of the housing 100 is provided with three driving wheels with different driving directions as an example for description. Of course, a person skilled in the art can arrange other numbers of driving wheels with different driving directions at the bottom of the housing 100 according to actual needs, for example, two, four or five, etc., and the embodiments of the present application do not make specific limitation thereto.

[0057] See also Figure 4 , is a schematic diagram of the driving principle of a driving wheel provided in an embodiment of the present application. Figure 4 As shown, three drive wheels are provided at the bottom of the housing 100: a first drive wheel 310, a second drive wheel 320, and a third drive wheel 330. The first drive wheel 310, the second drive wheel 320, and the third drive wheel 330 are evenly spaced around the center point O of the housing 100. That is, the first drive wheel 310, the second drive wheel 320, and the third drive wheel 330 are evenly spaced and arranged at the bottom of the housing 100. For ease of description, the rotation axes of the first drive wheel 310, the second drive wheel 320, and the third drive wheel 330 are referred to as the first rotation axis, the second rotation axis, and the third rotation axis, respectively. In this embodiment of the present application, the angle between any two rotation axes is 60°. It should be noted that this embodiment of the present application uses a 60° angle as an example. Those skilled in the art may set the angles between the first, second, and third rotation axes to other angles greater than 0° and less than 180° as needed, and this embodiment of the present application does not impose any specific limitations on this.

[0058] exist Figure 4 In the illustrated orientation, the first rotation direction of the first drive wheel 310, the second drive wheel 320, and the third drive wheel 330 is defined as d1, and the second rotation direction is defined as d2. When the first drive wheel 310 rotates in the direction d1, a torque T1 = F1 × r1 is generated on the surface cleaning device, where F1 is the friction force between the surface to be cleaned 600 and the surface cleaning device due to the rotation of the first drive wheel 310, and r1 is the lever arm of F1. When the second drive wheel 320 rotates in the direction d1, a torque T2 = F2 × r2 is generated on the surface cleaning device, where F2 is the friction force between the surface to be cleaned 600 and the surface cleaning device due to the rotation of the second drive wheel 320, and r2 is the lever arm of F2. When the third drive wheel 330 rotates in the direction d1, a torque T3 = F3 × r3 is generated on the surface cleaning device, where F3 is the friction force between the surface to be cleaned 600 and the surface cleaning device due to the rotation of the third drive wheel 330, and r3 is the lever arm of F3.

[0059] In an ideal case, when the rotational speeds of the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 are the same, the sizes of F1, F2 and F3 are the same. In addition, since the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 are evenly arranged around the center point O of the housing 100, under the action of the above-mentioned moments T1, T2 and T3, the surface cleaning device rotates in the counterclockwise direction with the point O as the center. Based on the same principle, when the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 all rotate in the second rotational direction d2 at the same rotational speed, the surface cleaning device rotates in the clockwise direction with the point O as the center, which will not be described here again.

[0060] It can be understood that when the rotational speed or the rotational direction of the driving wheel is adjusted, the size or direction of the friction of the surface to be cleaned 600 on the surface cleaning device will change. Based on this, the center point of the rotation of the surface cleaning device can be adjusted by controlling the rotational direction and / or the rotational speed of the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330. For example, by controlling the rotational direction and / or the rotational speed of the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330, the surface cleaning device is caused to rotate with a certain driving wheel as the center on the surface to be cleaned 600. Alternatively, the surface cleaning device can also be caused to translate in a certain direction on the surface to be cleaned 600 by controlling the rotational direction and / or the rotational speed of the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330. This will be described in detail in the control method embodiments below.

[0061] In addition, in order to facilitate the fixation of the driving wheels, corresponding driving wheel accommodating cavities can also be arranged at the bottom of the housing 100. As shown in Figures 1-3 The first driving wheel accommodating cavity 120, the second driving wheel accommodating cavity 130 and the third driving wheel accommodating cavity 140 are arranged at the bottom of the housing 100. The first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 are respectively connected to the first driving wheel accommodating cavity 120, the second driving wheel accommodating cavity 130 and the third driving wheel accommodating cavity 140.

