Cleaning device

Abstract

The invention mainly relates to a cleaning device which comprises a control system, a guide mechanism and a cleaning mechanism, the guide mechanism comprises a guide part and a transmission assembly, the guide part is provided with a first transmission slope, the cleaning mechanism is arranged on the front side of the first transmission slope, and the lower end of the guide part is adjacent to the ground to be cleaned; and the guide piece is matched with the cleaning mechanism to pick up garbage from the to-be-cleaned ground and convey the garbage along the first conveying slope, the guide piece is in transmission connection with the transmission assembly, and the transmission assembly is used for adjusting the spacing distance between the lower end of the guide piece and the to-be-cleaned ground under the control of the control system. In this way, the cleaning efficiency and the cleaning capacity of the cleaning device can be effectively improved.

Description

Technical Field

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

[0002] In family life, tedious housework takes up a lot of time and energy, and cleaning devices came into being under such a background. Some existing cleaning devices, such as mopping machines, generally roll the drum to make the surface of the drum mop the floor to be cleaned. As people's quality of life continues to improve, people's dependence on cleaning devices is also getting stronger and stronger. However, the cleaning ability and cleaning efficiency of existing cleaning devices are poor, and it is difficult to meet people's current family life needs. Summary of the invention

[0003] The present application provides a cleaning device, which includes a control system, a guide mechanism and a cleaning mechanism. The guide mechanism includes a guide member and a transmission assembly. The guide member is provided with a first transmission slope. The cleaning mechanism is arranged on the front side of the first transmission slope. The lower end of the guide member is arranged adjacent to a ground to be cleaned, and cooperates with the cleaning mechanism to pick up garbage from the ground to be cleaned and transmit it along the first transmission slope. The guide member is connected to the transmission assembly for transmission. The transmission assembly is used to adjust the spacing distance between the lower end of the guide member and the ground to be cleaned under the control of the control system.

[0004] Beneficial effects of the present application: The present application provides a cleaning device, which includes a control system, a guide mechanism and a cleaning mechanism. The guide mechanism includes a guide member and a transmission assembly. The guide member is provided with a first transmission slope. The cleaning mechanism is provided at the front side of the first transmission slope. The lower end of the guide member is provided adjacent to the ground to be cleaned, and cooperates with the cleaning mechanism to pick up garbage from the ground to be cleaned and transmit it along the first transmission slope. The guide member is connected to the transmission assembly in a transmission manner, and the transmission assembly is used to adjust the spacing distance between the lower end of the guide member and the ground to be cleaned under the control of the control system. Based on this, the spacing distance between the lower end of the guide member and the ground to be cleaned is set to be controllably adjustable, thereby effectively improving the cleaning efficiency and cleaning ability of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0006] Figure 1 It is a schematic diagram of the three-dimensional structure of the cleaning device of the present application;

[0007] Figure 2 yes Figure 1The schematic structural diagram of section AA of an embodiment of the cleaning device shown;

[0008] Figure 3 yes Figure 1 A schematic structural diagram of section AA of another embodiment of the cleaning device shown;

[0009] Figure 4 yes Figure 2 A schematic structural diagram of section AA of the device body of the cleaning device when the guide member is in the first position;

[0010] Figure 5 yes Figure 3 A schematic structural diagram of section AA of the device body of the cleaning device when the guide member is in the first position;

[0011] Figure 6 yes Figure 2 A partial structural schematic diagram of section AA of the device body of the cleaning device when the guide member is in the second position;

[0012] Figure 7a yes Figure 3 A partial structural schematic diagram of section AA of the device body of the cleaning device when the guide member is in the second position;

[0013] Figure 7b yes Figure 3 A partial structural schematic diagram of section AA of the device body of the cleaning device when the guide member is in the first position;

[0014] Figure 8 yes Figure 2 A schematic diagram of the three-dimensional structure of the guide mechanism of the cleaning device shown;

[0015] Fig. 9 yes Figure 3 A schematic diagram of the three-dimensional structure of the guiding mechanism of the cleaning device shown. DETAILED DESCRIPTION

[0016] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0017] Reference to "embodiment" in this application means that a specific feature, structure or characteristic described in conjunction with the embodiment may be included in at least one embodiment of this application. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0018] The present application provides a cleaning device 1001, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7a , Figure 7b , Figure 8 and Fig. 9 As shown, the cleaning device 100 includes a guide mechanism 20, a control system and a cleaning mechanism 1, wherein the guide mechanism 20 can be arranged on the main frame 21. The guide mechanism 20 includes a guide member 201 and a transmission assembly 204, wherein the guide member 201 is provided with a first transmission slope 200a, the cleaning mechanism 1 is arranged at the front side of the first transmission slope 200a, the lower end of the guide member 201 is arranged adjacent to the ground to be cleaned 4, the guide member 201 cooperates with the cleaning mechanism 1 to pick up garbage from the ground to be cleaned 4 and transmits it along the first transmission slope 200a, the guide member 201 is in transmission connection with the transmission assembly 204, and the transmission assembly 204 is used to adjust the spacing distance h1 between the lower end of the guide member 201 and the ground to be cleaned 4 under the control of the control system (not shown). It should be noted that garbage is also called objects to be cleaned, which includes solid garbage, solid-liquid mixtures (such as water stains, etc.), etc.

[0019] Specifically, Figure 6 , Figure 7a , Figure 7b , Figure 8 and Fig. 9 As shown, the spacing distance h1 between the lower end of the guide member 201 and the floor 4 to be cleaned is set to be controllable and adjustable, wherein the controllable adjustment can be understood as a control adjustment based on the manual control of the user or the automatic control of the running program of the cleaning device 100. In other words, the cleaning device 100 can adjust the spacing distance h1 between the lower end of the guide member 201 and the floor 4 to be cleaned under manual control or the automatic control of the running program of the cleaning device 100. In the embodiment of the present application, the cleaning device 100 includes a control system, and the guide mechanism 20 includes a transmission assembly 204, wherein the transmission assembly 204 is connected to the guide member 201 in a transmission manner, and the control system can be connected to the transmission assembly 204 in a control manner, and the transmission assembly 204 is used to adjust the spacing distance h1 between the lower end of the guide member 201 and the floor 4 to be cleaned under the control of the control system, so that the spacing distance h1 between the lower end of the guide member 201 and the floor 4 to be cleaned can be automatically controlled and adjusted based on the running program of the control system, thereby effectively improving the intelligence of the cleaning device 100.

[0020] The spacing distance h1 between the lower end of the guide member 201 and the floor 4 to be cleaned directly affects the cleaning efficiency and cleaning ability of the cleaning device 100 on the floor 4 to be cleaned. Since the cleaning mechanism 1 is located on one side of the guide member 201, that is, on the front side of the guide member 201, when the cleaning device 10 performs the cleaning function, only by moving the cleaning mechanism 1 and the guide member 201 forward can the work of picking up the object to be cleaned be completed. In the process of completing the cleaning work at one time, the cleaning device 10 will clean the floor to be cleaned in different forward trajectories. When the cleaning device 10 moves forward and the cleaning mechanism 1 cooperates with the guide member 201 to complete the cleaning work of the current forward trajectory, the cleaning device 10 also needs to adjust the forward trajectory to clean the objects to be cleaned on other forward trajectories. When the cleaning device 10 changes the forward trajectory / or performs reciprocating cleaning, it often needs to move backward, for example, a series of backward movements such as a linear motion of reversing, a curved motion of turning backward, etc. When the cleaning device 10 moves forward and cleans the object to be cleaned on the forward trajectory, the spacing distance h1 needs to be maintained within a relatively small range, so as to effectively ensure that the guide member 201 can efficiently cooperate with the cleaning mechanism 1 to pick up the object to be cleaned, thereby ensuring the cleaning efficiency and cleaning ability of the cleaning device 10. In the process of the cleaning device 10 changing the forward trajectory by moving backward, if the interval distance h1 remains within a small range, the guide member 201 will push the objects to be cleaned in the uncleaned area to the area that has been cleaned during the backward movement of the cleaning device 10, thereby causing the cleaning device 10 to clean the area that has been cleaned again. Even more, even if the cleaning device 10 performs multiple reciprocating cleanings, due to the small interval distance h1, each time the cleaning device 10 changes its forward trajectory, the guide member 201 will always push more or less objects to be cleaned in other areas back to the area that has been cleaned, resulting in the cleaning device 10 being unable to completely clean the floor to be cleaned, or requiring manual lifting of the cleaning device from the floor to be cleaned 4 and moving it to a designated area to manually change the forward trajectory. Although this can avoid the problem of the guide member 201 pushing back the objects to be cleaned, it also greatly increases the user's workload, thereby affecting the user's experience. Furthermore, since there may be many obstacles on the ground 4 to be cleaned, when the cleaning device 10 encounters an obstacle while moving forward or backward for cleaning, if the spacing distance h1 remains within a small range, the cleaning device 10 may not be able to pass through the obstacle smoothly, affecting the obstacle avoidance capability of the cleaning device 10 and increasing the probability of damage to the guide member 201 due to collision with the obstacle.

