Cleaning device, cleaning robot, control method of cleaning robot, cleaning system and storage medium

Abstract

The invention discloses a cleaning device, a cleaning robot, a cleaning system, a control method of the cleaning robot and a storage medium. The cleaning device comprises a rolling brush shell, a driving assembly, a rolling brush assembly, a shielding assembly and a lifting assembly. The rolling brush shell is arranged on a machine body of the cleaning robot and provided with a suction inlet, and the suction inlet is used for allowing garbage on a to-be-cleaned face to enter the rolling brush shell. The driving assembly is arranged on the rolling brush shell or the machine body. The rolling brush assembly is at least partially arranged in the rolling brush shell, and the rolling brush assembly is connected with the driving assembly. The shielding assembly is connected with the driving assembly. The lifting assembly is connected with the driving assembly and the rolling brush shell. The driving assembly is used for driving the rolling brush assembly to rotate so as to clean the to-be-cleaned face, driving the shielding assembly to move so as to change the opening size of the suction inlet and driving the lifting assembly to move so as to drive the rolling brush shell to move, and therefore the rolling brush assembly is driven to ascend and descend relative to the machine body. According to the cleaning robot, the cleaning device can execute multiple functions, the applicability of the cleaning robot is higher, and the cleaning effect is better.

Description

Technical Field

[0001] The present disclosure relates to the field of cleaning technology, and in particular to a cleaning device, a cleaning robot, a cleaning system, a control method for the cleaning robot, and a storage medium. Background Art

[0002] A cleaning robot is a device used to automatically clean a carpet or floor surface to be cleaned, and is usually used in home cleaning, large venue cleaning, and other scenarios. Generally, a cleaning robot includes a cleaning device, and the cleaning device includes a cleaning component (such as a roller brush component, etc.), and the cleaning component can clean the surface to be cleaned. However, the cleaning device can only simply clean the surface to be cleaned, which will result in poor applicability of the cleaning robot and cannot meet the user's usage needs. Summary of the invention

[0003] The embodiments of the present disclosure provide a cleaning device, a cleaning robot, a cleaning system, a control method for the cleaning robot, and a storage medium, which are at least used to solve the problem of poor applicability of the above-mentioned cleaning robot.

[0004] In a first aspect, an embodiment of the present disclosure provides a cleaning device for a cleaning robot, wherein the cleaning robot, when performing a cleaning task, uses the cleaning device to clean garbage on a surface to be cleaned. The cleaning device comprises a roller brush housing, a driving assembly, a roller brush assembly, a shielding assembly and a lifting assembly. The roller brush housing is disposed on the body of the cleaning robot and has a suction port, wherein the suction port is used to allow garbage on the surface to be cleaned to enter the roller brush housing. The driving assembly is disposed on the roller brush housing or the body. The roller brush assembly is at least partially disposed in the roller brush housing, and the roller brush assembly is connected to the driving assembly. The shielding assembly is connected to the driving assembly. The lifting assembly is connected to the driving assembly and the roller brush housing. The driving assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction port, and drive the lifting assembly to move to drive the roller brush housing to move, thereby driving the roller brush assembly to rise and fall relative to the body.

[0005] In a second aspect, an embodiment of the present disclosure provides a cleaning robot, the cleaning robot comprising a body and a cleaning device, the cleaning device being arranged on the body and used to clean the surface to be cleaned. The cleaning device comprises a roller brush housing, a driving assembly, a roller brush assembly, a shielding assembly and a lifting assembly. The roller brush housing is arranged on the body of the cleaning robot and has a suction port, the suction port being used to allow garbage on the surface to be cleaned to enter the roller brush housing. The driving assembly is arranged on the roller brush housing or the body. The roller brush assembly is at least partially arranged in the roller brush housing, and the roller brush assembly is connected to the driving assembly. The shielding assembly is connected to the driving assembly. The lifting assembly is connected to the driving assembly and the roller brush housing. The driving assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction port, and drive the lifting assembly to move to drive the roller brush housing to move, thereby driving the cleaning device to rise and fall relative to the body.

[0006] In a third aspect, an embodiment of the present disclosure provides a cleaning system, which includes a cleaning robot and a base station, wherein the base station is used in conjunction with the cleaning robot, and the base station includes a parking position for accommodating the cleaning robot. The cleaning robot includes a body and a cleaning device, wherein the cleaning device is disposed on the body and is used to clean the surface to be cleaned. The cleaning device includes a roller brush housing, a drive assembly, a roller brush assembly, a shielding assembly, and a lifting assembly. The roller brush housing is disposed on the body of the cleaning robot and has a suction port, wherein the suction port is used to allow garbage on the surface to be cleaned to enter the roller brush housing. The drive assembly is disposed on the roller brush housing or the body. The roller brush assembly is at least partially disposed in the roller brush housing, and the roller brush assembly is connected to the drive assembly. The shielding assembly is connected to the drive assembly. The lifting assembly is connected to the drive assembly and the roller brush housing. The driving assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction port, and drive the lifting assembly to move to drive the roller brush shell to move, thereby driving the cleaning device to rise and fall relative to the body.

