Cleaning machine

Abstract

The invention provides a cleaning machine. The cleaning machine comprises a main body; the at least two cleaning units are rotationally arranged on the main body so as to move on the to-be-cleaned surface in the preset direction towards the extension area of the to-be-cleaned surface for cleaning; the main body and the cleaning unit form a closed space on a to-be-cleaned surface; the negative pressure device communicates with the closed space and is used for pumping negative pressure for the closed space to enable the cleaning machine to be adsorbed on the to-be-cleaned surface; the auxiliary unit is rotationally arranged on the main body and used for extending out of the main body to extend a functional chain of the cleaning machine, and the extended functional chain comprises at least one of auxiliary cleaning, auxiliary walking and edge recognition. The function chain of the cleaning machine is expanded by means of the auxiliary unit, auxiliary cleaning, auxiliary walking and edge recognition are provided for the cleaning machine, the functions of the cleaning machine are enriched, the cleaning range is wider, the flatness of the to-be-cleaned face is sensed through the auxiliary unit before the cleaning unit, edge sensing is achieved in advance, the overall cleaning efficiency and the intelligent level are improved, and the cleaning efficiency is improved. And meanwhile, the safety of cleaning operation is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning machine. Background Art

[0002] With the development of science and technology and the improvement of living standards, people have higher and higher requirements for the quality of life, and intelligent and efficient cleaning machines are becoming more and more popular among users. A household window cleaning machine is a cleaning tool specially designed for household users, mainly used to clean windows and glass surfaces. The working principle of a household window cleaning machine is to use a cleaning disc to clean the surface of the window by adsorbing it on the surface of the window.

[0003] Circular window cleaning machines usually adopt a central rotating design, with the cleaning cloth or brush head on the periphery close to the window surface for wiping. This design performs well when dealing with regular planes, but when encountering corners and edges, due to the limitations of the circular structure, it is not only difficult to clean these irregular edges, resulting in cleaning dead corners, but also unable to identify the glass frame, causing the machine to fall. These dead corners often require manual rewiping, which not only increases labor costs, but also affects the overall cleaning efficiency and consistency.

[0004] In addition, during the cleaning process, the rotating motion of the circular window cleaning machine may cause uneven distribution of moisture on the cleaning cloth, especially when rotating at high speed. Under the action of centrifugal force, moisture is more easily thrown to the edges, making the cleaning cloth in the middle area relatively dry, resulting in streaks or marks on the window surface after wiping, affecting the aesthetic appearance of cleaning.

[0005] Application Contents

[0006] In view of this, the present application proposes a cleaning machine to solve at least one of the above problems. The specific solution is as follows:

[0007] A cleaning machine comprising

[0008] main body;

[0009] At least two cleaning units are rotatably arranged on the main body, and at least two of the cleaning units rotate to move along a preset direction toward an extension area of ​​the surface to be cleaned for cleaning;

[0010] A closed space is formed between the main body, the cleaning unit and the surface to be cleaned;

[0011] A negative pressure device, located on the main body and connected to the enclosed space, used to pump negative pressure into the enclosed space so that the cleaning machine is adsorbed on the surface to be cleaned;

[0012] An auxiliary unit is rotatably arranged on the main body, and the auxiliary unit is used to extend out of the main body to extend the functional chain of the cleaning machine, and the extended functional chain includes at least one of auxiliary cleaning, auxiliary walking and edge recognition.

[0013] In some specific embodiments, the auxiliary cleaning comprises:

[0014] at least one of the first type of auxiliary cleaning and the second type of auxiliary cleaning;

[0015] The first type of auxiliary cleaning includes: after the cleaning unit cleans the surface to be cleaned along a preset direction, the auxiliary unit cleans the area left by the cleaning unit on its extended area;

[0016] The second type of auxiliary cleaning includes: the auxiliary unit re-cleans the area that has been cleaned by the cleaning unit.

[0017] In some specific embodiments, the auxiliary unit re-cleans the cleaned area of ​​the cleaning unit, including:

[0018] The auxiliary unit is used to follow the cleaning unit to perform cleaning. After the cleaning unit cleans the surface to be cleaned along a preset direction, the auxiliary unit is used to cover and clean the edge track of the area cleaned by the cleaning unit.

[0019] In some specific embodiments, the auxiliary unit and the cleaning unit closest thereto rotate in opposite directions, so that the cleaning trajectory of the auxiliary unit breaks up the edge trajectory of the cleaning unit.

[0020] In some specific embodiments, the auxiliary walking includes: when the cleaning machine moves, a force is generated between the auxiliary unit and the surface to be cleaned to share the force between at least one of the cleaning units and the surface to be cleaned.

[0021] In some specific embodiments, the auxiliary unit shares the force between at least one of the cleaning units and the surface to be cleaned, including:

[0022] The auxiliary unit shares at least one of a first force and a second force, wherein the first force includes: providing a force to overcome the gravity of the cleaning machine; and the second force includes: providing a force to move the cleaning machine.

[0023] In some specific embodiments, auxiliary units extend from at least two opposite corners of the four corners of the main body;

[0024] Providing a force to overcome the gravity of the cleaning machine includes: making the auxiliary unit near the bottom of the main machine and the cleaning unit closest to it rotate in the same direction, and stopping the auxiliary unit near the top of the main machine from rotating;

[0025] Providing the force for moving the cleaning machine includes: making the auxiliary unit and the cleaning unit closest thereto rotate in the same direction.

[0026] In some specific embodiments, the auxiliary walking includes: when the cleaning machine has a walking tendency that deviates from a preset trajectory, or when the cleaning machine deviates from the preset trajectory and an abnormality occurs, the auxiliary unit is used to correct the abnormal behavior of the cleaning machine.

[0027] In some specific embodiments, the edge recognition includes: the auxiliary unit extends out of the main body so that the auxiliary unit recognizes the edge of the surface to be cleaned before the main body.

[0028] In some specific embodiments, the edge recognition further includes: the auxiliary unit identifying the edge of the surface to be cleaned according to its own operating state.