[0021] Therefore, compared with the solution in which the spacing distance h1 is uncontrollably adjustable, the spacing distance h1 between the lower end of the guide member 201 and the floor 4 to be cleaned is set to be controllably adjustable. For example, in an embodiment of the present application, the guide member 201 is connected to the transmission assembly 204 through transmission, and the transmission assembly 204 adjusts the spacing distance h1 under the control of the control system to achieve controllable adjustment of the spacing distance h1, which can enable the guide member 201 to more perfectly adapt to the cleaning work of the cleaning device 10 and effectively improve the cleaning ability, cleaning efficiency and obstacle avoidance ability of the cleaning device 10. For example, when the cleaning device 100 is in a working state and adjusts the forward trajectory by moving backward, the cleaning device 100 can adjust the spacing distance h1 between the lower end of the guide member 201 and the ground 4 to be cleaned to an appropriate size under the automatic control of the operating program of the control system, so as to avoid the garbage located on the side of the guide member 201 away from the cleaning mechanism 1 being pushed backward by the guide member 201, thereby enabling the cleaning device 100 to more efficiently clean the garbage and / or water stains located on the side of the guide member 201 away from the cleaning mechanism 1, thereby effectively improving the cleaning efficiency and cleaning ability of the cleaning device 100 on the ground 4 to be cleaned. For another example, when the cleaning device 100 is in working state and moving forward, the cleaning device 100 can adjust the spacing distance h1 between the lower end of the guide member 201 and the ground to be cleaned 4 to a suitable size under the automatic control of the operating program of the control system, for example, the lower end of the guide member 201 is pressed against the ground to be cleaned 4, so that garbage and / or water stains cannot pass through the gap between the lower end of the guide member 201 and the ground to be cleaned 4, so that the guide member 201 can efficiently cooperate with the cleaning mechanism 1 to pick up garbage and / or water stains, thereby effectively improving the cleaning efficiency and cleaning ability of the cleaning device 100 on the ground to be cleaned 4. For another example, when the cleaning device 100 has an obstacle crossing requirement, the cleaning device 100 can adjust the spacing distance h1 between the lower end of the guide member 201 and the ground to be cleaned 4 to a suitable size under manual control or automatic control of the operating program of the cleaning device 100, so that the cleaning device 100 can smoothly cross the obstacle, thereby effectively improving the obstacle avoidance ability of the cleaning device 100. Furthermore, compared to the solution in which the spacing distance h1 is uncontrollably adjustable, setting the spacing distance h1 between the lower end of the guide member 201 and the floor 4 to be cleaned to be controllably adjustable can also effectively improve the automation of the cleaning device 10, so that the cleaning device 10 can quickly and efficiently complete the cleaning work without excessive human intervention by the user during the cleaning work. For example, when the cleaning device 10 needs to change the forward trajectory, the cleaning device 100 can adjust the spacing distance h1 between the lower end of the guide member 201 and the floor 4 to be cleaned to an appropriate size under the automatic control of the operating program of the control system, and then continue to adjust the forward trajectory on the floor 4 to be cleaned by moving backward and other directions, thereby eliminating the need for the user to lift the entire cleaning device 10 off the floor 4 to be cleaned, thereby effectively improving the user's usage experience.

[0022] like Figure 2 and Figure 3 As shown, in some embodiments, the cleaning device 100 is provided with a motion mechanism so that the cleaning device 100 as a whole can move on the floor 4 to be cleaned, such as the living room floor, the guest room floor, the kitchen floor waiting for cleaning area. The cleaning device 100 includes a main frame 21, and the cleaning mechanism 1 is set on the main frame 21 in a swinging manner. The motion mechanism includes a wheel body 22, and the wheel body 22 is set on the main frame 21 for driving the cleaning device 100 to move. The wheel body 22 is also used to define a support surface in contact with the floor 4 to be cleaned, wherein the support surface is a virtual surface defined by the wheel body 22. For example, in an embodiment of the present application, the cleaning device 100 includes four wheel bodies 22, wherein the support surface is a common tangent surface of the bottom ends of the four wheel bodies 22. After the cleaning device 100 is placed on the floor 4 to be cleaned, the support surface will contact or overlap with the floor 4 to be cleaned. Among them, if the floor 4 to be cleaned is a plane, then after the cleaning device 100 is placed on the floor 4 to be cleaned, the support surface overlaps with the floor 4 to be cleaned.

[0023] In an optional embodiment, the cleaning mechanism 1 may be a single-drum structure, which may be rotatably disposed on the main frame 21 and clean the surface to be cleaned by rotating.

[0024] In other embodiments, the cleaning mechanism 1 may also be a double-roller coordinated endless belt structure, which cleans the surface to be cleaned by driving the endless belt to rotate. Optionally, the cleaning mechanism 1 may also be other common cleaning mechanisms which are not specifically limited here.

[0025] It should be noted that the front side of the cleaning device 100 and the rear side of the cleaning device 100 can be defined by the front side of the first transmission slope 200a and the rear side of the first transmission slope 200a. Specifically, the side of the first transmission slope 200a facing the cleaning mechanism 1, that is, the front side of the first transmission slope 200a, is also called the front side of the cleaning device 100, and the side of the first transmission slope 200a facing away from the cleaning mechanism 1, that is, the rear side of the first transmission slope 200a, is also called the rear side of the cleaning device 100, wherein the cleaning device 100 moves forward, which can be understood as the cleaning device 100 moving toward its front side, and its motion trajectory, that is, the forward motion trajectory, can be a straight line or a curved trajectory, and the cleaning device 100 moves backward, which can be understood as the cleaning device 100 moving toward its rear side, and its motion trajectory can also be a straight line or a curved trajectory.

[0026] Optionally, in some embodiments, the control system can also control the transmission component 204 to adjust the size of the spacing distance h1 by receiving an external control signal, for example, an external control signal sent by a user through a mobile phone app, a remote control, or other tool, thereby further improving the controllability of the spacing distance h1, and thereby effectively improving the human-computer interaction capability of the cleaning device 10.

[0027] Alternatively, if Figure 4 , Figure 5 , Figure 6 , Figure 7a and Figure 7b As shown, in some embodiments, the control system controls the transmission assembly 204 to enable the guide member 201 to move between the first position and the second position, and when the guide member 201 is in the first position, there is a first spacing distance between the lower end of the guide member 201 and the ground 4 to be cleaned, and when the guide member 201 is in the second position, there is a second spacing distance h2 between the lower end of the guide member 201 and the ground 4 to be cleaned, wherein the first spacing distance is smaller than the second spacing distance h2. Specifically, in the embodiment of the present application, the first position and the second position are both relative positions of the guide member 201 relative to the main frame 21 of the cleaning device 100, and the guide member 201 is movably connected to the main frame 21. The transmission assembly 204 can drive the guide member 201 to move between the first position and the second position relative to the main frame 21 under the control of the control system to adjust the spacing distance h1 between the lower end of the guide member 201 and the ground 4 to be cleaned. Of course, in some embodiments, the user may also manually control the transmission assembly 204 to drive the guide member 201 to move between the first position and the second position to adjust the spacing distance h1 between the lower end of the guide member 201 and the floor 4 to be cleaned.

[0028] Optionally, in some embodiments, the control logic of the control system includes: when the cleaning device 100 is in a non-working state or there is a need to avoid obstacles, the control system controls the transmission assembly 204 to set the guide member 201 to the second position, thereby increasing the spacing distance h1 between the lower end of the guide member 201 and the ground 4 to be cleaned, so that when the cleaning device 100 needs to avoid obstacles, the cleaning device 100 can more easily cross obstacles, thereby effectively improving the obstacle avoidance ability of the cleaning device 100, or when the cleaning device 100 is in a non-working state, the spacing distance h1 between the lower end of the guide member 201 and the ground 4 to be cleaned is larger, thereby reducing the probability of the guide member 201 and the ground 4 to be cleaned colliding and rubbing when the cleaning device 100 moves accidentally due to external factors, thereby improving the service life of the guide member 201 to a certain extent.