[0062] Please continue to refer to Figures 1-3In some possible implementation manners, the surface cleaning device further comprises a first cleaning unit 410 (for example, a cloth or a sponge, etc.), which is wrapped on the outer surface of the driving wheel. When the driving wheel rotates, the first cleaning unit 410 is driven to rotate relative to the surface to be cleaned 600, thereby wiping the surface to be cleaned 600. In the embodiment of the present application, a first cleaning unit 410 is wrapped on the outer surface of each driving wheel, that is, a first cleaning unit 410 is wrapped on the outer surface of the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330. Of course, those skilled in the art can wrap the first cleaning unit 410 on the outer surface of only part of the driving wheels according to actual needs, or the first cleaning unit 410 is detachably connected to the driving wheel, and the user selects to wrap the first cleaning unit 410 on the outer surface of part of the driving wheels during use. For example, a first cleaning unit 410 is wrapped on the outer surface of the first driving wheel 310 and the second driving wheel 320, and no first cleaning unit 410 is wrapped on the outer surface of the third driving wheel 330, which is not limited in the embodiment of the present application.

[0063] In specific implementation, the first cleaning unit 410 can be made of elastic material, and the first cleaning unit 410 is a barrel-shaped structure with at least one open end. During use, the first cleaning unit 410 can be sleeved on the driving wheel through the open end of the first cleaning unit 410, and the first cleaning unit 410 is fixed on the driving wheel by using the elastic force of the first cleaning unit 410. In this way, the first cleaning unit 410 is convenient to disassemble, thereby facilitating the user to clean or replace the first cleaning unit 410. Of course, those skilled in the art can also use other fixing methods. For example, the first cleaning unit 410 can be pasted on the outer surface of the driving wheel by using a magic tape, which is not limited in the embodiment of the present application.

[0064] In some possible implementation manners, the surface cleaning device further comprises a second cleaning unit 420 (for example, a cloth or a sponge, etc.), which is arranged on the side of the shell 100 close to the surface to be cleaned 600, that is, arranged on the bottom of the shell 100. When the surface cleaning device is placed on the surface to be cleaned 600, the surface cleaning device presses the second cleaning unit 420 against the surface to be cleaned 600. It can be understood that when the surface cleaning device moves relative to the surface to be cleaned 600, the surface cleaning device can drive the second cleaning unit 420 to move relative to the surface to be cleaned 600, thereby wiping the surface to be cleaned 600. In specific implementation, the second cleaning unit 420 can be arranged around the recess 110 at the bottom of the shell 100, at this time, the second cleaning unit 420 can also play a sealing role between the recess 110 and the surface to be cleaned 600, thereby avoiding air leakage in the sealed space between the recess 110 and the surface to be cleaned 600.

[0065] In specific implementations, the second cleaning unit 420 is detachably connected to the bottom of the housing 100. By using a detachable connection, the second cleaning unit 420 can be easily detached, and thus the user can easily clean or replace the second cleaning unit 420. For example, the second cleaning unit 420 can be attached to the bottom of the housing 100 by using a magic tape, or the second cleaning unit 420 can be fixed to the bottom of the housing 100 by using a buckle or other connecting member. Further, the second cleaning unit 420 can also be connected to the bottom of the housing 100 by using a cleaning unit support, and the present application does not make specific limitations in this regard.

[0066] In some possible application scenarios, the to-be-cleaned surface 600 can have protruding obstacles. For example, when the to-be-cleaned surface is a ground, there can be tables, sofas, and the like on the ground; when the to-be-cleaned surface is a glass, there can be a frame around the glass. For example, in Figure 5 In the above-mentioned implementation, one side of the to-be-cleaned surface 600 is provided with a frame 610. In order to detect the frame 610 of the to-be-cleaned surface 600, in some possible implementations, the surface cleaning device is further provided with at least one collision sensor 510, which is arranged on the side of the housing 100 and is used to detect whether there is a protruding obstacle on the to-be-cleaned surface 600 in the moving direction of the surface cleaning device.

[0067] In specific implementations, the collision sensor 510 can include a travel switch. When the collision sensor 510 collides with the frame 610, the travel switch can detect a protruding obstacle signal, and thus the surface cleaning device can be controlled to turn.

[0068] In some possible implementations, the surface cleaning device includes at least two collision sensors 510, and the at least two collision sensors 510 are uniformly spaced apart on the side of the housing 100. For example, in Figures 1-3 In the implementation shown in FIG. 6B, the surface cleaning device includes three collision sensors 510, and the three collision sensors 510 are uniformly spaced apart on the side of the housing 100. Specifically, one collision sensor 510 is arranged between any two driving wheels. It can be understood that, in the process of moving the to-be-cleaned surface 600, the surface cleaning device can touch the frame 610 in any direction. By uniformly spacing the collision sensors 510, the reliability of detecting the frame 610 can be improved.