[0029] In some specific embodiments, the auxiliary unit identifies the edge of the surface to be cleaned according to its own operating state, including:

[0030] When the operating current of the auxiliary unit exceeds a preset current range, it is recognized that the cleaning machine has run to the edge of the surface to be cleaned.

[0031] In some specific embodiments, when the working current of the auxiliary unit is greater than a preset current range, it is recognized that the cleaning machine runs to the edge of the surface to be cleaned with a frame;

[0032] When the operating current of the auxiliary unit is less than a preset current range, it is recognized that the cleaning machine has run to the edge of the frameless surface to be cleaned.

[0033] Beneficial effects:

[0034] The present application provides a cleaning machine, which expands the functional chain of the cleaning machine with the help of an auxiliary unit, provides the cleaning machine with auxiliary cleaning, assisted walking and edge recognition, enriches the functions of the cleaning machine, and expands the cleaning range. The auxiliary unit senses the flatness of the surface to be cleaned before the cleaning unit, thereby achieving early perception of the edge, improving the overall cleaning efficiency and intelligence level, and ensuring the safety of the cleaning operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is an example diagram of the structure of the cleaning machine in this application;

[0036] Figure 2 This is an example diagram of the bottom structure of the cleaning machine of the present application;

[0037] Figure 3 is a schematic diagram of the cleaning area in this application;

[0038] Figure 4 It is a schematic diagram of the cleaning traces left by the cleaning machine in this application;

[0039] Figure 5 It is a schematic diagram of the effect of clear cleaning traces in this application;

[0040] Figure 6 It is a schematic diagram of the overall structure of the auxiliary unit in this application;

[0041] Figure 7 is an exploded view of the auxiliary unit in this application;

[0042] Figure 8 It is a schematic diagram of the first force principle in this application;

[0043] Fig. 9 It is a schematic diagram of the second force principle in this application;

[0044] Fig.10 It is a schematic diagram of the principle of the auxiliary unit in this application correcting the moving trajectory of the cleaning machine;

[0045] Fig.11 It is a schematic diagram of the flow of the auxiliary unit correcting the moving trajectory of the cleaning machine in this application.

[0046] Figure numerals: 1-main body; 2-cleaning unit; 3-auxiliary unit; 4-scraping member; 31-driving part; 32-cleaning part; 33-connecting member; 34-transmission part. DETAILED DESCRIPTION

[0047] Hereinafter, various embodiments disclosed in the present application will be described more fully. The present application may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments disclosed in the present application to the specific embodiments disclosed herein, but the present application should be understood to cover all adjustments, equivalents and / or alternatives falling within the spirit and scope of the various embodiments disclosed in the present application.

[0048] The present application discloses a cleaning machine, as shown in the attached specification. Figure 1 The specific plan is as follows:

[0049] A cleaning machine, comprising:

[0050] Subject 1;

[0051] At least two cleaning units 2 are rotatably arranged on the main body 1, and the at least two cleaning units 2 rotate to move along a preset direction toward an extension area of ​​the surface to be cleaned for cleaning;

[0052] A closed space is formed between the main body 1, the cleaning unit 2 and the surface to be cleaned;

[0053] A negative pressure device, located on the main body 1 and connected to the enclosed space, is used to pump negative pressure into the enclosed space so that the cleaning machine is adsorbed on the surface to be cleaned;

[0054] The auxiliary unit 3 is rotatably arranged on the main body 1. The auxiliary unit 3 is used to extend outside the main body 1 to extend the functional chain of the cleaning machine. The extended functional chain includes at least one of auxiliary cleaning, auxiliary walking and edge recognition. The functional chain represents the functions brought by the auxiliary unit 3 to the cleaning machine. This application uses auxiliary cleaning, auxiliary walking and edge recognition as examples for explanation.

[0055] The cleaning unit 2 is responsible for the mobile cleaning of the cleaning machine as a whole, while the auxiliary unit 3 moves under the drive of the cleaning machine and wipes the cleaning dead corners that the cleaning unit 2 cannot wipe, playing the role of auxiliary cleaning. The position of the auxiliary unit 3 on the cleaning unit 2 is shown in the attached figure. Figure 1 As shown in the attached Figure 1 There are two cleaning units 2, and the bottom structure is as shown in the attached Figure 2 As shown, two auxiliary units 3 are arranged at the edge end of each cleaning unit 2, that is, the auxiliary units 3 extend out of the main body 1, and four auxiliary units 3 are located at the four corners of the cleaning machine, which can not only supplement the cleaning dead corners of the cleaning unit 2, but also assist the cleaning machine in walking when the auxiliary units 3 themselves operate. At the same time, the auxiliary units 3 contact the edge of the surface to be cleaned before the main body to identify it, which can assist the cleaning machine in identifying the edge information of the surface to be cleaned. It should be noted that the specific number of auxiliary units 3 can be set according to actual conditions, and is not specifically limited here.

[0056] In some specific embodiments, the auxiliary unit 3 includes a driving unit 31 and a cleaning unit 32. The auxiliary unit 3 passively cleans the surface to be cleaned when following the movement of the cleaning machine body 1, and at the same time, the driving unit 31 drives the cleaning unit 32 to rotate to actively clean the surface to be cleaned. The auxiliary unit 3 can also realize the cleaning operation by rotation, and improve the cleaning efficiency and effect by using the power and friction generated by the rotation. The cleaning unit 32 can select a cleaning cloth, a brush head, etc. The motor drives the disk to rotate, and the cleaning cloth or the brush head rotates at high speed. This rotational motion can increase the contact area with the cleaning surface and remove dirt and dust through physical friction. In addition, the rotating cleaning member can be fine-tuned according to the flatness of the cleaning surface, and the effective removal of various stains can be ensured by adaptive rotation speed or pressure, while reducing potential damage to the surface. When dealing with the cleaning of narrow areas, the rotary cleaning has good cleaning effect and high cleaning efficiency, and can adjust the rotation speed according to demand, replace the cleaning unit 32, and other methods to achieve the change of cleaning mode. It should be noted that the active cleaning of the surface to be cleaned by the auxiliary unit 3 is not limited to the rotation type, and can also be set to other types such as vibration type, translation type (reciprocating motion type) according to specific needs.