[0029] Optionally, in some embodiments, the cleaning device 100 further includes a sensing element (not shown), which is used to obtain a movement signal when the cleaning device 100 is in a working state, and the movement signal includes a movement signal of the cleaning device 100 moving forward and a movement signal of the cleaning device 100 moving backward. The sensing element is connected to the control system and is used to transmit the movement signal obtained by it to the control system, wherein the control logic of the control system includes: the control system responds to the cleaning device 100 being in a working state and moving forward, the control system controls the transmission component 204 to set the guide member 201 to a first position, and responds to the cleaning device 100 being in a working state and moving backward, and controls the transmission component 204 to set the guide member 201 to a second position.

[0030] Specifically, in the embodiment of the present application, the cleaning mechanism 1 is arranged on the front side of the first transmission slope 200a. For the garbage and / or water stains located on the front side of the first transmission slope 200a, the cleaning device 100 can move forward, and the cleaning mechanism 1 and the guide member 201 cooperate to efficiently pick up the garbage and / or water stains located on the front side of the first transmission slope 200a (which can also be understood as the front side of the cleaning device 100). For the garbage and / or water stains located on the rear side of the first transmission slope 200a, the cleaning device 100 can move backward to allow the garbage and / or water stains located on the rear side of the first transmission slope 200a to be shifted to the front side of the first transmission slope 200a, and then picked up by the cooperation of the cleaning mechanism 1 and the guide member 201. Therefore, when the cleaning device 100 is in working state and moves forward, the control system sets the guide member 201 to the first position by controlling the transmission assembly 204 to reduce the spacing distance h1 between the lower end of the guide member 201 and the ground 4 to be cleaned. This can effectively reduce the probability that garbage and / or water stains will pass through the gap between the lower end of the guide member 201 and the ground 4 to be cleaned, and the relative probability that the cleaning device 100 will be shifted to the side of the guide member 201 away from the cleaning mechanism 1, thereby effectively improving the cleaning efficiency and cleaning ability of the cleaning device 100 on the ground 4 to be cleaned.

[0031] When the cleaning device 100 is in working condition and moves backward, the control system sets the guide member 201 to the second position by controlling the transmission assembly 204 to increase the spacing distance h1 between the lower end of the guide member 201 and the ground 4 to be cleaned. This can effectively reduce the probability that the garbage located on the side of the guide member 201 away from the cleaning mechanism 1 is pushed backward by the guide member 201, so that the cleaning device 100 can more efficiently clean the garbage and / or water stains located on the side of the guide member 201 away from the cleaning mechanism 1, thereby effectively improving the cleaning efficiency and cleaning ability of the cleaning device 100 on the ground 4 to be cleaned.

[0032] Optionally, in some embodiments, the cleaning device 100 includes a driving wheel (also referred to as a wheel body 22), and the sensing element is connected to the driving wheel for obtaining a movement signal based on the motion information of the driving wheel. Optionally, the sensing element may be an odometer connected to the wheel body 22.

[0033] Optionally, in some embodiments, the cleaning device 100 further includes a driving motor for driving a driving wheel (also referred to as a wheel body 22 ), and optionally, the sensing element thereof may be an encoder connected to the driving motor.

[0034] Optionally, in some embodiments, the sensing element may include an inertial sensor, wherein the inertial sensor may be disposed on the chassis 211 of the cleaning device 100, so that the inertial sensor can more accurately obtain the movement signal of the cleaning device 100. Specifically, the chassis 211 of the cleaning device 100 is a reinforced protection structure or a reinforced protection component disposed at the bottom of the cleaning device 100, and the main frame 21 and the cleaning mechanism 1 are both disposed on the chassis 211.

[0035] Optionally, in some embodiments, while an inertial sensor is provided on the chassis 211, a corresponding sensing element is also provided on the driving wheel, such as the odometer described above. In this way, the odometer and the inertial sensor are used in combination, so that the control system can more accurately determine the moving direction of the cleaning device after integrating the movement signals obtained in two different ways, thereby effectively improving the control accuracy of the control system.

[0036] Alternatively, if Figure 1 As shown, in some embodiments, the cleaning device 100 includes a main frame, and the hand-held portion 3 is a component for the user to hold and push and pull the cleaning device 100 along the ground 4 to be cleaned. The sensing element can also be a push-pull sensor, and the push-pull sensor can be arranged on the hand-held portion 3 so that the push-pull sensor can obtain the movement signal of the cleaning device 100 more accurately.

[0037] Optionally, the inertial sensor is arranged on the chassis 211, which can avoid the interference caused by shaking the handheld part 3 (when the chassis 211 does not move or moves in the opposite direction to the chassis 211) compared to the inertial sensor being arranged on the handheld part 3. Specifically, in the embodiment of the present application, the handheld part 3 of the cleaning device 10 is connected to the main frame 21 by an articulated manner, and the user can push the cleaning device 10 to move by pushing the handheld part 3, wherein the handheld part and the main frame 21 are connected by an articulated manner to improve the comfort of the user pushing the cleaning device 10 to move, and at the same time, since the handheld part 3 of the cleaning device 10 is connected to the main frame 21 by an articulated manner, when the user pushes the cleaning device 10 to move through the handheld part 3, the handheld part 3 and the main frame 21 will have relative movement, so the inertial sensor is arranged on the chassis 211, which can avoid the interference caused by shaking the handheld part 3 (when the chassis 211 does not move or moves in the opposite direction to the chassis 211) compared to the inertial sensor being arranged on the handheld part 3.

[0038] Optionally, in some embodiments, the sensing element may also be other components that can realize acquisition of movement signals when the cleaning device 100 is in a working state, which is not limited here.

[0039] Alternatively, if Figure 4 and Figure 5As shown, in some embodiments, when the guide member 201 is in the first position, the guide member 201 is configured to press against the floor to be cleaned 4 in a floating manner. Specifically, the guide member 201 is configured to press against the floor to be cleaned 4 in a floating manner, which can be understood as follows: the guide member 201 can be adaptively moved relative to the main frame 21 in accordance with different shapes of the floor to be cleaned 4 under the action of its own weight and / or an external force toward the floor to be cleaned 4 (for example, the elastic force provided by the elastic member 203 described below), and during the adaptive movement, the lower end of the guide member 201 at least partially remains pressed against the floor to be cleaned 4. For example, when the guide member 201 moves from the relatively flat floor to be cleaned 4 to a pit-shaped area, the guide member 201 can move relative to the main frame 21 and toward the pit of the floor to be cleaned 4 under the action of its own weight and / or an external force toward the floor to be cleaned 4, so that the guide member 201 at least partially remains pressed against the floor to be cleaned 4. For another example, when the guide member 201 moves to the convex area relatively to the flat floor 4 to be cleaned, the convex area of ​​the floor 4 to be cleaned can provide the guide member 201 with a force to overcome the gravity of the guide member 201 and / or the external force toward the floor 4 to be cleaned, so as to push the guide member 201 to move toward the side away from the floor 4 to be cleaned relative to the main frame 21. The guide member 201 is configured to press against the floor 4 to be cleaned in a floating manner. When the cleaning device 100 is placed on the floor 4 to be cleaned and the guide member 201 is in the first position, the guide member 201 can perform adaptive movement relative to the main frame 21 in accordance with different shapes of the floor 4 to be cleaned, so that the lower end of the guide member 201 is at least partially pressed against the floor 4 to be cleaned, and at this time, the first spacing distance between the lower end of the guide member 201 and the floor 4 to be cleaned is 0.

[0040] The supporting surface of the cleaning device 100 is defined by the wheel body 22. In the existing cleaning device 100, if the contact area between the ground 4 to be cleaned and the wheel body 22 is higher than the contact area between the ground 4 to be cleaned and the guide member 201, there is a risk that the guide member 201 is lifted away from the surface to be cleaned by the wheel body 22, resulting in the guide member 201 being unable to press against the surface to be cleaned, thereby affecting the cleaning efficiency and cleaning ability of the cleaning device 100 on the ground 4 to be cleaned. If the contact area between the ground 4 to be cleaned and the wheel body 22 is lower than the contact area between the ground 4 to be cleaned and the guide member 201, or there is a large obstacle in the contact area between the ground 4 to be cleaned and the guide member 201, there is a risk that the guide member 201 interferes too much with the ground 4 to be cleaned, affecting the movement of the entire cleaning device 100, or the guide member 201 is blocked by an obstacle, resulting in the wheel body 22 being unable to drive the cleaning device 100 to move, which can easily cause a working failure of the cleaning device 100. Therefore, when the guide member 201 is in the first position, the guide member 201 is set to press against the floor to be cleaned 4 in a floating manner, so that when the cleaning device 100 moves forward, the guide member 201 can always press against the surface to be cleaned, thereby efficiently cooperating with the cleaning mechanism 1 to pick up garbage and / or water stains, thereby effectively improving the cleaning ability and cleaning efficiency of the cleaning device 100. In addition, when the guide member 201 is in the first position, the guide member 201 is set to press against the floor to be cleaned 4 in a floating manner, which can also improve the obstacle avoidance ability of the cleaning device 100 when moving forward.