[0069] In some application scenarios, there can be an overhanging edge around the to-be-cleaned surface 600. For example, when the to-be-cleaned surface 600 is a frameless glass, the periphery of the frameless glass is an overhanging edge. When the surface cleaning device moves to the overhanging edge, it can fall off the overhanging edge, or the sealing space can lose pressure due to the overhanging edge. In order to detect the overhanging edge of the to-be-cleaned surface 600, in some possible implementation manners, the surface cleaning device is further provided with at least one overhanging sensor 520, which is arranged at the bottom of the housing 100. Since the side of the surface cleaning device will first reach the overhanging edge, the overhanging sensor 520 is arranged close to the side of the housing 100. The overhanging edge of the to-be-cleaned surface 600 can be detected by the overhanging sensor 520, so as to determine whether the surface cleaning device is partially separated from the to-be-cleaned surface 600, or whether the surface cleaning device has a risk of losing pressure.

[0070] Referring to Figure 6 , a schematic diagram of the working principle of an overhanging sensor provided in an embodiment of the present application is shown. As Figure 6 indicated, the overhanging sensor 520 can generate an emission signal 521 and receive a reflection signal 522 reflected after passing through the to-be-cleaned surface 600. It can be understood that when the overhanging sensor 520 is beyond the overhanging edge of the to-be-cleaned surface 600 and separated from the to-be-cleaned surface 600, since there is no reflection of the emission signal 521 by the to-be-cleaned surface 600, the overhanging sensor 520 cannot receive the reflection signal 522 or can only receive a relatively weak reflection signal 522, triggering the overhanging sensor 520 to perform information feedback, that is, it is determined that the overhanging edge of the to-be-cleaned surface 600 is detected, and then the surface cleaning device can be controlled to turn. In a specific implementation, the emission signal 521 and the reflection signal 522 can be infrared signals or ultrasonic signals, and the present application does not make a specific limitation in this regard.

[0071] In actual application, there can also be a gap or a hole on the to-be-cleaned surface 600. Based on the same principle, when the overhanging sensor 520 is located at the gap position on the to-be-cleaned surface 600 or at the hole position on the to-be-cleaned surface 600, the overhanging sensor 520 can also be triggered to perform information feedback, which will not be described herein again.

[0072] In some possible implementation manners, the surface cleaning device includes at least two overhanging sensors 520, and the at least two overhanging sensors 520 are uniformly spaced apart at the bottom of the housing 100 and close to the side of the housing 100. For example, in Figures 1-3In the shown implementation, the surface cleaning device includes six out-of-step sensors 520, which are evenly spaced on the bottom of the housing 100 and are located close to the side of the housing 100. Specifically, one out-of-step sensor 520 is arranged at the position where each driving wheel accommodating cavity side wall and the side of the housing 100 meet. For example, one out-of-step sensor 520 is arranged at the position where each of the two side walls of the first driving wheel accommodating cavity 120 and the side of the housing 100 meet; one out-of-step sensor 520 is arranged at the position where each of the two side walls of the second driving wheel accommodating cavity 130 and the side of the housing 100 meet; and one out-of-step sensor 520 is arranged at the position where each of the two side walls of the third driving wheel accommodating cavity 140 and the side of the housing 100 meet. It can be understood that, when the surface cleaning device moves on the surface to be cleaned 600, it can reach the out-of-step edge of the surface to be cleaned 600, a gap or a hole on the surface to be cleaned 600 in any direction. The use of the evenly spaced out-of-step sensors 520 can improve the reliability of detection.

[0073] In addition, when the surface cleaning device rotates around one driving wheel, the side of the housing 100 between the other two driving wheels and the side wall of the driving wheel accommodating cavity are more likely to reach the out-of-step edge of the surface to be cleaned 600, a gap or a hole on the surface to be cleaned 600 first, so arranging the out-of-step sensors 520 at the positions where the side wall of the driving wheel accommodating cavity and the side of the housing 100 meet can improve the sensitivity of detection. For example, in the shown orientation, when the surface cleaning device is controlled to rotate clockwise around the first driving wheel 310, the side of the housing 100 between the second driving wheel 320 and the third driving wheel 330 and the side wall of the second driving wheel accommodating cavity 130 are more likely to reach the out-of-step edge of the surface to be cleaned 600, a gap or a hole on the surface to be cleaned 600 first; and when the surface cleaning device is controlled to rotate counterclockwise around the first driving wheel 310, the side of the housing 100 between the second driving wheel 320 and the third driving wheel 330 and the side wall of the third driving wheel accommodating cavity 140 are more likely to reach the out-of-step edge of the surface to be cleaned 600, a gap or a hole on the surface to be cleaned 600 first. Figure 4

[0074] In some possible implementations, a gyroscope can also be arranged on the surface cleaning device, which can detect the rotation angle of the surface cleaning device. In addition, those skilled in the art can also arrange other types of sensors on the surface cleaning device according to actual needs to achieve other detection functions, and the embodiments of the present application do not make specific limitations in this regard.