[0007] In a fourth aspect, an embodiment of the present disclosure provides a control method for a cleaning robot, wherein the cleaning robot comprises a body and a cleaning device, wherein the cleaning device is arranged on the body and used to clean the surface to be cleaned. The cleaning device comprises a roller brush housing, a driving assembly, a roller brush assembly, a shielding assembly and a lifting assembly. The roller brush housing is arranged on the body of the cleaning robot and has a suction port, wherein the suction port is used to allow garbage on the surface to be cleaned to enter the roller brush housing. The driving assembly is arranged on the roller brush housing or the body. The roller brush assembly is at least partially arranged in the roller brush housing, and the roller brush assembly is connected to the driving assembly. The shielding assembly is connected to the driving assembly. The lifting assembly is connected to the driving assembly and the roller brush housing. The driving assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction port, and drive the lifting assembly to move to drive the roller brush housing to move, thereby driving the cleaning device to rise and fall relative to the body. The control method includes: controlling the driving component to drive the roller brush component to move to clean the target area, and driving the shielding component to move to reduce the opening size of the suction port during at least part of the time period when the cleaning robot enters the target area from the non-target area for cleaning.

[0008] In a fifth aspect, an embodiment of the present disclosure provides a cleaning robot, comprising a processor and a memory, wherein the memory stores computer program instructions, and the processor is used to execute a control method of an embodiment of the present disclosure, wherein the control method comprises: controlling the driving component to drive the roller brush component to move to clean the target area, and driving the shielding component to move to reduce the opening size of the suction port during at least a portion of the time period when the cleaning robot enters a target area from a non-target area for cleaning.

[0009] In a sixth aspect, an embodiment of the present disclosure provides a storage medium storing a computer program. When the computer program is executed by one or more processors, a control method of an embodiment of the present disclosure is implemented, the control method comprising: controlling the driving component to drive the roller brush component to move to clean the target area, and driving the shielding component to move to reduce the opening size of the suction port during at least a portion of the time period when the cleaning robot enters the target area from the non-target area for cleaning.

[0010] In the cleaning device, cleaning robot, cleaning system, control method of the cleaning robot and storage medium of the disclosed embodiments, the cleaning device includes a roller brush assembly, a shielding assembly and a lifting assembly. The driving assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction port, and drive the lifting assembly to move to drive the roller brush shell to move, thereby driving the cleaning device to rise and fall relative to the body. Therefore, compared with the related art, the cleaning device can not only clean the surface to be cleaned, but also use the roller brush assembly, the shielding assembly and the lifting assembly to jointly perform other functions, thereby improving the applicability of the cleaning robot, meeting the user's usage needs, and improving the cleaning effect.

[0011] Additional aspects and advantages of the embodiments of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through the practice of the embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0013] Figure 1 is a schematic diagram of the three-dimensional structure of a cleaning device according to an embodiment of the present disclosure;

[0014] Figure 2 yes Figure 1 A three-dimensional exploded schematic diagram of the cleaning device shown;

[0015] Figure 3 yes Figure 1 A schematic cross-sectional structure diagram of a cleaning device shown;

[0016] Figure 4 yes Figure 1 Another schematic cross-sectional view of the cleaning device shown;

[0017] Figure 5 yes Figure 1 A three-dimensional exploded schematic diagram of a part of the structure of the cleaning device shown;

[0018] Figure 6 yes Figure 1 A three-dimensional exploded schematic diagram of a part of the structure of the cleaning device shown;

[0019] Figure 7 yes Figure 1 A schematic diagram of the three-dimensional structure of the cleaning device from another perspective;

[0020] Figure 8 is a schematic diagram of the three-dimensional structure of a cleaning device according to another embodiment of the present disclosure;

[0021] Fig. 9 yes Figure 8 A schematic structural diagram of the cleaning device in one state shown;

[0022] Fig.10 yes Figure 8 A schematic structural diagram of the cleaning device in another state shown;

[0023] Fig.11 yes Figure 8 A schematic structural diagram of the cleaning device in another state shown;

[0024] Fig.12 is a schematic diagram of the three-dimensional structure of a cleaning device according to another embodiment of the present disclosure;

[0025] Fig.13 yes Fig.12 A three-dimensional exploded schematic diagram of the cleaning device shown;

[0026] Fig.14 yes Fig.12 A schematic cross-sectional view of a portion of the structure of the cleaning device shown;

