Sweeper and cleaning control method and device thereof

Abstract

The invention discloses a sweeper and a cleaning control method and device thereof. The sweeper comprises an equipment main body, a side edge cleaning piece and an outward swinging driving assembly, the side edge cleaning part is movably arranged on the equipment main body; the outer swing driving assembly comprises an outer swing driver and a transmission structure connected with the outer swing driver and the side edge cleaning piece. The outer swing driver drives the transmission structure to move and drives the side edge cleaning piece to move, so that the side edge cleaning piece can stretch out and retract relative to the equipment body, and when the side edge cleaning piece is located at the stretching-out position, the side edge cleaning piece is suitable for cleaning the vertical wall face on the peripheral side of the sweeper. The sweeper provided by the invention can clean a low vertical wall surface while normally cleaning the ground, the cleaning function is more powerful, the labor intensity of a user can be better relieved, and the use experience feeling of the user is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning tools, and in particular to a sweeping machine, and a cleaning control method and a control device thereof. Background Art

[0002] Sweeping robots, also known as sweepers, usually use cleaning parts such as roller brushes, rag discs and side brushes to automatically clean the floor, freeing the user's hands and making cleaning easier. However, low areas such as corners and skirtings close to the ground have become blind spots for sweepers. Existing sweepers cannot clean vertical walls, and these areas are too low to be cleaned with common cleaning tools. Users need to clean manually, which is very laborious. Therefore, there is an urgent need to improve existing sweepers. Summary of the invention

[0003] In order to solve the above technical problems, the main purpose of the present invention is to provide a sweeping machine, and a cleaning control method and a control device thereof, aiming to solve the problem that traditional sweeping machines cannot clean low vertical walls such as corner areas and skirting areas.

[0004] In order to achieve the above object, the present invention provides a sweeping machine, comprising:

[0005] Equipment body;

[0006] A side cleaning member, movably disposed on the device body;

[0007] An outward swing drive assembly, comprising an outward swing drive and a transmission structure connecting the outward swing drive and the side cleaning member;

[0008] Among them, the outward swing drive drives the transmission structure to move, driving the side cleaning piece to move, so that the side cleaning piece can be extended and retracted relative to the equipment body, and when the side cleaning piece is in the extended position, the side cleaning piece is suitable for cleaning the vertical wall surface around the sweeper.

[0009] Optionally, the side cleaning member is swingably arranged to have a first position retracted in the device body and a second position extended from the device body.

[0010] Optionally, the side cleaning member has a first cleaning surface, and when in the second position, the first cleaning surface is arranged toward the outside of the peripheral side of the device body.

[0011] Optionally, the transmission structure includes a transmission rod, the side cleaning member is connected to the transmission rod, and the outward swing drive drives the transmission rod to rotate, thereby driving the side cleaning member to rotate together, so that the side cleaning member can switch between the first position and the second position.

[0012] Optionally, the first cleaning surface is arranged in a planar shape.

[0013] Optionally, the side cleaning member includes a connecting plate and a cleaning block provided on one side of the connecting plate, one end of the connecting plate is rotatably connected to the device body, the first cleaning surface is formed on the cleaning block, the transmission rod is provided with a transmission part, and the connecting plate is provided with a matching part matching with the transmission part;

[0014] The outward swing driver drives the transmission rod to rotate, and under the cooperation of the transmission part and the matching part, drives the connecting plate to rotate, so that the cleaning block can be extended and retracted relative to the equipment body.

[0015] Optionally, an elastic member is provided at the rotational connection between the connecting plate and the device body; under the action of the elastic member, the side cleaning member can automatically switch from the second position to the first position.

[0016] Optionally, the side cleaning member has a self-rotating movable stroke.

[0017] Optionally, the first cleaning surface is arranged in an arc shape.

[0018] Optionally, the side cleaning member is cylindrical and rotatable around its own central axis.

[0019] Optionally, one end of the transmission rod is connected to the outward swing driver, and the other end of the transmission rod is provided with a mounting groove, and the side cleaning member is rotatably disposed in the mounting groove.

[0020] Optionally, one side of the mounting groove is open, the side cleaning member is disposed in the mounting groove, and at least partially exposed from the open side of the mounting groove; when in the second position, the open side of the mounting groove is disposed toward the outside of the peripheral side of the device body.

[0021] Optionally, the side cleaning member includes a brush shaft and a brush head sleeved on the outside of the brush shaft, a mounting portion is provided in the mounting groove, a positioning portion is provided on the brush shaft, the mounting portion and the positioning portion form a anti-rotation fit to install the brush shaft in the mounting groove, and the brush head is rotatably sleeved outside the brush shaft.

[0022] Optionally, the side cleaning member is arranged to reciprocate in a straight line to have a first position retracted in the device body and a second position extended from the device body.

[0023] The present invention also provides a cleaning control method, which is applicable to the above-mentioned sweeping machine, wherein the sweeping machine comprises a device body and a side cleaning member movably arranged on the device body, wherein the side cleaning member is used to clean a vertical wall surface located on the periphery of the sweeping machine, and the cleaning control method comprises:

[0024] Detect the working status of the sweeper;

[0025] When the sweeping machine meets the side wall cleaning condition, the side cleaning member is controlled to be in a state of protruding from the device body.

[0026] Optionally, the working state of the sweeper includes a first cleaning mode and a second cleaning mode;

[0027] When in the first cleaning mode, the side cleaning members are retracted in the device body, and when in the second cleaning mode, the side cleaning members are arranged to protrude from the device body.

[0028] Optionally, when it is detected that the sweeping machine is in the first cleaning mode, when the sweeping machine meets the side wall cleaning condition, the step of controlling the side cleaning member to be in a state of protruding from the device body specifically includes:

[0029] When receiving the second cleaning mode instruction, controlling the side cleaning member to move so as to protrude from the device body; or,

[0030] When it is detected that the distance between the device body and the side wall to be cleaned is within a first preset distance range, the side cleaning member is controlled to move so as to protrude from the device body.