[0057] In this embodiment, the cleaning machine needs to be adsorbed onto the surface to be cleaned by negative pressure, and the cleaning machine may be a window cleaning machine, a floor cleaning machine, a wall cleaning machine, etc. There are certain roughness requirements for the surface to be cleaned, and the surface to be cleaned may be a smooth area such as tiles and glass that is easily adsorbed by negative pressure.

[0058] The cleaning machine includes a main body 1 and at least two cleaning units 2, each of which has at least two adsorption spaces. The cleaning unit 2 is a component used to perform cleaning tasks and needs to be adsorbed onto the surface to be cleaned by negative pressure. The main body 1 is the structural part of the cleaning machine except the cleaning unit 2, on which necessary modules such as a negative pressure device, a control unit, and a power supply are arranged. The following is an example of a window cleaning machine with two cleaning units 2. Figure 1 An example diagram of a cleaning machine with two cleaning units 2 is given.

[0059] The cleaning machine needs to control each cleaning unit 2 to be adsorbed to the surface to be cleaned under negative pressure. In addition, each cleaning unit 2 is pre-set with an air path for negative pressure airflow. The negative pressure device in the main unit draws negative pressure on each air path so that the cleaning unit 2 is adsorbed to the surface to be cleaned under the action of air pressure. The air path is designed based on the internal structure of the cleaning unit 2. The enclosed space is the space between the cleaning machine as a whole and the surface to be cleaned, including the air path space inside the cleaning machine and the space between the cleaning machine and the surface to be cleaned.

[0060] The main body 1 evacuates the enclosed space in each cleaning unit 2 through a negative pressure device, and the negative pressure in the enclosed space converges to the negative pressure device along the air path inside the cleaning machine. When the negative pressure in the enclosed space reaches the preset adsorption value, the cleaning unit 2 can be firmly adsorbed onto the surface to be cleaned, and at the same time, the auxiliary unit 3 will be pressed to generate pressure between it and the surface to be cleaned, so that the auxiliary unit 3 can better use friction to clean. When multiple cleaning units 2 are simultaneously adsorbed onto the surface to be cleaned by negative pressure, the host can control the rotation of the cleaning unit 2 to realize the movement of the cleaning machine, complete the mobile cleaning of the surface to be cleaned, and, during the cleaning movement process, each enclosed space will be monitored in real time through the negative pressure detection device on the main body 1. The host controls the rotation of the cleaning unit 2 to realize the movement of the cleaning machine. The host can control the two cleaning units 2 to rotate at the same time, so that the cleaning machine moves in a straight line or a straight line-like manner, or the host can control the two cleaning units 2 to rotate alternately, so that the cleaning machine moves in a swinging manner. Specifically, the two cleaning units 2 are controlled to rotate simultaneously, and the two cleaning units 2 move simultaneously on the surface to be cleaned, and the cleaning machine can move in a straight line or a manner similar to a straight line; the two cleaning units 2 are controlled to rotate alternately, that is, when one cleaning unit 2 rotates, the other cleaning unit 2 stops, one cleaning unit 2 moves a certain distance and then stops, and the other stopped cleaning unit 2 moves another certain distance, and the two cleaning units 2 rotate alternately, so that the cleaning machine moves in a swinging manner.

[0061] In a specific embodiment, during the mobile cleaning process, the two cleaning units 2 are preferentially rotated alternately to explore the edge of the surface to be cleaned, that is, the cleaning task of the edge of the surface to be cleaned is performed first; after the cleaning of all or part of the edge is completed, the cleaning machine is made to perform mobile cleaning in the area within the edge in a manner that the cleaning units 2 rotate simultaneously. Among them, the cleaning efficiency of the method in which the two cleaning units 2 rotate simultaneously is higher than the method in which the two cleaning units 2 rotate alternately.

[0062] The cleaning area of ​​the auxiliary unit 3 is related to the moving direction of the cleaning machine as a whole and its location. The auxiliary unit 3 can clean the area that the cleaning unit 2 cannot clean, and can also clean the same area before or after the cleaning unit 2. For example, the auxiliary unit 3 cleans the area that the nearest cleaning unit 2 cannot clean; multiple auxiliary units 3 and cleaning units 2 clean the same area alternately; the auxiliary unit 3 cleans the same area before or after the nearest cleaning unit 2.

[0063] In some specific embodiments, the auxiliary cleaning includes: at least one of a first type of auxiliary cleaning and a second type of auxiliary cleaning; the first type of auxiliary cleaning and the second type of auxiliary cleaning respectively represent two cleaning methods, one is supplementary cleaning, and the other is repeated cleaning.

[0064] Specifically, the first type of auxiliary cleaning includes: after the cleaning unit 2 cleans the surface to be cleaned along the preset direction, the auxiliary unit 3 cleans the area left by the cleaning unit 2 on its extended area. The auxiliary unit 3 is responsible for cleaning the areas not cleaned by the cleaning unit 2, such as cleaning dead corners, etc., to expand the cleaning area of ​​the cleaning machine; Figure 3 As shown, taking the operation mode of the two cleaning units 2 of the cleaning machine rotating simultaneously as an example, the cleaning machine moves along the preset direction (rightward) for cleaning, and the cleaning machine cleans the blind area in its extended area, that is, the uncleaned part formed between the cleaning unit of the cleaning machine and the edge of the surface to be cleaned. In this embodiment, the auxiliary unit 3 extends into the cleaning blind area to expand the cleaning area of ​​the cleaning machine. Figure 3 In the figure, areas b1 and b2 are the extension areas of the two cleaning units respectively, and area c is a remaining cleaning dead corner. Under normal conditions, cleaning cannot be performed by only relying on the cleaning unit 2, while the auxiliary unit is small in size and can extend into area c for cleaning operations.