[0041] Alternatively, if Figure 8 and Fig. 9As shown, in some embodiments, the guide mechanism 20 further includes an elastic member 203, and the elastic member 203 is configured to provide the guide member 201 with an elastic force to move toward the first position, wherein the transmission assembly 204 provides the guide member 201 with a traction force to overcome the elastic force, so that the guide member 201 can move from the first position to the second position. In this way, when the guide member 201 is in the first position, it can be pressed against the floor 4 to be cleaned in an elastic floating manner under the action of the elastic force of the elastic member 203, so that the guide member 201 can cooperate with the cleaning mechanism 1 to more efficiently pick up garbage and / or water stains, and the elastic member 203 can also provide downward pressure for the guide member 201, thereby improving the guide member 201 The ability to clean garbage with greater adhesion. The elastic floating method means that the guide member 201 can be adapted to move relative to the main frame 21 in accordance with different shapes of the floor 4 to be cleaned under the action of its own gravity and elastic force, and during the adaptive movement, the line segment of the guide member 201 at least partially remains pressed against the floor 4 to be cleaned. Due to the limited weight of the guide member 201, the floating mode is achieved by the gravity of the guide member 201 alone. In the process of the guide member 201 moving relative to the main frame 21 toward the side of the ground 4 to be cleaned under the action of gravity, it is easy for the gravity to be unable to overcome the mechanical resistance and become stuck, thereby affecting the working stability of the guide member 201. For example, when the guide member 201 moves from the relatively flat ground 4 to be cleaned to the pit-shaped area, the guide member 201 needs gravity to overcome the mechanical resistance in order to move relative to the main frame 21, so as to maintain pressure against the ground 4 to be cleaned. In the process of the cleaning device 10 performing cleaning work for a long time, due to the influence of environmental factors such as dust and water stains, the mechanical resistance between the guide member 201 and the main frame 21 is not very stable. Therefore, the probability of the gravity of the guide member 201 being unable to overcome the mechanical resistance increases, thereby affecting the working stability of the guide member 201. Compared with the floating method achieved only by gravity, the elastic floating method achieved by the combination of gravity and the elastic force provided by the elastic member 203 can make it easier for the guide member 201 to overcome mechanical resistance, thereby reducing the probability that the guide member 201 and the main frame 21 cannot move relative to each other, thereby effectively improving the working stability of the guide member 201, and can better place the guide member 201 against the surface to be cleaned, greatly improving its cleaning effect on the ground.

[0042] Alternatively, if Figure 8 and Fig. 9As shown, in some embodiments, the guide member 201 is provided with a first guide portion 2021, and the guide mechanism 20 further includes a guide member 202 provided on the main frame 21 of the cleaning device 100, and the guide member 202 is provided with a second guide portion 2020, and the second guide portion 2020 is movably matched with the first guide portion 2021, so that the guide member 201 moves relative to the guide member 202 along the first spacing direction x1 between the first position and the second position, thereby effectively improving the stability of the guide member 201 moving relative to the main frame 21 along the first spacing direction x1. It should be noted that the guide member 201 can move between the first position and the second position relative to the main frame 21 (or relative to the inclined guide plate 230), so in the embodiment of the present application, the first spacing direction x1 is also referred to as the direction of movement of the guide member 201 relative to the main frame 21 (or relative to the inclined guide plate 230).

[0043] Alternatively, if Figure 8 and Fig. 9 As shown, in some embodiments, the guide member 202 is further provided with a first abutting portion (not marked in the figure), and the guide member 201 is further provided with a second abutting portion (not marked in the figure), the first abutting portion and the second abutting portion are arranged relatively to each other along the first spacing direction x1, and the number of elastic members 203 is multiple, for example, two, three, four, etc., and the multiple elastic members 203 are arranged between the first abutting portion and the second abutting portion along the width direction x2 of the guide member 202 at intervals. Specifically, the two ends of the elastic member 203 can respectively abut the first abutment portion and the second abutment portion along the first spacing direction x1 to provide elastic force for the guide member 201, wherein a plurality of elastic members 203 are arranged between the first abutment portion and the second abutment portion. Based on this arrangement, any portion of the guide member 201 along the width direction x2 can generate sufficient downward pressure on the floor 4 to be cleaned, so that the guide member 201 can more efficiently cooperate with the cleaning mechanism 1 to pick up garbage and / or water stains. Moreover, based on this arrangement, it can also ensure that any portion of the guide member 201 along the width direction x2 has a sufficiently large elastic force, thereby reducing the probability that the guide member 201 cannot be reset due to insufficient elastic force when it tilts, thereby affecting the floating performance of the guide member 201, thereby effectively improving the working stability of the guide member 201.

[0044] Optionally, in some embodiments, the transmission component 204 can be configured to transmit the guide member 201 through a magnetic member so that the guide member 201 moves relative to the main frame 21 along the first spacing direction x1. For example, in some embodiments, the transmission component 204 includes an electric coupling component, and the electric coupling component is configured to provide the guide member 201 with a traction force to overcome the elastic force before being stimulated by an electrical signal, so that the guide member 201 can move from the first position to the second position. Specifically, the electric coupling component includes a first magnetic member and a second magnetic member relatively arranged along a first spacing direction x1, the first magnetic member is arranged on the guide member 202, and the second magnetic member is arranged on the guide member 201, wherein at least one of the first magnetic member and the second magnetic member is an electromagnetic member, and they are magnetically attracted to or repelled from each other under the stimulation of an electrical signal. For example, the first magnetic member can be set as an electromagnetic member, and the second magnetic member can be a magnet or a metal member that can be magnetically attracted by the magnetic member. When the guide member 201 needs to move from the first position to the second position, the control system can control the power supply circuit to provide an electrical signal to the first magnetic member to give the first magnetic member magnetism, so that the first magnetic member and the second magnetic member are attracted to each other along the first spacing direction x1 under the action of magnetic attraction. When the mutual magnetic attraction between the first magnetic member and the second magnetic member is greater than the elastic force, the guide member 201 is moved to the second position relative to the main frame 21.

[0045] Optionally, when the guide member 201 needs to move from the second position to the first position, its control system can control the power supply circuit not to provide an electrical signal to its first magnetic member, so that its guide member 201 moves to the first position under the action of elastic force.

[0046] Optionally, the first magnetic member and the second magnetic member can also provide a repulsive force for the guide member 201 toward the ground 4 to be cleaned, and the repulsive force can effectively increase the pressure of the guide member 201 on the ground 4 to be cleaned. For example, when there are objects to be cleaned with strong adhesion on the ground 4 to be cleaned, an electrical signal can be used to stimulate a repulsive force between the first magnetic member and the second magnetic member to increase the pressure of the guide member 201 on the ground to be cleaned, so that the guide member 201 has the ability to shovel objects to be cleaned with greater adhesion, thereby effectively improving the cleaning ability and cleaning efficiency of the cleaning device 10.

[0047] Optionally, the first magnetic member and the second magnetic member may be disposed centered relative to the guide member 201 along the width direction x2.

[0048] Optionally, the first magnetic member and the second magnetic member may be multiple groups, and the multiple groups of first magnetic members and the second magnetic members are symmetrically arranged along the width direction x2 with respect to the symmetry plane of the guide member 201; or the multiple groups of first magnetic members and the second magnetic members are evenly spaced along the width direction x2.

[0049] Alternatively, if Figure 8 and Fig. 9 As shown, in some embodiments, the transmission component 204 can also be configured to drive the guide member 201 to move relative to the main frame 21 along the first spacing direction x1 through a mechanical transmission mechanism. For example, in some embodiments, the transmission component 204 includes a motor 2040 and a cable 2041, one end of the cable 2041 is connected to the motor 2040, and the other end is connected to the guide member 201, so that the guide member 201 moves relative to the main frame 21 along the first spacing direction x1 under the drive of the motor 2040 and the transmission of the cable 2041.

[0050] Optionally, the connection point between the cable 2041 and the guide member 201 is centered relative to the guide member 201 along the width direction x2. This can effectively reduce the probability of the transmission assembly 204 causing the guide member 201 to tilt along the width direction x2 when moving along the first spacing direction x1, thereby effectively improving the working stability of the guide mechanism 20.

[0051] Optionally, the transmission assembly 204 may also include multiple cables 2041, wherein the connection points between the multiple cables 2041 and the guide member 201 are evenly spaced along the width direction x2; or the connection points between the multiple cables 2041 and the guide member 201 are symmetrically arranged along the width direction x2 with respect to the symmetry plane of the guide member 201.