[0031] Optionally, after the step of detecting that the sweeping machine is in the first cleaning mode, the method further includes:

[0032] When receiving the second cleaning mode instruction, but detecting that the distance between the device body and the side wall to be cleaned is outside the first preset distance range, controlling the side cleaning member to remain stationary; or,

[0033] When it is detected that the distance between the device body and the side wall to be cleaned is within a first preset distance range, but no second cleaning mode instruction is received, the side cleaning member is controlled to remain stationary.

[0034] Optionally, after the step of detecting that the sweeping machine is in the second cleaning mode, the method further includes:

[0035] When receiving the first cleaning mode instruction, controlling the side cleaning member to move and retract into the device body; or,

[0036] When it is detected that the distance between the device body and the side wall to be cleaned is outside a first preset distance range, the side cleaning member is controlled to move so as to be retracted into the device body.

[0037] The present invention also provides a cleaning control device, comprising a memory, a processor, and a cleaning control program stored in the memory and executable on the processor, wherein the cleaning control program is configured to implement the steps of the above-mentioned cleaning control method.

[0038] The technical solution provided by the present invention has the following beneficial effects:

[0039] The sweeping machine provided by the present invention includes a device body, a side cleaning member and an outward swing drive assembly, wherein the side cleaning member is movably arranged on the device body, and the side cleaning member can be driven to move by the outward swing drive assembly. Specifically, the transmission structure is driven to move by the outward swing drive, and the side cleaning member is driven to move under the action of the transmission structure, so that the side cleaning member can be retracted into the device body or extended from the device body, and when the side cleaning member is extended from the device body, the side cleaning member can clean the vertical wall surface located on the side of the sweeping machine, thereby realizing the cleaning of low wall surfaces, such as walls, skirtings and other areas. Moreover, the automatic movement of the side cleaning member can be realized by the outward swing drive, and the position of the side cleaning member is easier to be automatically controlled, which can better meet the use requirements of the sweeping machine in different use scenarios. The sweeping machine can clean the ground normally, and can also clean the low vertical wall surface, and the cleaning function is more powerful, and can better reduce the labor intensity of the user, and effectively improve the user's use experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0041] Figure 1 A schematic structural diagram of an embodiment of a sweeping machine provided by the present invention;

[0042] Figure 2 for Figure 1 A schematic diagram of the structure of the sweeping machine (when in the second position);

[0043] Figure 3 for Figure 1A schematic structural diagram of the sweeping machine (in the first position) from another perspective;

[0044] Figure 4 for Figure 2 A schematic structural diagram of the sweeping machine (when in the second position) from another perspective;

[0045] Figure 5 for Figure 3 A schematic structural diagram of the sweeping machine (in the first position and excluding a part of the housing) described in the figure;

[0046] Figure 6 for Figure 1 A schematic diagram of an exploded structure of the sweeping machine described in the embodiment;

[0047] Figure 7 A schematic structural diagram of a second embodiment of a sweeping machine provided by the present invention;

[0048] Figure 8 for Figure 7 A schematic cross-sectional structure diagram of the sweeping machine described in the figure;

[0049] Fig. 9 for Figure 7 A schematic diagram of an exploded structure of the sweeping machine described in the embodiment;

[0050] Fig.10 for Fig. 9 A schematic structural diagram of the sweeping machine from another perspective;

[0051] Fig.11 A schematic flow chart of an embodiment of a cleaning control method for a sweeping machine provided by the present invention;

[0052] Fig.12 A schematic flow chart of another embodiment of a cleaning control method for a sweeping machine provided by the present invention;

[0053] Fig.13 A schematic flow chart of another embodiment of a cleaning control method for a sweeping machine provided by the present invention;

[0054] Fig.14 A block diagram of a cleaning control device for a sweeping machine provided by the present invention.

[0055] Description of Figure Numbers:

[0056] 100-sweeping machine; 1-equipment body; 2-side cleaning member; 21-connecting plate; 211-guide groove; 22-cleaning block; 221-first cleaning surface; 23-brush shaft; 231-positioning part; 2311-clamping protrusion; 24-brush head; 3-outward swing drive assembly; 31 / 31'-outward swing drive; 32-transmission structure; 321 / 321'-transmission rod; 322-installation groove; 323-installation part; 3231-limiting groove; 33-boss; 34-elastic member; 10000-control device; 1001-processor; 1002-communication bus; 1003-user interface; 1004-memory.

[0057] The realization of the purpose, functional characteristics and excellent effects of the present invention will be further described below in conjunction with specific embodiments and drawings. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] It should be noted that if a directional indication is involved in the embodiments of the present invention, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0060] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0061] The present invention provides a sweeping machine 100, specifically, see Figures 1 to 4In this embodiment, the sweeping machine 100 includes an equipment body 1, a side cleaning member 2 and an outward swing driving assembly 3; the side cleaning member 2 is movably arranged on the equipment body 1; the outward swing driving assembly 3 includes an outward swing driver 31, and a transmission structure 32 connecting the outward swing driver 31 and the side cleaning member 2; wherein, the outward swing driver 31 drives the transmission structure 32 to move, driving the side cleaning member 2 to move, so that the side cleaning member 2 can be extended and retracted relative to the equipment body 1, and when the side cleaning member 2 is in the extended position, the side cleaning member 2 is suitable for cleaning the vertical wall surface around the sweeping machine 100.