[0065] The second type of auxiliary cleaning includes: the auxiliary unit 3 re-cleans the area cleaned by the cleaning unit 2. The area cleaned by the cleaning unit 2 may have traces or be incompletely cleaned. At this time, the auxiliary unit 3 can re-clean the cleaned area to improve the cleaning effect.

[0066] For the same area on the surface to be cleaned, one of the auxiliary units 3 is cleaned before the nearest cleaning unit 2, and at least one auxiliary unit 3 other than the auxiliary unit 3 is cleaned after the cleaning unit 2, so as to clean the cleaning traces left by the auxiliary unit 3 and the cleaning unit 2 during the cleaning process. Figure 3 As shown, when the cleaning machine moves to the right as a whole, the cleaning areas of the auxiliary units 3 located at the upper right corner and the lower right corner are closer to the moving direction of the cleaning machine than the cleaning areas of the cleaning unit 2, and can perform the cleaning task of the same area before the cleaning unit 2; the auxiliary units 3 located at the upper left corner and the lower left corner clean again after the cleaning unit 2 completes the cleaning task of the same area. At this time, the cleaning traces left by the cleaning unit 2 can be cleaned by the auxiliary units 3 at the upper left corner and the lower left corner.

[0067] Specifically, the auxiliary unit 3 is located outside the cleaning unit 2. When encountering a narrow area, the cleaning unit 2 cannot enter the area. At this time, the small auxiliary unit 3 can be used to extend into the narrow area to achieve cleaning. Therefore, the auxiliary unit 3 can clean the area that the cleaning unit 2 cannot clean, reduce the cleaning blind area, and achieve a more comprehensive and detailed cleaning of the surface to be cleaned. Figure 1 In the arrangement of the auxiliary unit 3, the auxiliary unit 3 can clean the same area before the cleaning unit 2, or after the cleaning unit 2. Figure 3 In the figure, area c is the area that the cleaning unit 2 cannot clean. Due to the structure of the cleaning unit 2, it cannot reach into the corner. The auxiliary unit 3 is smaller in size and can reach into narrow areas for cleaning. Areas a1 and a2 are areas that the cleaning unit 2 and the auxiliary unit 3 clean together. The auxiliary units 3 located on both sides of the cleaning unit 2 can clean before or after the cleaning unit 2.

[0068] In some specific embodiments, the auxiliary unit 3 re-cleans the cleaned area of ​​the cleaning unit 2, including: the auxiliary unit 3 is used to follow the cleaning unit 2 to clean, and after the cleaning unit 2 cleans the surface to be cleaned along a preset direction, the auxiliary unit 3 is used to cover the edge track of the cleaned area of ​​the cleaning unit 2. During the cleaning process, the cleaning unit 2 may leave cleaning traces, which can be eliminated by the auxiliary unit 3. Specifically, the auxiliary unit 3 and the cleaning unit 2 closest to it rotate in opposite directions, so that the cleaning track of the auxiliary unit 3 breaks up the edge track of the cleaning unit 2.

[0069] For example, in the attached Figure 4 In the embodiment, the cleaning unit 2 is an upper cleaning disc and a lower cleaning disc. The two cleaning discs will produce marks during the wiping process, and the marks are mainly produced around the cleaning discs. Figure 5In the cleaning machine, a scraper 4 is provided, which can clean the marks in the middle area and transfer the stains to both sides, while the auxiliary unit 3 can clean the marks on the outside and eliminate the attached Figure 4 Cleaning traces left in the machine. Specifically, when the cleaning machine moves to the right, the rotation direction of the upper wheel cleaning disc is consistent with the rotation direction of the auxiliary unit 3 at the upper right corner, and opposite to the rotation direction of the auxiliary unit 3 at the upper left corner. The rotation direction of the lower wheel cleaning disc is consistent with the rotation direction of the auxiliary unit 3 at the lower right corner, and opposite to the rotation direction of the auxiliary unit 3 at the lower left corner. When the cleaning machine moves to the left, the rotation direction of the upper wheel cleaning disc is consistent with the rotation direction of the auxiliary unit 3 at the upper left corner, and opposite to the rotation direction of the auxiliary unit 3 at the upper right corner. The rotation direction of the lower wheel cleaning disc is consistent with the rotation direction of the auxiliary unit 3 at the lower left corner, and opposite to the rotation direction of the auxiliary unit 3 at the lower right corner. In this process, the scraper 4 on the cleaning machine can take away water and stains, and the opposite rotation of the auxiliary units 3 at the upper left corner and the lower left corner can eliminate sun marks.

[0070] The rotation direction of the auxiliary unit 3 can represent the movement trend of the auxiliary unit 3. The overall movement direction of the cleaning machine is determined by the rotation direction of the cleaning unit 2, and the overall movement trend of the cleaning machine can be reflected by the rotation direction of the cleaning unit 2. For the same area, the rotation direction of the auxiliary unit 3 that contacts the area before the cleaning unit 2 is consistent with the rotation direction of the cleaning unit 2, and the rotation direction of the auxiliary unit 3 that contacts the area after the cleaning unit 2 is opposite to the rotation direction of the cleaning unit 2. Specifically, the cleaning machine moves along a specific direction of travel, and the rotation direction of the auxiliary unit 3 in front of the cleaning unit 2 can be the same as or opposite to the rotation direction of the cleaning unit 2, while the rotation direction of the auxiliary unit 3 behind the cleaning unit 2 needs to be opposite to the rotation direction of the cleaning unit 2, and the remaining cleaning traces are removed by reverse wiping.

[0071] In some specific embodiments, the auxiliary walking includes: when the cleaning machine is moving, a force is generated between the auxiliary unit 3 and the surface to be cleaned to share the force between at least one cleaning unit 2 and the surface to be cleaned. The auxiliary walking means that when the cleaning machine is adsorbed on the surface to be cleaned, the auxiliary unit 3 generates a force for the adsorption between the cleaning unit 2 and the surface to be cleaned. The auxiliary unit 3 is close to the cleaning unit 2, so it can share the force between at least one cleaning unit 2 and the surface to be cleaned. Figure 1 In the embodiment, the auxiliary unit 3 can share the force between the four cleaning units 2 and the surface to be cleaned.