[0052] Alternatively, if Figure 8 and Fig. 9 As shown, in some embodiments, the transmission assembly 204 also includes a redirecting wheel 2043 and a winding wheel 2042. The redirecting wheel 2043 is rotatably set on the guide member 202. The motor 2040 is spaced relative to the connection point along the width direction x2. The cable 2041 is connected to the guide member 201 and the motor 2040 after being redirected by the redirecting wheel 2043. The winding wheel 2042 is fixedly connected to the output shaft of the motor 2040. One end of the cable 2041 is fixedly connected to the winding wheel 2042. The cable 2041 is wound on the winding wheel 2042 as the output shaft of the motor 2040 rotates, so that the transmission guide member 201 moves relative to the main frame 21 along the first spacing direction x1. Among them, the cable 2041 is redirected and connected to the guide member 201 and the motor 2040 through the redirecting wheel 2043. In this way, it can be ensured that the guide member 201 can move relative to the main frame 21 along the first spacing direction x1, and the motor 2040 can be arranged in a position that does not affect the normal operation of the cleaning mechanism 1, the guide member 201, the first transmission slope 200a and the second transmission slope 230a. For example, in an embodiment of the present application, the motor 2040 is arranged on one side of the main frame 21 along the width direction x2, thereby reducing the interference of the motor 2040 on the normal operation of the cleaning mechanism 1, the guide member 201, the first transmission slope 200a and the second transmission slope 230a.

[0053] Optionally, the transmission component 204 and the guide member 201 are connected by a flexible transmission, wherein the flexible transmission connection can be understood as that the guide member 201 can move relative to the main frame 21 based on the transmission of the transmission component 204, while the transmission component 204 will not affect the movement of the guide member 201 relative to the main frame 21 under the action of other external forces (such as the elastic force of the elastic member 203, the reaction force of the ground 4 to be cleaned on the guide member 201, and other external forces). The opposite transmission connection method is also called a rigid transmission connection method. For example, as described in the above embodiment, the guide member 201 includes a cable 2041, a motor 2040, a redirecting wheel 2043 and a winding wheel 2042, wherein the cable 2041 has flexible characteristics, and the motor 2040 realizes a flexible transmission connection with the guide member 201 through the cable 2041, so that the guide member 201 can still achieve relative movement to the main frame 21 when it is affected by its own gravity and / or the elastic force of the elastic member 203 and / or the reaction force of the ground 4 to be cleaned. For another example, as described in the above embodiment, the transmission assembly 204 includes a first magnetic member and a second magnetic member, wherein the first magnetic member and the second magnetic member transmit the guide member 201 through magnetic coupling, wherein the first magnetic member and / or the second magnetic member, without the excitation of an electrical signal, will not be affected by the first magnetic member and the second magnetic member, and the guide member 201 can still move relative to the main frame 21 when it is affected by its own gravity and / or the elastic force of the elastic member 203 and / or the reaction force of the floor 4 to be cleaned. Compared with the rigid transmission connection mode, the flexible transmission connection mode can enable the guide member 201 to be stably pressed against the floor 4 to be cleaned in a floating manner, thereby effectively improving the working stability of the guide member 201.

[0054] Alternatively, if Figure 8 and Fig. 9As shown, the first guide part 2021 and the second guide part 2020 are two groups, and the two groups of first guide parts 2021 and the second guide parts 2020 are arranged at intervals along the width direction x2. For example, the two groups of second guide parts 2020 are respectively arranged at the two end edges of the guide member 202 along the width direction x2, and the two groups of first guide parts 2021 and the two groups of second guide parts 2020 are arranged correspondingly, wherein the connection point between the transmission component 204 and the guide member 201 is located between the two groups of first guide parts 2021 and the second guide parts 2020. For example, in an embodiment in which the transmission component 204 is an electromagnetic coupling component, the connection point between the transmission component 204 and the guide member 201 is the connection position between the second magnetic part and the guide member 201, wherein the connection point between the transmission component 204 and the guide member 201 is located between the two groups of first guide parts 2021 and the second guide The connection point between the transmission component 204 and the guide member 201 is the connection point between the cable 2041 and the guide member 201, wherein the connection point between the transmission component 204 and the guide member 201 is located between the two groups of first guide members 2021 and the second guide member 2020, which can be understood as the connection point between the transmission component 204 and the guide member 201 is the connection point between the cable 2041 and the guide member 201. This can effectively reduce the probability of the transmission component 204 tilting along the width direction x2 when the transmission guide member 201 moves relative to the main frame 21 along the first spacing direction x1, thereby effectively improving the working stability of the guide mechanism 20.

[0055] Optionally, Figure 4 , Figure 5 , Figure 6 , Figure 7a and Figure 7bAs shown, in some embodiments, the guide mechanism 20 is arranged on the main frame 21, the main frame 21 is provided with a second transmission slope 230a, the first transmission slope 200a is connected to the second transmission slope 230a to form a transmission slope, and the guide member 201 is arranged to be movable relative to the main frame 21, so that the guide member 201 can move relative to the main frame 21 under the transmission of the transmission assembly 204, thereby adjusting the spacing distance h1 between the lower end of the guide member 201 and the ground 4 to be cleaned. Among them, the cleaning device 100 also includes a storage box 23, which is detachably arranged on the main frame 21, and the storage box 23 is located on the rear side of the first transmission slope 200a and / or the rear side of the second transmission slope 230a. The storage box 23 is provided with a storage space for storing the objects to be cleaned, wherein an outflow outlet is formed at the upper end of the second transmission slope 230a, and the outflow outlet is connected to the storage space, so that the garbage and / or water stains picked up by the cleaning mechanism 1 in cooperation with the guide member 201 are transmitted to the outflow outlet along the first transmission slope 200a and the second transmission slope 230a with the cooperation of the cleaning mechanism 1 and the transmission slope, and flow into the storage space through the outflow outlet.

[0056] Alternatively, if Figure 4 , Figure 5 , Figure 6 , Figure 7a and Figure 7b As shown, in some embodiments, the main frame 21 includes an inclined guide plate 230, the inclined guide plate 230 is provided with a second transmission slope 230a, the guide member 201 is configured to be movable relative to the inclined guide plate 230, the guide member 201 includes a guide main body 2010 and a connecting member 2011 connected to the guide main body 2010, the guide main body 2010 is provided with at least a portion of the first transmission slope 200a, and the guide main body 2010 includes a first end and a second end relatively arranged along the first spacing direction x1.

[0057] Optionally, the first end is also called the lower end of the guide member 201, which can be used to press against the floor 4 to be cleaned, and the second end of the guide body 2010 and the inclined guide plate 230 are spaced apart along the first spacing direction x1, thereby forming an escape space 31. Optionally, the escape space 31 can facilitate the movement of the guide body 2010 relative to the inclined guide plate 230, wherein one end of the connecting member 2011 is connected to the second end of the guide body 2010, and the other end of the connecting member 2011 is connected to the transmission assembly 204, and the connecting member 2011 can also be movably connected to the inclined guide plate 230, so that the guide body 2010 can move relative to the inclined guide plate 230 along the first spacing direction x1. The second guide portion 2020 described above may be a part of the connecting member 2011 , that is, the connecting member 2011 includes the second guide portion 2020 , and the second guide portion 2020 is arranged on both sides of the connecting member 2011 along the width direction x2 .

[0058] Alternatively, if Figure 4 , Figure 5 , Figure 6 , Figure 7a and Figure 7b As shown, in some embodiments, the guiding mechanism 20 includes a guiding member 202 connected to the main frame 21, and the guiding member 202 is arranged on the side of the inclined guiding plate 230 away from the second transmission inclined surface 230a, and the guiding member 202 and the inclined guiding plate 230 are arranged to form a second guiding space 30, and the connecting member 2011 is at least partially movably arranged in the second guiding space 30, so that the guiding member 201 is movablely matched through the second guiding space 30 formed by the guiding member 202 and the inclined guiding plate 230, and the guiding member 201 is guided to move relative to the inclined guide plate 230 along the first spacing direction x1 under the movable cooperation between the second guide space 30 and the connecting member 2011, based on which the stability of the guiding member 201 in the movement relative to the inclined guide plate 230 along the first spacing direction x1 can be effectively improved.

[0059] Alternatively, if Figure 4 and Figure 6 As shown, in some embodiments, the second end of the guide body 2010 includes a first fork portion 2014 and a second fork portion 2015 relatively spaced apart along a second spacing direction x3 perpendicular to the first transmission slope 200a, the first fork portion 2014 is provided with a portion of the first transmission slope 200a, the connecting member 2011 is connected to the second fork portion 2015, the first fork portion 2014 and the second fork portion 2015 are jointly enclosed to form a first guide space 33, the lower end of the inclined guide plate 230 is arranged in the first guide space 33, and the guide member 201 is movably matched with the lower end of the inclined guide plate 230 through the first guide space 33.