[0062] In this embodiment, the side cleaning member 2 is movably arranged on the device body 1, and the side cleaning member 2 can be driven to move by the outer swing drive assembly 3. Specifically, the transmission structure 32 is driven to move by the outer swing drive 31, and the side cleaning member 2 is driven to move under the action of the transmission structure 32, so that the side cleaning member 2 can be retracted in the device body 1 or extended from the device body 1, and when the side cleaning member 2 is extended from the device body 1, the side cleaning member 2 can clean the vertical wall surface located on the side of the sweeper 100, so as to achieve the cleaning of low wall surfaces, such as walls, skirtings and other areas. Moreover, the automatic movement of the side cleaning member 2 can be achieved by the outer swing drive 31, and the position of the side cleaning member 2 is easier to be automatically controlled, which can better meet the use requirements of the sweeper 100 in different use scenarios. The sweeper 100 can clean the ground normally, and can also clean the low vertical wall surface, and the cleaning function is more powerful, and can better reduce the labor intensity of the user, and effectively improve the user's use experience.

[0063] The device body 1 includes a housing, a circuit structure disposed in the housing, etc. The shape of the housing of the sweeping machine 100 is not specifically limited, and is preferably substantially circular. Figure 2 and Figure 3 In the direction shown, when the sweeping machine 100 is normally traveling on the horizontal ground to perform cleaning work, the part at the front end of the sweeping machine 100 in the forward direction is the front end of the device body 1, the part at the end of the sweeping machine 100 in the forward direction is the rear end of the device body 1, the top of the sweeping machine 100 is the top, the bottom of the sweeping machine 100 is the bottom, and the side wall connected between the top and the bottom of the sweeping machine 100 is the peripheral side wall of the device body 1. The vertical wall surface referred to in the present invention is the wall surface opposite to the peripheral side wall of the sweeping machine 100. The vertical wall surface is roughly perpendicular to the ground, such as walls, skirtings and other areas. Of course, the vertical wall surface includes but is not limited to a wall surface that is completely perpendicular to the ground. The vertical wall surface may also refer to a low surface that is slightly inclined or arc-shaped, such as a table foot surface, a chair foot surface, etc., so that the surface that can be cleaned by the sweeping machine 100 in the lateral direction should all belong to the category of the vertical wall surface.

[0064] It is understandable that there are many ways to achieve the movement of the side cleaning member 2 by driving the transmission structure 32 to move through the outer swing drive 31. In order to make the side cleaning member 2 extend and retract relative to the device body 1 better, the side cleaning member 2 has a first position retracted in the device body 1 and a second position extending from the device body 1. By moving between the first position and the second position, the two cleaning modes of the sweeper 100 can be switched. Among them, the side cleaning member 2 can be set to rotate, or to move in a straight line, or have a circular moving path, or a combination of the above-mentioned several moving modes.

[0065] In one embodiment, the side cleaning member 2 can be swingably arranged to have a first position retracted in the device body 1 and a second position extended from the device body 1. The swinging manner makes the movement of the side cleaning member 2 simpler and the side cleaning member 2 requires a smaller space for movement, so that the size of the sweeper 100 can be smaller.

[0066] Furthermore, combined with Figure 2 and Figure 6 As shown, the side cleaning member 2 has a first cleaning surface 221. When in the second position, the first cleaning surface 221 is arranged toward the outside of the peripheral side of the device body 1. After the side cleaning member 2 moves to the outside of the device body 1, it contacts the vertical wall to be cleaned through the first cleaning surface 221 to achieve cleaning of the vertical wall.

[0067] Furthermore, combined with Figures 4 to 6 As shown, the transmission structure 32 includes a transmission rod 321, and the side cleaning member 2 is connected to the transmission rod 321. The outer swing driver 31 drives the transmission rod 321 to rotate, driving the side cleaning member 2 to rotate together, so that the side cleaning member 2 can switch between the first position and the second position. The outer swing driver 31 can be set as a driving motor, and the driving motor drives one end of the transmission rod 321 to rotate, so that the other end of the transmission rod 321 also rotates together, thereby driving the side cleaning member 2 located on the transmission rod 321 to move together, so as to switch between the first position and the second position.

[0068] Specifically, according to the different configurations of the side cleaning member 2, the specific configurations of the corresponding transmission rod 321 are also slightly different.

[0069] In one embodiment, the first cleaning surface 221 can be arranged in a planar shape, that is, after the side cleaning member 2 extends out of the device body 1, the side cleaning member 2 has a larger cleaning area arranged in a planar shape, so that the contact area between the side cleaning member 2 and the vertical wall surface is larger and the cleaning efficiency is higher.

[0070] And preferably, when in the first position, the side cleaning member 2 is located on the right side of the device body 1, and the first cleaning surface 221 extends along the front-to-back direction of the device body 1 and is arranged perpendicular to the ground. The first cleaning surface 221 can be better fitted and pressed onto the vertical wall surface, and the cleaning effect on the vertical wall surface is also better.

[0071] In this embodiment, specifically, in combination Figure 5 and Figure 6 As shown, the side cleaning member 2 includes a connecting plate 21 and a cleaning block 22 arranged on one side of the connecting plate 21. One end of the connecting plate 21 is rotatably connected to the device body 1. The cleaning block 22 is arranged in a substantially square shape, and / or a first cleaning surface 221 is formed on the cleaning block 22. A transmission part is provided on the transmission rod 321, and a matching part matching with the transmission part is provided on the connecting plate 21; the outer swing driver 31 drives the transmission rod 321 to rotate, and under the cooperation of the transmission part and the matching part, the connecting plate 21 is driven to rotate, so that the cleaning block 22 can be extended and retracted relative to the device body 1. Among them, the cleaning block 22 can have a certain elasticity, and the cleaning block 22 can be set as a sponge or a rag. Under the action of its own elastic deformation, the first cleaning surface 221 can be better pressed close to the vertical wall surface, the cleaning friction is greater, and the cleaning effect is better.