[0072] In some specific embodiments, the auxiliary unit 3 shares the force between at least one cleaning unit 2 and the surface to be cleaned, including: the auxiliary unit 3 shares at least one of a first force and a second force, the first force includes: providing a force to overcome the gravity of the cleaning machine; the second force includes: providing a force to move the cleaning machine.

[0073] Regarding the first force: Taking a window cleaning machine as an example, the cleaning machine generally needs to be adsorbed on the glass to be cleaned, and will be subject to the vertical downward force of gravity. Under the influence of gravity, the upper end of the cleaning machine will generate a force that deviates from the glass, while the lower end of the cleaning machine will generate a force that squeezes the surface to be cleaned, thereby driving the auxiliary unit 3 at the lower end to squeeze the surface to be cleaned, increasing the friction between the auxiliary unit 3 and the surface to be cleaned to resist gravity. In addition, the auxiliary unit 3 itself also has the ability to rotate, and the pressure between the auxiliary unit 3 and the surface to be cleaned increases, which further increases the friction and further resists the resistance of gravity. Regarding the second force, it means that the auxiliary unit 3 can promote the movement of the cleaning machine.

[0074] Specifically, Figure 8 As shown, when the cleaning machine is running on an inclined or vertical surface to be cleaned, due to the gravity of the cleaning machine itself or the inclination of the surface to be cleaned, the forces acting on the two cleaning units 2 and the surface to be cleaned are different. The force acting on the upper cleaning unit 2 and the surface to be cleaned is f1, and the force acting on the lower cleaning unit 2 and the surface to be cleaned is f2. f1 is less than f2, which will cause the two cleaning units 2 to move at different speeds, making the cleaning machine unstable. By setting the auxiliary unit 3, the auxiliary unit 3 is in contact and squeezed with the surface to be cleaned, and the side of the auxiliary unit 3 close to the bottom will generate a reaction force f3 between the surface to be cleaned. This reaction force f3 can offset part of the force f2, so that the difference in the forces between the two cleaning units 2 and the surface to be cleaned is reduced, making the operation of the cleaning machine more stable. In addition, when the cleaning machine is running on an inclined or vertical surface to be cleaned, the cleaning machine will have a tendency to move downward under the action of its own gravity. By setting the auxiliary unit 3, the squeeze contact between the auxiliary unit 3 and the surface to be cleaned will generate an upward friction force, which will offset part of the downward force of the cleaning machine to balance the gravity of the cleaning machine itself and make the cleaning machine run stably.

[0075] Furthermore, auxiliary units 3 extend from at least two opposite corners of the four corners of the main body 1; providing a force to overcome the gravity of the cleaning machine includes: making the auxiliary unit 3 near the bottom of the main machine and the cleaning unit 2 closest to it rotate in the same direction, and stopping the auxiliary unit 3 near the top of the main machine from rotating; the auxiliary unit 3 near the bottom of the main machine rotates in the same direction as the cleaning unit 2 closest to it, which can provide assistance to the cleaning machine and assist the cleaning unit 2 to be tightly adsorbed on the surface to be cleaned. The auxiliary unit 3 located above the main machine stops rotating to prevent the rotation from affecting the movement of the cleaning machine. During this process, the auxiliary unit 3 near the bottom of the main machine rotates, and the rotation direction is the same as that of the cleaning unit 2 below, and an upward force is generated between the auxiliary unit 3 and the surface to be cleaned to overcome the downward gravity of the cleaning machine, so that the cleaning machine can run smoothly on the vertical or inclined surface to be cleaned. When overcoming the gravity of the cleaning machine, the rotation speed of the auxiliary unit 3 can be adjusted according to the environment in which the cleaning machine is located to specifically adjust the gravity that needs to be overcome. For example, when the cleaning machine is running on a surface to be cleaned with different inclinations, the gravity that the cleaning machine needs to overcome is also different. Surfaces to be cleaned with different inclinations correspond to different rotation speeds of the auxiliary unit 3, so that the cleaning machine can run stably on the surface to be cleaned.

[0076] The force providing movement of the cleaning machine includes: the force generated between the auxiliary unit 3 and the surface to be cleaned can produce an effect on the operation of the cleaning machine. When the auxiliary unit 3 and the cleaning unit 2 closest to it rotate in the same direction, the force of the auxiliary unit 3 on the cleaning machine is the same as the running direction of the cleaning machine, so that the cleaning machine has more sufficient power to operate to assist the movement of the cleaning unit 2.

[0077] Regarding the second force: The second force is mainly that the auxiliary unit 3 provides assistance to the rotation of the cleaning unit 2, thereby promoting the rotation of the cleaning unit 2. Fig. 9 The cleaning unit 2 at the top rotates clockwise, and the two auxiliary units at the top also rotate clockwise, which can provide power for the rotation of the cleaning unit 2, thereby improving the cleaning effect and the moving speed of the cleaning machine.

[0078] In some specific embodiments, the auxiliary walking includes: when the cleaning machine has a walking tendency to deviate from the preset trajectory, or when the cleaning machine deviates from the preset trajectory and an abnormality occurs, the auxiliary unit 3 is used to correct the abnormal behavior of the cleaning machine. When the cleaning machine has a walking tendency to deviate from the preset direction, the auxiliary unit 3 is deformed by force and generates a force in the opposite direction of the walking tendency, so that the cleaning machine keeps walking in the preset direction. This force can be understood as a deformation force, which is different from the friction between the auxiliary unit 3 and the surface to be cleaned. Fig.10In the process of the cleaning machine moving to the right, when the cleaning machine deviates from the moving direction and moves to the lower right, an external force B will be generated on the auxiliary unit 3 to a certain extent, thereby causing the auxiliary unit 3 to produce a slight deformation. The auxiliary unit 3 will resist the external force based on its own structural characteristics and generate a force to make the cleaning machine return to the correct moving direction. Therefore, the auxiliary unit 3 of the present application can also correct the moving direction of the cleaning machine to a certain extent.