[0075] Corresponding to the above-described surface cleaning device, the embodiments of the present application also provide a surface cleaning device control method.

[0076] Referring to Figure 7 ​A surface cleaning device control method flow chart is provided for the embodiments of the present application. The method can be applied to the surface cleaning device described in the above embodiments, such as Figure 7 as shown, which mainly includes the following steps.

[0077] Step S710: sending a first driving signal to the at least two driving wheels, and controlling the at least two driving wheels to move according to the first driving signal to drive the surface cleaning device to move horizontally on the surface to be cleaned;

[0078] Step S720: sending a second driving signal to the at least two driving wheels, and controlling the at least two driving wheels to move according to the second driving signal to drive the surface cleaning device to rotate on the surface to be cleaned;

[0079] Step S730: sending a third driving signal to the at least two driving wheels, and controlling the at least two driving wheels to move according to the third driving signal to drive the surface cleaning device to move horizontally and rotate simultaneously on the surface to be cleaned.

[0080] It should be noted that any one or more of the above steps can be used to control the surface cleaning device to move on the surface to be cleaned 600 according to actual needs of those skilled in the art. For example, only step S730 can be used to control the surface cleaning device to move horizontally and rotate simultaneously on the surface to be cleaned 600; or, step S710 can be used to control the surface cleaning device to move horizontally on the surface to be cleaned 600 first, and then step S720 can be used to control the surface cleaning device to rotate on the surface to be cleaned 600.

[0081] In addition, the sequence numbers in the above steps do not limit the execution sequence of the steps, for example, step S720 can be executed first and then step S710 can be executed; or, step S730 can be executed first and then step S720 can be executed, etc.

[0082] Wherein, the working principle of controlling the surface cleaning device to move horizontally or rotate on the surface to be cleaned 600 can refer to the description of the above embodiments, which will not be described here for brevity.

[0083] In some possible implementation manners, the surface cleaning device is provided with at least one collision sensor 510, and the surface cleaning device control method further includes: sending a first steering signal to the at least two driving wheels according to a protruding obstacle signal detected by the at least one collision sensor 510, and controlling the at least two driving wheels to move according to the first steering signal, so as to drive the surface cleaning device to adjust a walking direction on the to-be-cleaned surface 600 to avoid the protruding obstacle on the to-be-cleaned surface 600. For example, when the at least one collision sensor 510 detects the protruding obstacle signal, the surface cleaning device is turned by 60°, 90° or 120°, etc. on the to-be-cleaned surface 600, and the specific turning angle is not limited in the embodiments of the present application. In addition, the gyroscope can monitor the turning angle of the surface cleaning device in real time to realize control of the turning angle during turning of the surface cleaning device.

[0084] In some possible implementation manners, the surface cleaning device is provided with at least one step-out sensor 520, and the surface cleaning device control method further includes: sending a second steering signal to the at least two driving wheels according to a step-out edge of the to-be-cleaned surface 600 or a gap or hole on the to-be-cleaned surface 600 detected by the at least one step-out sensor 520, and controlling the at least two driving wheels to move according to the second steering signal, so as to drive the surface cleaning device to adjust a walking direction on the to-be-cleaned surface 600 to avoid the step-out edge of the to-be-cleaned surface 600 or the gap or hole on the to-be-cleaned surface 600. For example, when the at least one step-out sensor 520 detects the step-out edge of the to-be-cleaned surface 600 or the gap or hole on the to-be-cleaned surface 600, the surface cleaning device is turned by 60°, 90° or 120°, etc. on the to-be-cleaned surface 600, and the specific turning angle is not limited in the embodiments of the present application. In addition, the gyroscope can monitor the turning angle of the surface cleaning device in real time to realize control of the turning angle during turning of the surface cleaning device.