[0072] Preferably, the connecting plate 21 is rotatably connected to the device body 1, and the matching part includes a guide groove 211 provided on the connecting plate 21. Specifically, the guide groove 211 is provided at the bottom of the connecting plate 21, and the groove is provided downward. In the first position, the cleaning block 22 is located on the right side of the connecting plate 21, and the first cleaning surface 221 is provided on the cleaning block 22 and is located on the right side of the cleaning block 22; the transmission rod 321 is swingably provided in the horizontal direction, and the transmission part includes a boss 33 provided at the other end of the transmission rod 321, and the boss 33 is slidably provided in the guide groove 211 and abuts against the groove side wall of the guide groove 211. In the direction from the outer swing driver 31 toward the connecting plate 21, the rod width of the transmission rod 321 is gradually reduced to avoid interference between the transmission rod 321 and the connecting plate 21 during the swinging process. Through the swing of the transmission rod 321, the boss 33 at its end is formed with a displacement in the left-right direction along the device body 1, and then the boss 33 abuts against the guide groove 211, driving the guide groove 211 to generate a displacement in the left-right direction along the device body 1, so that the cleaning block 22 can also move in the left-right direction of the device body 1, ensuring that the first cleaning surface 221 can be in the cleaning position, or can be retracted into the device body 1. By rotating the transmission rod 321, the space occupied by the entire outward swing drive assembly 3 is smaller, and the volume of the entire sweeper 100 can be smaller.

[0073] Among them, a first mounting hole may be provided on the connecting plate 21, and a second mounting hole may be provided on the device body 1. The sweeping machine 100 further includes a rotating shaft, which is rotatably sleeved in the first mounting hole and the second mounting hole to rotatably connect the connecting plate 21 and the device body 1. Moreover, the outer swing drive assembly 3 further includes an elastic member 34, which is provided at the rotation point between the device body 1 and the connecting plate 21. Specifically, the elastic member 34 may be sleeved on the rotating shaft to drive the side cleaning member 2 to automatically switch from the second position to the first position. When the side cleaning member 2 is in the first position driven by the outer swing driver 31, the elastic member 34 is in an elastic energy storage state, and when in the first position, the outer swing driver 31 needs to apply a continuous driving force to the side cleaning member 2, so that the side cleaning member 2 can be kept in the first position for cleaning; and when the cleaning is completed, when the outer swing driver 31 stops providing driving force, the side cleaning member 2 automatically resets to the second position under the action of the elastic member 34, driving the transmission rod 321 to reset together, waiting for the next side cleaning work, and the reset is more convenient, and there is no need for the outer swing driver 31 to drive the reset, which saves more energy. Among them, the elastic member 34 can be set as a torsion spring, a spring or an elastic rubber member.

[0074] In another embodiment, the side cleaning member 2 has a self-rotating movable stroke, that is, the side cleaning member 2 can rotate relative to the transmission rod 321', and through its own rotation, friction cleaning of the vertical wall surface is achieved. The side cleaning member 2 can be passively rotated or can be driven to rotate by a driving component. Preferably, the side cleaning member 2 is passively rotated to reduce the number of driving components, so that the structure of the sweeper 100 is simpler and the cost is lower.

[0075] Furthermore, preferably, in combination Figure 7 and Figure 8 As shown, the first cleaning surface 221 can be arranged in an arc shape. When the side cleaning member 2 rotates, the first cleaning surface 221 can be arranged along the rotation direction, so that less resistance is formed during rotation, and the side cleaning member 2 rotates more smoothly.

[0076] Further preferably, the side cleaning member 2 is substantially cylindrical and is rotatably arranged around its own central axis. When in the second position, the axial direction of the side cleaning member 2 is arranged in the up-down direction, so that the peripheral side of the side cleaning member 2 can better contact the vertical wall surface, and driven by the traveling force of the sweeper 100, the side cleaning member 2 is driven to roll and slide over the vertical wall surface when in contact with the vertical wall surface, so as to clean away the dust or dirt on the vertical wall surface.

[0077] In this embodiment, one end of the transmission rod 321' is connected to the outer swing driver 31', and the other end of the transmission rod 321' is provided with a mounting groove 322. The side cleaning member 2 is rotatably arranged in the mounting groove 322. The transmission rod 321' is driven to rotate by the outer swing driver 31', thereby driving the side cleaning member 2 to move together, and the side cleaning member 2 itself can rotate relative to the transmission rod 321'. During the process of the side cleaning member 2 cleaning the vertical wall surface, the movement of the sweeper 100 is also smoother.

[0078] Furthermore, combined with Figure 8 and Fig. 9 As shown, the shape of the mounting groove 322 matches the shape of the side cleaning member 2, and one side of the mounting groove 322 is open, and the side cleaning member 2 can extend from the open side of the mounting groove 322. The side cleaning member 2 is roughly cylindrical, the mounting groove 322 is roughly cylindrical, the side cleaning member 2 is located inside the mounting groove 322, and the notch of the mounting groove 322 faces upward, and the bottom of the mounting groove 322 is the side opposite to its notch. When in the second position, the open side of the mounting groove 322 is arranged toward the outer side of the peripheral side of the device body 1, and the peripheral side wall of the mounting groove 322 is arranged in a non-full circle, so that when in the second position, the cleaning surface of the side cleaning member 2 can be better exposed from the open side of the mounting groove 322 to contact the vertical wall surface, and the peripheral side wall of the mounting groove 322 isolates the side cleaning member 2 from the device body 1, which can better prevent the dirt formed during the operation of the side cleaning member 2 from falling onto the device body 1, and better protect the device body 1 from pollution.

[0079] Furthermore, combined with Fig. 9 and Fig.10 As shown, the side cleaning member 2 includes a brush shaft 23 and a brush head 24 sleeved on the outside of the brush shaft 23. A mounting portion 323 is provided in the mounting groove 322, and a positioning portion 231 is provided on the brush shaft 23. The mounting portion 323 and the positioning portion 231 form a non-rotating fit to install the brush shaft 23 in the mounting groove 322. The brush head 24 is rotatably sleeved on the outside of the brush shaft 23, so that the side cleaning member 2 can be quickly disassembled and assembled on the transmission rod 321, and the side cleaning member 2 is easier to clean and maintain.