[0079] The auxiliary unit 3 uses rotational movement, which is the same as the movement mode of the cleaning unit 2. The cleaning unit 2 is the main moving power of the cleaning machine. The changes in the rotation speed and rotation direction of the auxiliary unit 3 can provide certain restrictions for the movement of the cleaning machine and play a correction role. The rotation direction of the cleaning unit 2 has been determined according to the cleaning direction, and the adjustable speed range of the cleaning unit 2 is relatively large. Once the movement of the cleaning unit 2 is not synchronized, it is easy to cause the moving trajectory of the cleaning machine to shift. At this time, it is difficult to find a suitable speed range by simply adjusting the speed of the cleaning unit 2. The adjustment is more cumbersome, and the rotation of the cleaning unit 2 not only affects the moving direction of the cleaning machine, but also affects the cleaning effect of the surface to be cleaned. The rotation speed of the auxiliary unit 3 is controllable. Through the adjustment of the auxiliary unit 3, the impact on the normal cleaning work of the cleaning unit 2 is reduced, and the moving trajectory of the cleaning machine can also be adjusted. Exemplarily, the auxiliary unit 3 is connected to the main control device in communication. When the main control device detects that the moving trajectory of the cleaning machine is abnormal (the abnormal trajectory can be understood as that when the cleaning machine is controlled to run in the preset direction, the cleaning machine has a normal running trajectory when it runs normally, and when the cleaning machine is running due to the uncertainty of the external environment, it may deviate from the normal running trajectory), at this time, the auxiliary unit 3 can be controlled to adjust the rotation speed and / or rotation direction to generate a force that makes the cleaning machine return to the normal moving trajectory, so as to correct the moving trajectory of the cleaning machine, and there is no need to adjust the rotation speed of the cleaning unit 2, and the cleaning of the cleaning unit 2 is not hindered. Specifically, during the operation of the cleaning machine, the main control device monitors the operating parameters of the cleaning unit 2 including the rotation speed in real time to analyze whether the movement of the cleaning machine will be abnormal. When the moving trajectory of the cleaning machine is abnormal, the abnormal cleaning unit is determined according to the operating parameters of the cleaning unit, and the auxiliary unit on the side of the abnormal cleaning unit or the auxiliary unit on the side of the cleaning unit other than the abnormal cleaning unit is adjusted. By adjusting the rotation speed and / or rotation direction of the auxiliary unit, the movement abnormality caused by the difference in operating parameters between the cleaning units 2 can be minimized. The moving trajectory of the cleaning machine is continuously monitored until it returns to normal. The process is as attached Fig.11As shown. For example, cleaning unit a passes through a raised area, causing an abnormal rotation speed, while another cleaning unit b operates normally. The rotation speed of cleaning unit b is higher than that of cleaning unit a, and the cleaning machine as a whole tilts toward the side of cleaning unit b. At this time, the main control device can increase the rotation speed of the auxiliary unit at cleaning unit a or reduce the rotation speed of the auxiliary unit at cleaning unit b to increase the overall moving speed of one side of cleaning unit a, compensate for the difference between cleaning units a and b, and return the overall moving trajectory of the cleaning machine to normal. In some embodiments, after the auxiliary unit is adjusted for a period of time, it is determined whether the operating parameters of the cleaning unit are consistent: if they are consistent, the auxiliary unit will resume normal operation after the cleaning machine returns to its normal moving trajectory; if they are inconsistent, the cleaning unit may have a mechanical failure.

[0080] Edge recognition mainly involves the auxiliary unit 3 exploring the edge of the surface to be cleaned. The surface to be cleaned includes two situations: an obstructed edge and an unobstructed edge. In some specific embodiments, edge recognition includes: the auxiliary unit 3 extends out of the main body 1 so that the auxiliary unit 3 recognizes the edge of the surface to be cleaned before the main body 1. The auxiliary unit 3 extends outward relative to the main body 1 and can contact some areas before the cleaning unit 2. It can be used to identify edges, obstacles and other areas to provide a basis for the movement of the cleaning machine. Preferably, edge recognition also includes: the auxiliary unit 3 identifies the edge of the surface to be cleaned according to its own operating state. For example, when the auxiliary unit 3 encounters an obstacle, its rotation will be suppressed. At this time, the motor current of the auxiliary unit 3 becomes abnormal, and it is judged whether it has reached the edge of the surface to be cleaned according to the operating state of the motor. For another example, an elastic member is provided on the auxiliary unit 3, and the elastic member will be further compressed when encountering an obstructed edge. The obstructed edge of the surface to be cleaned can be identified by the operating state of the elastic member.

[0081] In some specific embodiments, the auxiliary unit 3 identifies the edge of the surface to be cleaned according to its own operating state, including: when the working current of the auxiliary unit 3 exceeds the preset current range, it identifies that the cleaning machine has run to the edge of the surface to be cleaned. The operating state of the auxiliary unit 3 is reflected by the current of the auxiliary unit 3, especially the motor in the auxiliary unit 3, and the current of the motor reflects the rotation speed and resistance of the auxiliary unit 3. Further, when the working current of the auxiliary unit 3 is greater than the preset current range, it identifies that the cleaning machine has run to the edge of the surface to be cleaned with a frame; when the working current of the auxiliary unit 3 is less than the preset current range, it identifies that the cleaning machine has run to the edge of the surface to be cleaned without a frame.