[0060] In an optional embodiment, the first bifurcated portion 2014 may be a hard structure or a soft structure, which is not limited here.

[0061] Specifically, in the present embodiment, the guide member 201 is integrally movably connected to the inclined guide plate 230, wherein the first guide space 33 serves as an avoidance space 31 for the guide main body 2010 to move relative to the inclined guide plate 230, so that the guide main body 2010 can move along the first spacing direction x1 relative to the inclined guide plate 230, and the movable cooperation between the first guide space 33 and the lower end of the inclined guide plate 230 guides the movement of the guide member 201 along the first spacing direction x1, thereby enabling the guide member 201 to stably move relative to the inclined guide plate 230 along the first spacing direction x1 under the transmission of the transmission assembly 204, thereby effectively improving the stability of the guide member 201 moving relative to the main frame 21 along the first spacing direction x1.

[0062] In an optional embodiment, the lower end of the inclined guide plate 230 is provided with at least a portion of the second transmission slope 230a, and the second transmission slope 230a provided at the lower end of the inclined guide plate 230 is also referred to as the lower end of the second transmission slope 230a, wherein the lower end of the inclined guide plate 230 is provided in the first guide space 33, so that the upper end of the first transmission slope 200a overlaps with the lower end of the second transmission slope 230a, and the upper end of the first transmission slope 200a is arranged closer to the cleaning mechanism 1 relative to the lower end of the second transmission slope 230a. Based on this, it can While ensuring that the guide member 201 can float and move between the first position and the second position, it can also ensure that the first transfer slope 200a and the second transfer slope 230a remain connected. In this way, when the garbage and / or water stains are transferred from the first transfer slope 200a to the second transfer slope 230a, the lower end of the inclined guide plate 230 will not form an obstacle to the garbage and / or water stains, so that the garbage and / or water stains can fall from the first transfer slope 200a to the second transfer slope 230a more smoothly and continue to be transferred along the second transfer slope 230a.

[0063] Optionally, in some embodiments, based on Figure 4 and Figure 6 Based on the structure of the illustrated embodiment, the guide member 201 also includes a soft film guide portion 2017, and the soft film guide portion 2017 is provided with at least a portion of the first transmission slope 200a, the lower end of the soft film guide portion 2017 is connected to the upper end of the first fork portion 2014, and the upper end of the soft film guide portion 2017 is connected to the inclined guide plate 230, so that the first transmission slope 200a is smoothly connected to the second transmission slope 230a, and the soft film guide portion 2017 is configured to generate flexible deformation so that the guide body 2010 can move relative to the inclined guide plate 230 along the first spacing direction x1. Specifically, in this embodiment, the first transmission slope 200a provided on the soft film guide portion 2017 is an extension of the upper end of the first transmission slope 200a, wherein the upper end of the first fork portion 2014 smoothly transitions the first transmission slope 200a to the second transmission slope 230a through the soft film guide portion 2017 and is connected to the second transmission slope 230a, thereby ensuring that the guide body 2010 can move relative to the inclined guide plate 230 along the first spacing direction x1. At the same time, the connection between the first transmission slope 200a and the second transmission slope 230a can be made smoother, and the soft film guide portion 2017 seals the fitting gap between the upper end of the first fork portion 2014 and the inclined guide plate 230, thereby reducing the probability of garbage and / or water stains flowing out along the fitting gap between the upper end of the first fork portion 2014 and the inclined guide plate 230 or getting stuck in the fitting gap between the upper end of the first fork portion 2014 and the inclined guide plate 230.

[0064] Alternatively, if Figure 5 , Figure 7a and Figure 7b As shown, in some embodiments, the guide member 201 includes a soft film guide portion 2016, the upper end of the first transmission slope 200a is arranged on the soft film guide portion 2016, one end of the soft film guide portion 2016 is connected to the second end of the guide body 2010, and the other end of the soft film guide portion 2016 is connected to the inclined guide plate 230, so that the first transmission slope 200a is smoothly connected to the second transmission slope 230a, and the soft film guide portion 2016 is arranged to be flexibly deformable so that the guide body 2010 can move relative to the inclined guide plate 230 along the first spacing direction x1. Such a configuration can ensure that the guide main body 2010 can move relative to the inclined guide plate 230 along the first spacing direction x1, and at the same time, this configuration can effectively improve the sealing of the connection between the first transmission slope 200a and the second transmission slope 230a, thereby effectively reducing the probability of garbage and / or water stains flowing out or getting stuck along the connection between the first transmission slope 200a and the second transmission slope 230a.

[0065] Optionally, the soft film guide portion 2016 is at least partially fitted with the inclined guide plate 230, and the fitting here means that it maintains a certain level with the second transmission slope 230a of the inclined guide plate 230, so that the connection between it and the second transmission slope 230a is smoother, and the part of the soft film guide portion 2016 that fits with the inclined guide plate 230 can be better stressed and cooperate with the cleaning mechanism 1 to realize the transmission of garbage.

[0066] In an optional embodiment, the portion of the soft film guide portion 2016 located on the inclined guide plate 230 is directly adhered to the inclined guide plate 230, or the end of the soft film guide portion 2016 away from the guide body 2010 is connected to the inclined guide plate 230, and the portion of the soft film guide portion 2016 located on the inclined guide plate 230 can be attached to the inclined guide plate 230 under the traction force of the inclined guide plate 230 and the guide body 2010, which is not limited here.

[0067] In an optional embodiment, the guide body 2010 can move relative to the inclined guide plate 230 along the first spacing defense line x1 so that when the soft film guide portion 2016 is flexibly deformed, at least a portion of the deformed portion of the soft film guide portion 2016 can be accommodated in the avoidance space 31. That is, in an optional embodiment, the guide body 2010 can move relative to the inclined guide plate 230 along the first spacing direction x1 so that the soft film guide portion 2016 is deformed to form wrinkles (deformed portion), and at least a portion of the wrinkles can be accommodated in the avoidance space 31.

[0068] Optionally, the escape space 31 serves as a moving space for the first end of the guiding body 2010 to move relative to the inclined guiding plate 230, and the escape space 31 can also serve as an escape zone when the soft film guiding portion 2016 is deformed, for example Figure 7a As shown, when the guide body 2010 is subjected to external force or the transmission of the transmission component 204 approaches the lower end of the inclined guide plate 230 along the first spacing direction x1, the deformable portion of the soft film guide portion 2016 is compressed by the force of the guide body 2010 and undergoes a wrinkled or curved deformation, wherein the wrinkled or curved deformation area can be squeezed into the avoidance space 31. In this way, the avoidance space 31 can enable the soft film guide portion 2016 to smoothly undergo flexibly deformation, thereby avoiding the wrinkles (deformed portion) formed on the soft film guide portion 2016 from interfering with the cleaning mechanism 1 and affecting its cleaning performance.

[0069] In an optional embodiment, the portion of the soft film guide portion 2016 corresponding to the avoidance space 31 can be set as a bending / folding structure toward the avoidance space 31, so that the soft film guide portion 2016 has a tendency to bend toward the avoidance space 31. When the soft film guide portion 2016 is deformed, it will automatically bend toward the avoidance space 31.

[0070] In an optional embodiment, the cleaning mechanism 1 is located on a side of the soft film guide portion 2016 away from the avoidance space 31. Due to the obstruction of the cleaning mechanism 1 and the existence of the avoidance space 31, the soft film guide portion 2016 is deformed toward the avoidance space 31 under the obstruction of the cleaning mechanism 1, and after a long time, the soft film guide portion 2016 will form a bending / folding structure toward the avoidance space, so that even if there is no obstruction from the cleaning mechanism 1 in the future, it will bend toward the avoidance space 31.

[0071] Optionally, the soft membrane guide portion 2016 includes a flexible main body portion 2016a and a connecting portion 2016b connected to the flexible main body portion 2016a, one end of the flexible main body portion 2016a away from the connecting portion 2016b is connected to the second end of the guide main body 2010, and the connecting portion 2016b is connected to the inclined guide plate 230. The flexible main body portion 2016a is configured to produce flexible deformation so that the guide main body 2010 moves relative to the inclined guide plate 230 along the first spacing direction x1.