[0080] Preferably, again combined Fig. 9 and Fig.10As shown, the mounting portion 323 includes a limiting groove 3231 disposed on the bottom of the mounting groove 322, and the positioning portion 231 includes a clamping protrusion 2311 disposed at the bottom of the brush shaft 23, and the clamping protrusion 2311 is clamped in the limiting groove 3231, so that the side cleaning member 2 is installed and restricted in the mounting groove 322 of the transmission rod 321. Moreover, the clamping protrusion 2311 and the limiting groove 3231 are both non-circularly arranged, and after the clamping protrusion 2311 is clamped in the limiting groove 3231, the brush shaft 23 will not rotate relative to the mounting groove 322, and the limiting effect is better.

[0081] Of course, in other embodiments, the side cleaning member can also be arranged to move back and forth in a straight line to move back and forth between the first position and the second position. Specifically, the transmission rod 321 can be arranged as a telescopic rod, and the telescopic rod connects the outer swing driver 31 and the side cleaning member 2, and the outer swing driver 31 drives the telescopic rod to move telescopically and drives the side cleaning member 2 to move together. In this embodiment, the outer swing driver 31 can be arranged as a driving cylinder, and the driving cylinder drives one of the telescopic sections of the telescopic rod to move, so as to achieve the change of the length of the telescopic rod, thereby driving the side cleaning member 2 to move. The telescopic direction of the telescopic rod should be consistent with the moving direction of the side cleaning member 2. Preferably, the telescopic direction of the telescopic rod is arranged along the left and right direction of the device body 1, so that the movable adjustment amount is larger, the side cleaning member 2 can better realize the cleaning work of the vertical wall, and the side cleaning member 2 can also better fit the device body 1 or shrink in the device body 1.

[0082] In one embodiment, the sweeping machine 100 may also include a detection device and a control device, the control device is electrically connected to the detection device and the outer swing driver 31, the detection device is provided on the device body 1 and is used for edge detection, and the control device can control the outer swing driver 31 to work according to the detection result of the detection device. Specifically, when the sweeping machine 100 is in the first cleaning mode, that is, when the side cleaning member 2 of the sweeping machine 100 is in the first position retracted in the device body 1, the sweeping machine 100 is in a normal cleaning state, and the sweeping machine 100 can be used to clean the ground; during the cleaning process, the detection device can continuously detect the working state of the sweeping machine 100. Specifically, the distance between the sweeping machine 100 and the surrounding wall (or skirting) can be detected by the detection device. When the detection device detects that the distance between the sweeping machine 100 and the surrounding wall is within the first preset distance range (that is, when the sweeping machine 100 is in the edge cleaning position), the control device can control the outer swing drive 31 to start working according to the detection result of the detection device, and drive the side cleaning member 2 to move toward the outside of the device body 1 through the outer swing drive 31 to extend the side cleaning member 2 outside the device body 1. At this time, the distance between the sweeping machine 100 and the surrounding wall is within the cleaning range of the side cleaning member 2. Therefore, the vertical wall surface of the surrounding side can be effectively cleaned by the side cleaning member 2. Alternatively, when the sweeping machine 100 receives the second cleaning mode instruction, the control device can control the outer swing drive 31 to work according to the instruction, so that the side cleaning member 2 can extend out of the device body 1 to better achieve the cleaning of the vertical wall surface.

[0083] Moreover, when the sweeping machine 100 travels away from the surrounding wall, that is, when the detection device detects that the distance between the sweeping machine 100 and the surrounding vertical wall is outside the first preset distance range, the control device can control the outer swing driver 31 to work according to the detection result of the detection device, so as to drive the side cleaning member 2 to retract into the device body 1, so as to better protect the side cleaning member 2. The sweeping machine 100 can switch the working mode at any time during the cleaning process, and the cleaning method is more flexible and intelligent, and the cleaning effect is also better.

[0084] The present invention also provides a cleaning control device, Fig.14As shown, the control device 10000 includes a memory 1005, a processor 1001, and a control program of the sweeping machine 100 stored in the memory 1005 and executable on the processor 1001, wherein the control program of the sweeping machine 100 is configured to implement the steps of the cleaning control method of the sweeping machine 100. It should be noted that the control device 10000 may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and a button, and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001 .

[0085] Those skilled in the art will understand that Fig.14 The structure of the control device 10000 shown in the figure does not constitute a limitation of the control device 10000, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0086] like Fig.14 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a cleaning control program.

[0087] exist Fig.14 In the control device 10000 shown, the control program of the sweeping machine 100 stored in the memory 1005 is called by the processor 1001, and the following operations are performed:

[0088] Detecting the working status of the sweeping machine 100;

[0089] When the sweeping machine 100 meets the side wall cleaning condition, the side cleaning member 2 is controlled to be in a state of protruding from the device body 1 .

[0090] In one embodiment, when it is detected that the sweeping machine 100 is in the first cleaning mode, the processor 1001 calls the control program of the sweeping machine 100 stored in the memory 1005, and further performs the following operations:

[0091] When receiving the second cleaning mode instruction, the side cleaning member 2 is controlled to move so as to protrude from the device body 1; or,

[0092] When it is detected that the distance between the device body 1 and the side wall to be cleaned is within a first preset distance range, the side cleaning member 2 is controlled to move so as to protrude from the device body 1 .

[0093] When it is detected that the sweeping machine 100 is in the first cleaning mode, the control program of the sweeping machine 100 stored in the memory 1005 may be called by the processor 1001, and the following operations may be performed:

[0094] When receiving the second cleaning mode instruction, but detecting that the distance between the device body 1 and the side wall to be cleaned is outside the first preset distance range, controlling the side cleaning member 2 to remain stationary; or,

[0095] When it is detected that the distance between the device body 1 and the side wall to be cleaned is within the first preset distance range, but no second cleaning mode instruction is received, the side cleaning member 2 is controlled to remain stationary.