[0085] As described in the above embodiments, the center point of the rotation of the surface cleaning device can be adjusted by controlling the rotation direction and / or rotation speed of the at least two driving wheels. If the surface cleaning device is caused to rotate around different center points at different times, the twisting walking on the to-be-cleaned surface 600 can be realized while the surface cleaning device is rotating, which will be described in detail below.

[0086] In one possible implementation manner, the surface cleaning device includes a first driving wheel 310, a second driving wheel 320 and a third driving wheel 330, and the step S720 specifically includes the following steps.

[0087] Step S721: controlling the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 to rotate around the first driving wheel 310 according to the second driving signal, so as to drive the surface cleaning device to rotate by a first angle on the to-be-cleaned surface 600.

[0088] like Figure 8A As shown, at time t1, the center of the surface cleaning device is at position P1. At this time, the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 are controlled to rotate with the first driving wheel 310 as the center according to the second driving signal, so as to drive the surface cleaning device to rotate clockwise by a first angle on the surface to be cleaned 600, and the center of the surface cleaning device reaches position P2, as shown in FIG. Figure 8B As shown, the surface cleaning device is changed on the surface to be cleaned.

[0089] Step S722 : controlling the first driving wheel 310 , the second driving wheel 320 and the third driving wheel 330 to rotate around the second driving wheel 320 according to the second driving signal, so as to drive the surface cleaning device to rotate a second angle on the surface to be cleaned 600 .

[0090] like Figure 8B As shown, at time t2, the center of the surface cleaning device is at position P2. At this time, the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 are controlled to rotate with the second driving wheel 320 as the center according to the second driving signal, so as to drive the surface cleaning device to rotate counterclockwise by a second angle on the surface to be cleaned 600, and the center of the surface cleaning device reaches position P3, as shown in FIG. Figure 8C shown.

[0091] Step S723 : controlling the first driving wheel 310 , the second driving wheel 320 and the third driving wheel 330 to rotate around the third driving wheel 330 according to the second driving signal, so as to drive the surface cleaning device to rotate a third angle on the surface to be cleaned 600 .

[0092] like Figure 8C As shown, at time t3, the center of the surface cleaning device is at position P3. At this time, the first driving wheel 310, the second driving wheel 320 and the third driving wheel 330 are controlled to rotate with the third driving wheel 330 as the center according to the second driving signal, so as to drive the surface cleaning device to rotate counterclockwise by a third angle on the surface to be cleaned 600. The center of the surface cleaning device reaches position P4, as shown in FIG. Figure 8D shown.

[0093] By cyclically executing the above steps, the surface cleaning device can be rotated while twisting and moving on the surface to be cleaned 600.

[0094] It should be pointed out that Figures 8A-8DThe above merely provides one possible implementation manner of the embodiments of the present application, and should not be taken as a limitation to the protection scope of the present application. For example, the skilled in the art can adjust the rotation angle (i.e. adjust the size of the first angle, the second angle or the third angle) and the rotation direction (counterclockwise rotation or clockwise rotation) according to actual needs. In addition, walking can also be alternately rotated around the two driving wheels, for example, steps S721 and S722 are cyclically executed to realize walking around the first driving wheel 310 and the second driving wheel 320 alternately, and the embodiments of the present application do not make specific limitations thereto.

[0095] It should be noted that, in the present document, relational terms such as "first" and "second", and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprises", or "comprising", does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0096] The above descriptions are only specific embodiments of the present application to enable a person skilled in the art to understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0097] The same or similar parts among various embodiments in the present specification can be referred to each other. Especially, for the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

[0098] The above-described embodiments of the present application do not constitute a limitation to the protection scope of the present application.

Claims

1. A surface cleaning device, characterized in that: include: A housing, wherein a cavity is provided at the bottom of the housing, and the cavity is used to define a sealed space between the housing and the surface to be cleaned; a vacuum unit for extracting air from the sealed space to generate negative pressure in the sealed space and adsorb the surface cleaning device onto the surface to be cleaned; At least two drive wheels, the at least two drive wheels being disposed at the bottom of the housing, the at least two drive wheels being used to drive the surface cleaning device to move along the surface to be cleaned, the at least two drive wheels comprising at least a first drive wheel and a second drive wheel, and an angle between a first rotating shaft of the first drive wheel and a second rotating shaft of the second drive wheel being greater than 0° and less than 180°; Wherein, the surface cleaning device is used to apply a surface cleaning device control method, and the surface cleaning device control method includes: The surface cleaning device is driven to move on the surface to be cleaned by at least one of the following methods: sending a first drive signal to the at least two drive wheels to control the at least two drive wheels to move according to the first drive signal, so as to drive the surface cleaning device to move translationally on the surface to be cleaned; sending a second drive signal to the at least two drive wheels to control the at least two drive wheels to move according to the second drive signal, so as to drive the surface cleaning device to rotate on the surface to be cleaned; A third driving signal is sent to the at least two driving wheels to control the at least two driving wheels to move according to the third driving signal, so as to drive the surface cleaning device to move translationally and rotationally on the surface to be cleaned simultaneously.