[0072] Specifically, Figure 5 , Figure 7a and Figure 7b As shown, this embodiment and Figure 4 and Figure 6The difference between the illustrated embodiments is that, in this embodiment, the second end of the guide body 2010 extends to form a second fork portion 2015 spaced apart from the soft film guide portion 2016 along the second spacing direction x3, wherein the second fork portion 2015 is used to connect to the connector 2011. The guide body 2010 is connected to the lower end of the inclined guide plate 230 through a soft film guide portion 2016, and the soft film guide portion 2016 is composed of a flexible main body portion 2016a and a connecting portion 2016b that are connected to each other. The flexible main body portion 2016a is located between the second end of the guide body 2010 and the lower end of the inclined guide plate 230. In other words, the flexible main body portion 2016a is arranged on the avoidance space 31, and the flexible main body portion 2016a is arranged to undergo flexibly deformation when subjected to an external force in the first spacing direction x1, so that the guide body 2010 can move relative to the inclined guide plate 230 along the first spacing direction x1, thereby adjusting the spacing distance h1 between the lower end of the guide member 201 and the ground 4 to be cleaned. In this embodiment, the avoidance space 31 serves as a movable space for the guide body 2010 to move relative to the inclined guide plate 230 along the first spacing direction x1. The avoidance space 31 can also serve as an avoidance area when the flexible body 2016a is deformed. Figure 7a As shown, when the guide main body 2010 is subjected to external force or the transmission of the transmission component 204 approaches the lower end of the inclined guide plate 230 along the first spacing direction x1, the flexible main body portion 2016a is compressed by the force of the guide main body 2010 and undergoes a wrinkled or curved deformation, wherein the wrinkled or curved deformation area of ​​the flexible main body portion 2016a can be squeezed into the avoidance space 31. In this way, the avoidance space 31 can enable the flexible main body portion 2016a to smoothly undergo flexible deformation, thereby ensuring that the guide main body 2010 can move relative to the inclined guide plate 230 while effectively reducing the interference of the flexible main body portion 2016a with the cleaning mechanism 1. Among them, the connecting part 2016b is relatively fixedly connected to the inclined guide plate 230. In other words, the connecting part 2016b does not move relative to the inclined guide plate 230 as the first end of the guide body 2010 moves. In this way, the connecting part 2016b is statically connected to the lower end of the inclined guide plate 230, thereby effectively reducing the difficulty of sealing between the connecting part 2016b and the inclined guide plate 230. Moreover, compared with the dynamic connection, the static connection has a better sealing effect. Therefore, based on this setting, the sealing performance of the connection between the connecting part 2016b and the inclined guide plate 230 can also be effectively improved, thereby effectively reducing the probability of garbage and / or water stains flowing out or getting stuck along the connection between the connecting part 2016b and the inclined guide plate 230.

[0073] Alternatively, if Figure 7a and Figure 7bAs shown, in some embodiments, a recessed portion (not marked in the figure) is disposed at the lower end of the inclined guide plate 230 and is recessed relative to the second transmission inclined surface 230a along the second spacing direction x3, and an embedded portion (not marked in the figure) is disposed on the side of the connecting portion 2016b away from the first transmission inclined surface 200a and is protruded relative to the flexible main body portion 2016a along the second spacing direction x3. The embedded portion is detachably embedded in the recessed portion so that the connecting portion 2016b is relatively fixedly connected to the inclined guide plate 230, wherein The recessed portion is configured to allow the first transmission slope 200a to be smoothly connected to the second transmission slope 230a, thereby making the connection between the first transmission slope 200a and the second transmission slope 230a smooth, thereby preventing garbage and / or water stains from being stuck at the connection between the first transmission slope 200a and the second transmission slope 230a, so that the garbage and / or water stains can be smoothly transferred to the storage space along the first transmission slope 200a and the second transmission slope 230a under the drive of the cleaning mechanism 1.

[0074] In an optional embodiment, the embedded portion can be detachably connected to the recessed portion by magnetic attraction / snap-fitting, so as to facilitate the disassembly / installation / replacement of the soft film guide portion 2016 or the entire guide member 201.

[0075] Alternatively, if Figure 4 , Figure 5 , Figure 6 , Figure 7a and Figure 7b As shown, in some embodiments, the guide member 201 further includes a flexible abutment member 2012 , and the hardness of the flexible abutment member 2012 is less than the hardness of the guide body member 2010 .

[0076] Optionally, the flexible abutment member 2012 is coated on the outer surface of the first end of the guide body member 2010 .

[0077] Optionally, the flexible abutment member 2012 covers part or the whole of the guide body member 2010, which is not limited here.

[0078] In an optional embodiment, the guide body 2010 is configured to be pressed against the floor surface 4 to be cleaned via a flexible abutment member 2012 .

[0079] In an optional embodiment, the flexible abutment 2012 is provided with a first sub-transmission slope 200c, and the guide body 2010 is provided with a second sub-transmission slope 200b, and the first sub-transmission slope 200c is connected with the second sub-transmission slope 200b to form a first transmission slope 200a, wherein the outer surface of the first end of the guide body 2010 is covered by the flexible abutment 2012, so that the guide member 201 as a whole has a certain hardness to ensure that the lower end of the guide member 201 exerts downward pressure on the floor 4 to be cleaned, so that the guide member 201 can cooperate with the cleaning machine more efficiently. While the structure 1 picks up garbage and / or water stains, the lower end of the guide member 201 can also have a certain degree of softness, so that the lower end of the guide member 201 can achieve soft contact with the floor 4 to be cleaned, and can better adapt to the floor 4 to be cleaned, so that it can achieve better contact with the floor 4 to be cleaned, thereby reducing the risk of the guide member 201 being damaged by the collision of hard garbage and / or obstacles, and reducing the noise generated by the friction between the lower end of the guide member 201 and the floor 4 to be cleaned, thereby effectively improving the working stability and quietness of the guide member 201 mechanism. Optionally, in some embodiments, the guide body can be a metal member, and the flexible contact member 2012 can be a rubber member.

[0080] Optionally, the flexible abutment member 2012 may also cover the entire outer surface of the guide body 2010 , that is, the flexible abutment member 2012 includes the first transmission slope 200a .

[0081] Optionally, on the basis that the flexible abutment member 2012 can also cover the entire outer surface of the guide body member 2010 , the flexible abutment member 2012 can also extend to form a first fork portion 2014 .

[0082] Alternatively, if Figure 6 , Figure 7a and Figure 7bAs shown, in a reference plane perpendicular to the support surface, the distance h3 between the front end point G of the flexible abutment member 2012 and the front end point H of the guide body member 2010 is set to 0.5 mm to 2 mm. Specifically, the distance h3 can be understood as the thickness of the flexible abutment member 2012 between the front end point G and the front end point H, wherein the flexible abutment member 2012 is a relatively soft flexible member, the guide body member 2010 is a hard member with a relatively large hardness, and the flexible abutment member 2012 covers the outer surface of the first end of the guide body member 2010, so that the lower end of the guide member 201 can achieve flexible contact with the floor 4 to be cleaned, wherein, if the distance h3 between the front end point G of the flexible abutment member 2012 and the front end point H of the guide body member 2010 directly affects the deformability of the flexible abutment member 2012 when pressed against the floor 4 to be cleaned, the distance h3 is positively correlated with the deformation ability of the flexible abutment member 2012. Among them, if the distance h3 is too small, the deformation ability of the flexible abutment 2012 will be insufficient, resulting in an increase in the noise generated by the friction between the lower end of the guide member 201 and the ground 4 to be cleaned, and an increase in the risk of the guide member being damaged by collisions with hard garbage and / or obstacles. If the distance h3 is too large, the deformation ability of the flexible abutment 2012 will be too large, causing the lower end of the guide member 201 to be too soft, thereby reducing the scraping ability of the lower end of the guide member 201 on the ground 4 to be cleaned, affecting the ability of the guide member 201 to scrape the object to be cleaned, thereby affecting the cleaning ability of the cleaning device 10. Therefore, the spacing h3 is set at 0.5mm~2mm, for example, 0.5mm, 1mm, 1.2mm or 2mm, etc., which are actual values ​​between 0.5mm and 2mm. This can ensure that the flexible deformation of the flexible abutment member 2012 is set within a reasonable range, so that the lower end of the guide member 201 has sufficient flexibility and a certain hardness, thereby effectively improving the working stability and quietness of the guide member 201 mechanism, and also enabling the guide member 201 to more efficiently cooperate with the cleaning mechanism 1 to pick up garbage and / or water stains.