[0096] In another embodiment, when it is detected that the sweeping machine 100 is in the second cleaning mode, the control program of the sweeping machine 100 stored in the memory 1005 may be called by the processor 1001, and the following operations may be performed:

[0097] When receiving the first cleaning mode instruction, the side cleaning member 2 is controlled to move and retract into the device body 1; or,

[0098] When it is detected that the distance between the device body 1 and the side wall to be cleaned is outside the first preset distance range, the side cleaning member 2 is controlled to move and retract into the device body 1 .

[0099] Combined with the above hardware facilities, such as Fig.11 As shown, the present invention further provides a cleaning control method for a sweeping machine 100. When the sweeping machine 100 includes a device body 1 and a side cleaning member 2 movably disposed on the device body 1, and the side cleaning member 2 is used to clean a vertical wall surface located on the side of the sweeping machine 100, the cleaning control method specifically includes the following steps:

[0100] S100, detecting the working state of the sweeping machine 100;

[0101] S200 , when the sweeping machine 100 meets the side wall cleaning condition, the side cleaning member 2 is controlled to be in a state of protruding from the device body 1 .

[0102] In this embodiment, when the sweeping machine 100 is working, the working state of the sweeping machine 100 is detected, so that the working mode of the sweeping machine 100 can be confirmed in real time, and then, according to the state of the sweeping machine 100 obtained in real time, the position of the side cleaning member 2 on the sweeping machine 100 is adjusted. Among them, when the sweeping machine 100 meets the side wall cleaning conditions, the side cleaning member 2 is controlled to be in a state of protruding from the device body 1, so that the side cleaning member 2 can better clean the vertical wall surface, such as the wall surface or the skirting line and other low places when cleaning along the edge, so that the cleaning function of the sweeping machine 100 is more powerful and the cleaning effect is better.

[0103] Preferably, the working state of the sweeping machine 100 includes a first cleaning mode and a second cleaning mode. Specifically, in the first cleaning mode, the side cleaning member 2 is retracted in the device body 1, and the sweeping machine 100 is in a normal cleaning working state; in the second cleaning mode, the side cleaning member 2 is protruding from the device body 1, and the sweeping machine 100 is in an edge cleaning state.

[0104] Among them, combined Fig.12 As shown, when it is detected that the sweeping machine 100 is in the first cleaning mode, the above step S200 specifically includes:

[0105] S210, when receiving the second cleaning mode instruction, controlling the side cleaning member 2 to move so as to protrude from the device body 1; or,

[0106] S220 , when it is detected that the distance between the device body 1 and the side wall to be cleaned is within a first preset distance range, controlling the side cleaning member 2 to move so as to protrude from the device body 1 .

[0107] Specifically, when the sweeping machine 100 is in the first cleaning mode, that is, the sweeping machine 100 is in the process of normal cleaning of the ground, if the second cleaning mode instruction is received, that is, the user issues the second cleaning mode instruction, so that the sweeping machine 100 switches from the first cleaning mode to the second cleaning mode, at this time, the control device controls the side cleaning member 2 to move. Specifically, the control device can control the outer swing drive 31 of the sweeping machine 100 to work, and drive the side cleaning member 2 through the outer swing drive 31, so that the side cleaning member 2 protrudes from the device body 1 to enter the edge cleaning state of cleaning the vertical wall. There are many ways to issue the second cleaning mode instruction. For example, a first cleaning mode button and a second cleaning mode button can be set on the sweeping machine 100, and the user manually presses the button to switch between different cleaning modes. Alternatively, the user issues the second cleaning mode instruction by voice, or the user issues the second cleaning mode instruction through a remote device (such as a tablet, a mobile phone, etc.). There are many adjustment methods, which are not described in detail here.

[0108] Alternatively, when the sweeping machine 100 is in the first cleaning mode, that is, the sweeping machine 100 is in the process of normal cleaning of the ground, the detection device can detect the distance between the device body 1 and the side wall to be cleaned. Preferably, the detection device can be used to detect the distance between the shell on the side where the side cleaning member 2 is located and the side wall to be cleaned, so as to determine whether to enter the edge cleaning state. When the detection device detects that the distance between the device body 1 and the side wall to be cleaned is within the first preset distance range, the control device will control the side cleaning member 2 to move. Specifically, the control device can control the outer swing drive 31 of the sweeping machine 100 to work, and drive the side cleaning member 2 through the outer swing drive 31, so that the side cleaning member 2 can protrude from the device body 1, so as to clean the surrounding vertical wall surface. Among them, the first preset distance range is the maximum distance interval that the side cleaning member 2 can extend from the device body 1, so that the side cleaning member 2 can maintain complete contact with the side wall to be cleaned.

[0109] In one embodiment, the control device can control the extension amount of the side cleaning member 2 according to the distance value detected by the detection device, so that the side cleaning member 2 can be flexibly adjusted according to different cleaning areas, the position of the side cleaning member 2 is more precise, and the cleaning effect is better.

[0110] The detection device may be configured as at least one of an infrared sensor, an ultrasonic sensor, or a visual sensor, so that the detection is more accurate and the adjustment of the side cleaning member 2 is also more accurate.

[0111] In another embodiment, after the step of detecting that the sweeping machine 100 is in the first cleaning mode, the following steps are further included:

[0112] S310, when receiving the second cleaning mode instruction, but detecting that the distance between the device body 1 and the side wall to be cleaned is outside the first preset distance range, controlling the side cleaning member 2 to remain stationary; or,

[0113] S320: When it is detected that the distance between the device body 1 and the side wall to be cleaned is within a first preset distance range but no second cleaning mode instruction is received, the side cleaning member 2 is controlled to remain stationary.