[0082] The drive unit 31 takes a brushless motor as an example. A brushless motor is a DC motor that uses a permanent magnet as a rotor and is controlled by an electronic commutator. Compared with a conventional brushed DC motor, a brushless motor eliminates the mechanical contact structure of the brush and the commutator, and instead uses an electronic control system to switch the current direction, thereby driving the motor to operate. When the auxiliary unit 3 contacts the glass, affected by the friction between the glass and the cleaning unit 32, the speed of the brushless motor is slow and the current is large, driving the cleaning unit 32 to rotate, and at this time the speed and current of the motor are in a normal range. After the auxiliary unit 3 protrudes out of the glass frame, since the cleaning unit 32 driven by the auxiliary unit 3 is no longer in contact with the glass at least partially, the friction is reduced, the load of the brushless motor is reduced, the speed of the motor is increased, and the current is small. At this time, it is determined that the auxiliary unit 3 located outside the cleaning unit 2 has contacted the frameless glass. Once the auxiliary unit 3 completely protrudes out of the surface to be cleaned, the cleaning cloth is suspended in the air, and the brushless motor is equivalent to no load, the speed increases, and the current decreases. The control device needs to issue relevant instructions to ensure that the cleaning machine does not extend out of the edge. An instruction can be issued to make the cleaning machine perform a retreat action. When there is a rubber strip on the frame glass, the rubber strip is raised relative to the surface to be cleaned, and the auxiliary unit 3 climbs onto the rubber strip before the cleaning unit 2. At this time, the auxiliary unit 3 will be lifted up, and the brushless motor is close to no-load. The motor speed increases and the current decreases, which can control the retreat of the cleaning machine. Once the cleaning unit 2 rides on the rubber strip, the cleaning unit 2 will be depressurized, affecting the adsorption relationship between the cleaning machine and the surface to be cleaned. Therefore, by probing the auxiliary unit 3 outside the cleaning unit 2 before the cleaning unit 2, it can warn of obstacles ahead in advance and reduce the risk of falling.

[0083] When the cleaning unit 2 is adsorbed on the surface to be cleaned, it will press the auxiliary unit 3 to squeeze the surface to be cleaned, thereby generating a certain pressure between the auxiliary unit 3 and the surface to be cleaned. On the one hand, the pressure can prompt the auxiliary unit 3 to clean better, and on the other hand, it can determine the environmental state of the auxiliary unit 3 by detecting the pressure. In addition, the pressure can also be characterized by the working current of the auxiliary unit 3. The pressure between the auxiliary unit 3 and the surface to be cleaned can be characterized in various forms. For example, an elastic member is provided on the auxiliary unit 3. When the cleaning unit 2 is adsorbed on the surface to be cleaned, the elastic member will be prompted to contract. Under the action of the elastic member, the auxiliary unit 3 applies a pressure to the surface to be cleaned. By detecting parameters such as the degree of deformation of the elastic member, the pressure condition between the auxiliary unit 3 and the surface to be cleaned can be directly or indirectly obtained. The pressure on the auxiliary unit 3 can also be directly measured by a pressure sensor.

[0084] The surface to be cleaned is usually a plane, and the pressure on the auxiliary unit 3 on the plane will be stable within a range. When encountering a blocking structure, the pressure will change and deviate from this stable range. Specifically, when encountering a blocking structure such as a protrusion, the auxiliary unit 3 will be further compressed when it moves to the protrusion, so that the pressure is further increased. When encountering a concave blocking structure, the auxiliary unit 3 moves to the concave, and the auxiliary unit 3 stretches or even hangs in the air, so that the pressure is reduced. Therefore, the surface state of the surface to be cleaned that the cleaning machine is about to contact or has contacted can be displayed through the auxiliary unit 3, which is a cleaning component.

[0085] In the cleaning machine, a negative pressure detection device is preset to detect the negative pressure data of the enclosed space, and to determine whether there is an unobstructed edge of the cleaning unit 2 touching the surface to be cleaned based on the air pressure data. For one cleaning unit 2, a negative pressure detection device can be set in each adsorption space to monitor the negative pressure of the corresponding space, or only one negative pressure detection device can be set to detect the entire enclosed space.

[0086] In some specific embodiments, the blocked edge of the surface to be cleaned can be monitored in real time by the boundary recognition detection device on the auxiliary unit 3. The blocked edge can be understood as a blocking mechanism provided at the boundary of the surface to be cleaned that can block the cleaning machine from continuing to move toward the area outside the surface to be cleaned. Specifically, during the movement process, the boundary recognition data of the cleaning machine in the current moving direction is monitored in real time; based on the boundary recognition data, it is determined whether there is a blocked edge of the surface to be cleaned that the cleaning unit 2 touches at present: if so, the moving direction of the cleaning machine is adjusted to continue the mobile cleaning. Among them, the boundary recognition data is the data detected by the boundary recognition device, including but not limited to current fluctuation data, angular velocity sensor data, photoelectric sensor data, ultrasonic sensor data, infrared sensor data or any combination of the foregoing items. Exemplarily, the angular motion of the cleaning unit 2 in the relative inertial space is measured by an angular velocity sensor, and then it is determined whether the cleaning unit 2 touches the blocked edge of the surface to be cleaned. When the blocked edge is touched, the cleaning machine cannot move forward along the current moving direction and can only change the moving direction. Exemplarily, the boundary recognition detection device is a micro switch. A micro switch is a switch with fast action, small contact spacing, and high sensitivity. It is often used in situations that require precise control and fast response. Its working principle is based on a spring and lever mechanism. When external force acts on the switch's actuator, it causes the internal elastic element to deform, causing the contacts to close or open quickly, forming an on-off switch for the electrical signal. Whether the machine is tilted or vertical, the micro switch can complete the touch and identify it as reaching an obstructed edge.

[0087] This embodiment provides a control method for a cleaning machine, which uses the auxiliary unit 3 to simultaneously realize edge perception and supplementary cleaning, so that the cleaning range is wider, the overall cleaning efficiency and intelligence level are improved, and the safety of the cleaning operation is ensured. The auxiliary unit 3 senses the flatness of the surface to be cleaned before the cleaning unit 2, and the edge is sensed in advance, so that even if the cleaning machine reaches the edge, it still has a large contact area with the surface to be cleaned, and there is enough friction to support the movement of the cleaning machine.