[0083] The above descriptions are only some embodiments of the present application, and do not limit the protection scope of the present application. Any equivalent device 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 device, characterized in that: The invention comprises a control system, a guide mechanism and a cleaning mechanism, wherein the guide mechanism comprises a guide member and a transmission assembly, wherein the guide member is provided with a first transmission slope, and the cleaning mechanism is arranged on the front side of the first transmission slope, and the lower end of the guide member is arranged adjacent to the ground to be cleaned, and cooperates with the cleaning mechanism to pick up garbage from the ground to be cleaned and transmit it along the first transmission slope, and the guide member is in transmission connection with the transmission assembly, and the transmission assembly is used to adjust the spacing distance between the lower end of the guide member and the ground to be cleaned under the control of the control system.

2. The cleaning device according to claim 1, characterized in that The control system controls the transmission assembly so that the guide member can move between a first position and a second position. When the guide member is in the first position, there is a first spacing distance between the lower end of the guide member and the ground to be cleaned. When the guide member is in the second position, there is a second spacing distance between the lower end of the guide member and the ground to be cleaned, wherein the first spacing distance is smaller than the second spacing distance.

3. The cleaning device according to claim 2, characterized in that: In response to the cleaning device being in a non-working state or having an obstacle-crossing requirement, the control system controls the transmission assembly to set the guide member at the second position.

4. The cleaning device according to claim 2, characterized in that: The cleaning device includes a sensing element for acquiring a movement signal when the cleaning device is in a working state. The control system controls the transmission component to set the guide member to the first position in response to the cleaning device being in a working state and moving forward, and controls the transmission component to set the guide member to the second position in response to the cleaning device being in a working state and moving backward.

5. The cleaning device according to claim 4, characterized in that: The sensing element comprises an inertial sensor, and the inertial sensor is arranged on the chassis of the cleaning device; and / or The sensing element is connected to the driving wheel of the cleaning device and is used to obtain the movement signal based on the movement information of the driving wheel.

6. The cleaning device according to claim 2, characterized in that: When the guide member is in the first position, the guide member is configured to press against the floor to be cleaned in a floating manner.

7. The cleaning device according to claim 6, characterized in that: The guide mechanism also includes an elastic member, which is configured to provide the guide member with an elastic force to move toward the first position, so that the guide member is pressed against the floor to be cleaned in an elastic floating manner when in the first position, and the transmission assembly provides the guide member with a traction force to overcome the elastic force, so that the guide member can move from the first position to the second position.

8. The cleaning device according to claim 7, characterized in that: The guide member is provided with a first guide portion, and the guide mechanism also includes a guide member arranged on the main frame of the cleaning device, and the guide member is provided with a second guide portion, and the second guide portion is movably cooperated with the first guide portion to enable the guide member to move relative to the guide member along a first spacing direction between the first position and the second position, and the guide member is also provided with a first abutment portion, and the guide member is also provided with a second abutment portion, and the first abutment portion and the second abutment portion are arranged opposite to each other along the first spacing direction, and the number of the elastic members is plural, and they are arranged between the first abutment portion and the second abutment portion at intervals along the width direction of the guide member.

9. The cleaning device according to claim 7, characterized in that: The transmission assembly includes an electric coupling assembly, which is configured to provide the guide member with a traction force that overcomes the elastic force under the stimulation of an electric signal, so that the guide member can move from the first position to the second position.

10. The cleaning device according to claim 9, characterized in that The guide member is provided with a first guide portion, and the guide mechanism also includes a guide member arranged on the main frame of the cleaning device, and the guide member is provided with a second guide portion, and the second guide portion is movably cooperated with the first guide portion so that the guide member moves relative to the guide member along a first spacing direction between the first position and the second position, and the electric coupling component includes a first magnetic member and a second magnetic member relatively arranged along the first spacing direction, at least one of the first magnetic member and the second magnetic member is an electromagnetic member, and they are magnetically attracted to or repelled from each other under the excitation of an electrical signal, and the first magnetic member is arranged on the guide member, and the second magnetic member is arranged on the guide member.

11. The cleaning device according to claim 7, characterized in that: The transmission assembly comprises a motor and a cable, one end of the cable is connected to the motor, and the other end of the cable is connected to the guide member.

12. The cleaning device according to claim 11, characterized in that The transmission assembly further comprises a redirecting wheel and a winding wheel, wherein the redirecting wheel is rotatably arranged on the guide member, the motor is spaced relative to the connection point along the width direction, the cable is connected to the guide member and the motor after being redirected by the redirecting wheel, the winding wheel is fixedly connected to the output shaft of the motor, one end of the cable is fixedly connected to the winding wheel, and the cable is wound on the winding wheel as the output shaft of the motor rotates; and / or The connection point between the cable and the guide member is centrally arranged relative to the guide member along the width direction.

13. The cleaning device according to claim 8, characterized in that The first guide parts and the second guide parts are in two groups, the two groups of the first guide parts and the second guide parts are spaced apart along the width direction, and the connection point between the transmission assembly and the guide member is located between the two groups of the first guide parts and the second guide parts.

14. The cleaning device according to any one of claims 1 to 13, characterized in that: The cleaning device further comprises a main frame, and the guiding mechanism is arranged on the main frame; Wherein, the main frame comprises an inclined guide plate, the inclined guide plate is provided with a second transmission inclined surface connected to the first transmission inclined surface, and the guide member is arranged to be movable relative to the inclined guide plate; The guide member includes a guide main body and a connecting member connected to the guide main body, the guide main body is provided with at least a portion of the first transmission inclined surface, the guide main body includes a first end and a second end relatively arranged along a first spacing direction of movement of the guide member relative to the inclined guide plate, the first end is used to press against the floor to be cleaned, one end of the connecting member is connected to the second end, and the other end is connected to the transmission assembly.

15. The cleaning device according to claim 14, characterized in that The upper end of the first transmission slope is arranged closer to the cleaning mechanism relative to the lower end of the second transmission slope, and the second end includes a first fork portion and a second fork portion that are relatively spaced apart along a second spacing direction perpendicular to the first transmission slope, at least a portion of the first transmission slope is arranged at the first fork portion, one end of the connecting member is connected to the second fork portion, the first fork portion and the second fork portion are arranged to form the first guide space, the lower end of the inclined guide plate is arranged in the first guide space, and the guide member is movably matched with the lower end of the inclined guide plate through the first guide space.

16. The cleaning device according to claim 15, characterized in that The guide member also includes a soft film guide portion, which is provided with at least a portion of the first transmission slope, the lower end of the soft film guide portion is connected to the upper end of the first fork portion, and the upper end of the soft film guide portion is connected to the inclined guide plate, so that the first transmission slope is smoothly connected to the second transmission slope, and the soft film guide portion is configured to produce flexible deformation so that the guide body can move relative to the inclined guide plate along the first spacing direction.

17. The cleaning device according to claim 14, characterized in that The second end and the inclined guide plate are spaced apart along the first spacing direction to form an avoidance space, and the guide member also includes a soft film guide portion, the upper end of the first transmission slope is arranged on the soft film guide portion, one end of the soft film guide portion is connected to the second end, and the other end of the soft film guide portion is connected to the inclined guide plate, so that the first transmission slope and the second transmission slope are smoothly connected, and the soft film guide portion is configured to produce flexible deformation so that the guide body can move relative to the inclined guide plate along the first spacing direction.

18. The cleaning device according to claim 17, characterized in that The soft film guide portion is at least partially disposed in contact with the inclined guide plate; and / or The guide body can move relative to the inclined guide plate along the first spacing direction so that when the soft film guide portion is flexibly deformed, the deformed portion of the soft film guide portion is at least partially accommodated in the avoidance space.

19. The cleaning device according to claim 17, characterized in that The soft film guide portion includes a flexible main body portion and a connecting portion connected to the flexible main body portion, one end of the flexible main body portion away from the connecting portion is connected to the second end, the connecting portion is connected to the inclined guide plate, and the flexible main body portion is configured to generate flexible deformation.

20. The cleaning device according to claim 19, characterized in that The inclined guide plate is provided with a recessed portion recessed relative to the second transmission slope, and the side of the connecting portion away from the first transmission slope is provided with an embedded portion protruding relative to the flexible main body portion, and the embedded portion can be detachably embedded in the recessed portion to connect the connecting portion with the inclined guide plate, wherein the recessed portion is configured to enable the first transmission slope to be smoothly connected to the second transmission slope.

21. The cleaning device according to claim 15, characterized in that The guide member further comprises a flexible abutment member, wherein the hardness of the flexible abutment member is less than the hardness of the guide body member; The flexible abutment member is coated on the outer surface of the first end, and the guide body member is configured to be pressed against the floor to be cleaned through the flexible abutment member.

22. The cleaning device according to claim 21, characterized in that The main frame is provided with a wheel body, which is used to define a support surface in contact with the floor to be cleaned. In a reference section perpendicular to the support surface, the distance between the front end point of the flexible abutment member and the front end point of the guide body member is set to 0.5mm to 2mm.

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