[0114] When the sweeping machine 100 is in the first cleaning mode, that is, the sweeping machine 100 is in the process of normal cleaning of the ground, if the second cleaning mode instruction is received, at this time, the detection device simultaneously detects the distance between the device body 1 and the side wall to be cleaned in real time. If it is detected that the distance between the device body 1 and the side wall to be cleaned is outside the first preset distance range, that is, the detection device detects that the distance between the sweeping machine 100 and the surrounding vertical wall surface is too small or too large, and does not meet the conditions for the side cleaning member 2 to clean. Specifically, when the distance between the device body 1 and the side wall to be cleaned is too large, after the side cleaning member 2 is fully extended out of the setting body, the side cleaning member 2 still cannot contact the side wall to be cleaned, and therefore cannot clean the side wall to be cleaned. Therefore, at this time, the side cleaning member 2 should be controlled to remain motionless, so that the side cleaning member 2 remains in a position retracted in the device body 1, and the sweeping machine 100 cannot enter the edge cleaning state. When the detection device detects that the distance between the sweeper 100 and the surrounding vertical wall is too small, the side cleaning member 2 cannot extend out of the device body 1. If the side cleaning member 2 is forced to extend out of the device body 1, it will cause damage to the side cleaning member 2. At this time, the side cleaning member 2 should also be controlled to remain motionless, so that the side cleaning member 2 remains in the position retracted in the device body 1, so as to better protect the side cleaning member 2 and avoid damage to the side cleaning member 2.

[0115] Alternatively, when the sweeping machine 100 is in the first cleaning mode, that is, the sweeping machine 100 is in the process of normal cleaning of the ground, when the detection device detects that the distance between the device body 1 and the side wall to be cleaned is within the first preset distance range, that is, the distance between the sweeping machine 100 and the surrounding vertical wall surface is within the cleaning range of the side cleaning member 2, but if the sweeping machine 100 does not receive the second cleaning mode instruction at this time, the side cleaning member 2 should be controlled to remain motionless to remain retracted in the position in the device body 1. During the normal cleaning process of the sweeping machine 100, the distance between the sweeping machine 100 and the surrounding vertical wall surface may be within the first preset distance range due to a certain period of time, but the user does not want to clean the side vertical wall surface at this time. Therefore, even if the distance is appropriate, the sweeping machine 100 will not enter the second cleaning mode when it does not receive the second cleaning mode instruction.

[0116] Therefore, in the above two embodiments, the sweeping machine 100 will enter the second cleaning mode only when it meets the two conditions of receiving the second cleaning mode command and being within the first preset distance range at the same time, so that the working mode of the sweeping machine 100 is more rigorous and the side cleaning component 2 can be better protected.

[0117] Of course, when it is detected that the sweeping machine 100 is already in the second cleaning mode, if the edge cleaning state is to be maintained, there is no need to adjust the position of the side cleaning member 2 and keep the side cleaning member 2 in a state of protruding from the device body 1.

[0118] Combination Fig.13 As shown, in one embodiment, after the step of detecting that the sweeping machine 100 is in the second cleaning mode, the following steps may also be included:

[0119] S410, when receiving the first cleaning mode instruction, controlling the side cleaning member 2 to move and retract into the device body 1; or,

[0120] S420 , when it is detected that the distance between the device body 1 and the side wall to be cleaned is outside a first preset distance range, controlling the side cleaning member 2 to move so as to retract into the device body 1 .

[0121] When the sweeping machine 100 is in the second cleaning mode for cleaning, that is, the sweeping machine 100 is in the edge cleaning state, and the side cleaning member 2 is in a position extending from the device body 1, when the first cleaning mode instruction is received, that is, the sweeping machine 100 is to enter the first cleaning mode to clean the ground normally, at this time, the control device can control the movement of the side cleaning member 2 so that the side cleaning member 2 is retracted in the device body 1 to ensure that the side cleaning member 2 is not easy to collide with surrounding objects when the sweeping machine 100 is performing normal cleaning work. Among them, the issuance method of the first cleaning mode instruction can refer to the issuance method of the second cleaning mode instruction mentioned above, and the two instructions can be set in a consistent or inconsistent manner, and can be set specifically according to the actual use requirements of the sweeping machine 100.

[0122] Alternatively, when the sweeping machine 100 is in the second cleaning mode for cleaning, that is, the sweeping machine 100 is in the edge cleaning state, and the side cleaning member 2 is in a position extending from the device body 1, when the detection device detects that the distance between the device body 1 and the side wall to be cleaned is outside the first preset distance range, that is, no matter whether the distance between the device body 1 and the surrounding vertical wall surface is too large or too small, the control device can control the side cleaning member 2 to move so as to retract into the device body 1. When the distance is too large, since the side cleaning member 2 cannot clean the vertical wall, the side cleaning member 2 is retracted into the device body 1 in time, which can save energy and avoid the side cleaning member 2 from doing useless work; when the distance is too small, the side cleaning member 2 can be retracted in time to better protect the side cleaning member 2 from being damaged.

[0123] Specifically, when the extension amount of the side cleaning member 2 needs to be precisely controlled, the control device can be used to control the operation of the outer swing drive 31 of the sweeping machine 100 to achieve this. For example, the control device can be used to control the rotation angle of the drive transmission rod 321 of the outer swing drive assembly 3 to control the position of the side cleaning member 2, or the control device can be used to control the extension amount of the telescopic rod driven by the outer swing drive 31 to control the position of the side cleaning member 2. The sweeping machine 100 can not only clean the surrounding vertical walls, but also flexibly adjust the position of the side cleaning member 2, making the cleaning position more flexible and better meeting the cleaning requirements of different vertical walls.

[0124] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure made using the contents of the present invention specification and drawings, or directly or indirectly used in other related technical fields, is also included in the patent protection scope of the present invention.

Claims

1. A sweeping machine, characterized in that: include: Device body (1); A side cleaning member (2) movably disposed on the device body (1); An outward swing drive assembly (3) comprises an outward swing drive (31) and a transmission structure (32) connecting the outward swing drive (31) and the side cleaning member (2); The outer swing drive (31) drives the transmission structure (32) to move, thereby driving the side cleaning member (2) to move, so that the side cleaning member (2) can be extended and retracted relative to the device body (1), and when the side cleaning member (2) is in the extended position, the side cleaning member (2) is suitable for cleaning the vertical wall surface around the sweeper.