2. The surface cleaning device according to claim 1, wherein The at least two driving wheels are arranged around the cavity.

3. The surface cleaning device according to claim 2, wherein: The at least two driving wheels further include a third driving wheel, and angles between a third rotating shaft of the third driving wheel and the first rotating shaft and the second rotating shaft are respectively greater than 0° and less than 180°.

4. The surface cleaning device according to claim 1 or 3, characterized in that The at least two driving wheels are evenly spaced and arranged at the bottom of the housing.

5. The surface cleaning device according to claim 1, wherein The surface cleaning apparatus further comprises: A first cleaning unit is provided, wherein the first cleaning unit is covered on an outer surface of the driving wheel.

6. The surface cleaning device according to claim 5, characterized in that The outer surface of any one of the driving wheels is covered with a first cleaning unit.

7. The surface cleaning device according to claim 1, wherein The surface cleaning apparatus further comprises: The second cleaning unit is arranged on a side of the housing close to the surface to be cleaned.

8. The surface cleaning device according to claim 1, wherein The surface cleaning apparatus further comprises: At least one collision sensor is disposed on a side of the housing, and is used to detect whether there is a protruding obstacle on the surface to be cleaned in the direction of travel of the surface cleaning device.

9. The surface cleaning device according to claim 8, wherein The surface cleaning device includes at least two collision sensors, and the at least two collision sensors are evenly spaced apart and arranged on a side of the housing.

10. The surface cleaning device of claim 1, wherein: The surface cleaning apparatus further comprises: At least one step-off sensor is provided at the bottom of the housing and close to the side of the housing, and is used to detect the step-off edge of the surface to be cleaned, the gap or hole on the surface to be cleaned.

11. The surface cleaning device according to claim 10, wherein: The surface cleaning device includes at least two step-off sensors, and the at least two step-off sensors are evenly spaced and arranged at the bottom of the housing and close to the side of the housing.

12. The surface cleaning device of claim 1, wherein: The rotating shafts of the at least two driving wheels are parallel to the bottom plane of the housing.

13. The surface cleaning device of claim 1, wherein: When the surface cleaning device is provided with at least one collision sensor, the method further comprises: Based on the raised obstacle signal detected by the at least one collision sensor, a first turning signal is sent to the at least two driving wheels, the at least two driving wheels are controlled to move according to the first turning signal, and the surface cleaning device is driven to adjust the walking direction on the surface to be cleaned.

14. The surface cleaning device of claim 1, wherein: When the surface cleaning device is provided with at least one step-off sensor, the method further comprises: Based on the at least one step-off sensor detecting the step-off edge of the surface to be cleaned, the gap or hole on the surface to be cleaned, a second turning signal is sent to the at least two driving wheels, and the at least two driving wheels are controlled to move according to the second turning signal, so as to drive the surface cleaning device to adjust the walking direction on the surface to be cleaned.

15. The surface cleaning device of claim 1, wherein: The at least two driving wheels include a first driving wheel and a second driving wheel, and controlling the at least two driving wheels to move according to the second driving signal to drive the surface cleaning device to rotate on the surface to be cleaned includes cyclically performing the following sub-steps: controlling the first driving wheel and the second driving wheel to rotate around the first driving wheel according to the second driving signal, so as to drive the surface cleaning device to rotate a first angle on the surface to be cleaned; The first driving wheel and the second driving wheel are controlled to rotate around the second driving wheel according to the second driving signal, so as to drive the surface cleaning device to rotate a second angle on the surface to be cleaned.

16. The surface cleaning device of claim 15, wherein: The at least two driving wheels further include a third driving wheel, and the sub-step further includes: The first driving wheel, the second driving wheel and the third driving wheel are controlled to rotate around the third driving wheel according to the second driving signal, so as to drive the surface cleaning device to rotate a third angle on the surface to be cleaned.

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