[0088] For example, as shown in the attached Figure 6 and attached Figure 7 As shown, the auxiliary unit 3 includes a driving part 31 and a cleaning part 32. The driving part 31 is detachably connected to the main body 1, and the cleaning part 32 is connected to the driving part 31, and is used to realize rotation cleaning under the drive of the driving part 31. The auxiliary unit 3 is detachably connected to the main body 1 through a connecting member 33, and the driving part 31 drives the cleaning part 32 to rotate through a transmission part 34.

[0089] Furthermore, the auxiliary unit 3 further includes an elastic member, which is connected to the driving part 31, and / or the main body 1, and / or the cleaning part 32, and is used to press the auxiliary unit 3 so that there is pressure between the auxiliary unit 3 and the surface to be cleaned. For example, an elastic member can be provided on the transmission part 34 between the driving part 31 and the cleaning part 32.

[0090] Preferably, as attached Figure 1 As shown, at least two auxiliary cleaning units 2 are distributed on one side of each cleaning unit 2 away from the central axis of the main body 1 .

[0091] In some embodiments, a micro switch is provided on the auxiliary unit 3, and the control device is connected to the micro switch for determining whether the corresponding auxiliary unit 3 reaches the boundary according to a signal fed back by the micro switch.

[0092] In the attached Figure 5 In the embodiment, a scraping member 4 is also provided on the main body 1. The scraping member 4 is close to the junction between the cleaning units 2 and has a length greater than the spacing between the cleaning units 2, and is used to scrape off some cleaning marks left by the cleaning units 2. Specifically, the scraping member 4 is responsible for scraping the cleaning marks of the cleaning unit 2 on the side facing the other cleaning unit 2.

[0093] The present application provides a cleaning machine, which expands the functional chain of the cleaning machine with the help of an auxiliary unit, provides the cleaning machine with auxiliary cleaning, assisted walking and edge recognition, enriches the functions of the cleaning machine, and expands the cleaning range. The auxiliary unit senses the flatness of the surface to be cleaned before the cleaning unit, thereby achieving early perception of the edge, improving the overall cleaning efficiency and intelligence level, and ensuring the safety of the cleaning operation.

[0094] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0095] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A cleaning machine, characterized in that: include main body; At least two cleaning units are rotatably arranged on the main body, and at least two of the cleaning units rotate to move along a preset direction toward an extension area of ​​the surface to be cleaned for cleaning; A closed space is formed between the main body, the cleaning unit and the surface to be cleaned; A negative pressure device, located on the main body and connected to the enclosed space, used to pump negative pressure into the enclosed space so that the cleaning machine is adsorbed on the surface to be cleaned; An auxiliary unit is rotatably arranged on the main body, and the auxiliary unit is used to extend out of the main body to extend the functional chain of the cleaning machine, and the extended functional chain includes at least one of auxiliary cleaning, auxiliary walking and edge recognition.

2. The cleaning machine according to claim 1, characterized in that The auxiliary cleaning includes: at least one of a first type of auxiliary cleaning and a second type of auxiliary cleaning; The first type of auxiliary cleaning includes: after the cleaning unit cleans the surface to be cleaned along a preset direction, the auxiliary unit cleans the area left by the cleaning unit on its extended area; The second type of auxiliary cleaning includes: the auxiliary unit re-cleans the area that has been cleaned by the cleaning unit.

3. The cleaning machine according to claim 2, characterized in that: The auxiliary unit re-cleans the cleaned area of ​​the cleaning unit, including: The auxiliary unit is used to follow the cleaning unit to perform cleaning. After the cleaning unit cleans the surface to be cleaned along a preset direction, the auxiliary unit is used to cover and clean the edge track of the area cleaned by the cleaning unit.

4. The cleaning machine according to claim 3, characterized in that The auxiliary unit and the cleaning unit closest thereto rotate in opposite directions, so that the cleaning trajectory of the auxiliary unit breaks up the edge trajectory of the cleaning unit.

5. The cleaning machine according to claim 1, characterized in that: The auxiliary walking includes: when the cleaning machine moves, a force is generated between the auxiliary unit and the surface to be cleaned to share the force between at least one of the cleaning units and the surface to be cleaned.

6. The cleaning machine according to claim 5, characterized in that The auxiliary unit shares the force between at least one of the cleaning units and the surface to be cleaned, including: The auxiliary unit shares at least one of a first force and a second force, wherein the first force includes: providing a force to overcome the gravity of the cleaning machine; and the second force includes: providing a force to move the cleaning machine.

7. The cleaning machine according to claim 6, characterized in that Auxiliary units extend from at least two opposite corners of the four corners of the main body; Providing a force to overcome the gravity of the cleaning machine includes: making the auxiliary unit near the bottom of the main machine and the cleaning unit closest to it rotate in the same direction, and stopping the auxiliary unit near the top of the main machine from rotating; Providing the force for moving the cleaning machine includes: making the auxiliary unit and the cleaning unit closest thereto rotate in the same direction.

8. The cleaning machine according to claim 1, characterized in that The auxiliary walking includes: when the cleaning machine has a walking tendency that deviates from a preset track, or when the cleaning machine deviates from the preset track and an abnormality occurs, the auxiliary unit is used to correct the abnormal behavior of the cleaning machine.

9. The cleaning machine according to claim 1, characterized in that The edge recognition includes: the auxiliary unit extends out of the main body so that the auxiliary unit recognizes the edge of the surface to be cleaned before the main body.

10. The cleaning machine according to claim 9, characterized in that The edge recognition also includes: the auxiliary unit recognizes the edge of the surface to be cleaned according to its own operating state.

11. The cleaning machine according to claim 10, characterized in that The auxiliary unit identifies the edge of the surface to be cleaned according to its own operating state, including: When the operating current of the auxiliary unit exceeds a preset current range, it is recognized that the cleaning machine has run to the edge of the surface to be cleaned.

12. The cleaning machine according to claim 11, characterized in that When the working current of the auxiliary unit is greater than a preset current range, it is recognized that the cleaning machine has run to the edge of the surface to be cleaned with a frame; When the working current of the auxiliary unit is less than a preset current range, it is recognized that the cleaning machine runs to the edge of the frameless surface to be cleaned.

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