2. The sweeping machine according to claim 1, characterized in that: The side cleaning member (2) is swingably arranged to have a first position retracted in the device body (1) and a second position extended from the device body (1).

3. The sweeping machine according to claim 2, characterized in that: The side cleaning member (2) has a first cleaning surface (221), and when in the second position, the first cleaning surface (221) is arranged toward the outside of the peripheral side of the device body (1).

4. The sweeping machine according to claim 3, characterized in that: The transmission structure (32) comprises a transmission rod (321), the side cleaning member (2) is connected to the transmission rod (321), and the outer swing drive (31) drives the transmission rod (321) to rotate, thereby driving the side cleaning member (2) to rotate together, so that the side cleaning member (2) can switch between the first position and the second position.

5. The sweeping machine according to claim 4, characterized in that: The first cleaning surface (221) is arranged in a planar shape.

6. The sweeping machine according to claim 5, characterized in that: The side cleaning member (2) comprises a connecting plate (21) and a cleaning block (22) arranged on one side of the connecting plate (21); one end of the connecting plate (21) is rotatably connected to the device body (1); the first cleaning surface (221) is formed on the cleaning block (22); the transmission rod (321) is provided with a transmission part; and the connecting plate (21) is provided with a matching part matching with the transmission part; The outward swing driver (31) drives the transmission rod (321) to rotate, and under the cooperation of the transmission part and the matching part, drives the connecting plate (21) to rotate, so that the cleaning block (22) can be extended and retracted relative to the equipment body (1).

7. The sweeping machine according to claim 6, characterized in that: An elastic member (34) is provided at the rotational connection between the connecting plate (21) and the device body (1); under the action of the elastic member (34), the side cleaning member (2) can automatically switch from the second position to the first position.

8. The sweeping machine according to claim 4, characterized in that: The side cleaning piece (2) has a self-rotating movable stroke.

9. The sweeping machine according to claim 8, characterized in that: The first cleaning surface (221) is arranged in an arc shape.

10. The sweeping machine according to claim 9, characterized in that: The side cleaning member (2) is arranged in a cylindrical shape and is arranged to rotate around its own central axis.

11. The sweeping machine according to claim 9, characterized in that: One end of the transmission rod (321') is connected to the outer swing driver (31'), and the other end of the transmission rod (321') is provided with a mounting groove (322), and the side cleaning member (2) is rotatably disposed in the mounting groove (322).

12. The sweeping machine according to claim 11, characterized in that: One side of the mounting groove (322) is open, and the side cleaning member (2) is arranged in the mounting groove (322) and at least part of it can be exposed from the open side of the mounting groove (322); when in the second position, the open side of the mounting groove (322) is arranged toward the outside of the peripheral side of the device body (1).

13. The sweeping machine according to claim 12, characterized in that: The side cleaning member (2) comprises a brush shaft (23) and a brush head (24) sleeved on the outside of the brush shaft (23); a mounting portion (323) is provided in the mounting groove (322); a positioning portion (231) is provided on the brush shaft (23); the mounting portion (323) and the positioning portion (231) form a rotation-stopping fit so that the brush shaft (23) is mounted in the mounting groove (322); and the brush head (24) is rotatably sleeved outside the brush shaft (23).

14. The sweeping machine according to claim 1, characterized in that: The side cleaning member (2) is arranged to reciprocate in a straight line, so as to have a first position retracted in the device body (1), and a second position extending from the device body (1).

15. A cleaning control method, applicable to the sweeping machine according to any one of claims 1 to 14, characterized in that: The sweeping machine comprises a device body (1) and a side cleaning member (2) movably arranged on the device body (1), wherein the side cleaning member (2) is used to clean a vertical wall surface located on a peripheral side of the sweeping machine, and the cleaning control method comprises: Detect the working status of the sweeper; When the sweeping machine meets the side wall cleaning conditions, the side cleaning member (2) is controlled to be in a state of protruding from the device body (1).

16. The cleaning control method according to claim 15, characterized in that: The working state of the sweeper includes a first cleaning mode and a second cleaning mode; When in the first cleaning mode, the side cleaning piece (2) is retracted into the device body (1), and when in the second cleaning mode, the side cleaning piece (2) is arranged to protrude from the device body (1).

17. The cleaning control method according to claim 16, characterized in that: When it is detected that the sweeping machine is in the first cleaning mode, the step of controlling the side cleaning member (2) to be in a state of protruding from the device body (1) when the sweeping machine meets the side wall cleaning condition specifically comprises: When receiving the second cleaning mode instruction, controlling the side cleaning member (2) to move so as to protrude from the device body (1); or, When it is detected that the distance between the device body (1) and the side wall to be cleaned is within a first preset distance range, the side cleaning member (2) is controlled to move so as to protrude from the device body (1).

18. The cleaning control method according to claim 16, characterized in that: After the step of detecting that the sweeping machine is in the first cleaning mode, the method further includes: When receiving the second cleaning mode instruction, but detecting that the distance between the device body (1) and the side wall to be cleaned is outside the first preset distance range, controlling the side cleaning member (2) to remain stationary; or, When it is detected that the distance between the device body (1) and the side wall to be cleaned is within a first preset distance range, but no second cleaning mode instruction is received, the side cleaning member (2) is controlled to remain stationary.

19. The cleaning control method according to claim 16, characterized in that: After the step of detecting that the sweeping machine is in the second cleaning mode, the method further includes: When receiving the first cleaning mode instruction, controlling the side cleaning member (2) to move so as to retract into the device body (1); or, When it is detected that the distance between the device body (1) and the side wall to be cleaned is outside a first preset distance range, the side cleaning member (2) is controlled to move so as to retract into the device body (1).

20. A cleaning control device, characterized in that: The cleaning control method comprises a memory, a processor, and a cleaning control program stored in the memory and executable on the processor, wherein the cleaning control program is configured to implement the steps of the cleaning control method according to any one of claims 15 to 19.

Images