[0027] Fig.15 is a schematic diagram of the three-dimensional structure of a cleaning device according to another embodiment of the present disclosure;

[0028] Fig.16 yes Fig.15 A three-dimensional exploded schematic diagram of a part of the structure of the cleaning device shown;

[0029] Fig.17 yes Fig.16 The enlarged schematic diagram of the middle XV;

[0030] Fig.18 is a three-dimensional exploded schematic diagram of a part of the structure of a cleaning device in another embodiment of the present disclosure;

[0031] Fig.19 is a schematic cross-sectional structure diagram of a cleaning robot according to certain embodiments of the present disclosure;

[0032] Fig. 20 is a schematic diagram of the structure of a cleaning robot according to certain embodiments of the present disclosure;

[0033] Fig.21 is a schematic diagram of the structure of a cleaning system according to certain embodiments of the present disclosure;

[0034] Figure 22-Figure 27 is a flow chart of a control method of a cleaning robot according to certain embodiments of the present disclosure;

[0035] Fig.28 It is a schematic diagram of the connection between the storage medium and the processor in certain embodiments of the present disclosure.

[0036] Description of main component symbols:

[0037] Cleaning system 4000; base station 3000; storage medium 2000, computer program 2100; cleaning robot 1000; forward direction X of the cleaning robot; first direction (A1 / A2), second direction (B1 / B2), third direction C, fourth direction (Y1 / Y2);

[0038] Cleaning device 100; body 200, bracket 210, rotating shaft 220, mounting housing 230, mounting space 250, side brush 260, wiping member 270, driving wheel 280; processor 300;

[0039] Roller brush housing 10, guide portion 101, first side 103, second side 105, suction port 11, cover 12, mounting groove 13, roller brush chamber housing 14, guide member 15, first guide side wall 151, second guide side wall 153, rotating arm 16, guide groove 17, first guide side wall 171, second guide side wall 173, accommodating chamber 18, dust suction port 19;

[0040] Driving assembly 20, driving member 21, transmission component 23, first transmission unit 231, first rotating shaft 2311, second transmission unit 233, third transmission unit 235, gear connecting rod unit 2350, second rotating shaft 2351, moving member 2352, moving groove 2353, first sub-groove 23531, second sub-groove 23533, third sub-groove 23535, moving body 2354, linkage part 2355, linkage sub-part 23551, elastic element 23553, matching surface 23555, protruding portion 2356, first surface 23561, second surface 23563, matching portion 2357, total transmission portion 23580, first transmission portion 2358, protruding portion 23581, first active portion 23583, second transmission portion 2359, coupling portion 23591, second main body portion 23593, functional component 2360, clutch unit 237, first transmission member 2371, second transmission member 2373, third transmission member 2375, one-way clutch 2377;

[0041] Roller brush assembly 40, roller brush 41; shielding assembly 50, shielding component 501, shielding member 51, connecting arm 511, shielding portion 513, abutting portion 515, connecting member 53, protrusion 5301, accommodating space 5303, groove 5305, first side surface 5307, second side surface 5309, first sub-component 531, second sub-component 532, connecting body 533, connecting protrusion 534, first connecting side wall 535, second connecting side wall 536, first protruding structure 537, first elastic member 55, matching member 56, limiting member 503, limiting body 5031, connecting end 5033, second elastic member 505;

[0042] Lifting assembly 60, connecting shaft 61, lifting member 63, socket portion 631, socket protrusion 6311, hook portion 633, recovery member 64, sliding member 65, sliding portion 651, sliding protrusion 653; detection assembly 80, first detection member 81, second detection member 83; protective cover 91; first sealing member 93; second sealing member 95. DETAILED DESCRIPTION

[0043] The embodiments of the present disclosure are further described below in conjunction with the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements or elements with the same or similar functions from beginning to end. In addition, the embodiments of the present disclosure described below in conjunction with the accompanying drawings are exemplary and are only used to explain the embodiments of the present disclosure, and cannot be understood as limiting the present disclosure.

[0044] A cleaning robot is a device used to automatically clean a surface to be cleaned, such as a carpet, a tabletop, a wall, a glass, a door or a floor. It is usually used in scenarios such as household indoor cleaning and large-scale cleaning. Generally, a cleaning robot includes a cleaning device, and the cleaning device includes a cleaning component (such as a roller brush component, etc.), and the cleaning component can clean the surface to be cleaned. However, the cleaning device can only simply clean the surface to be cleaned, which will result in poor applicability of the cleaning robot and cannot meet the user's usage needs. In order to solve the problem of poor applicability of the cleaning robot, the present disclosure provides a cleaning device 100 ( Figure 1 , Fig.12 or Fig.15 As shown), cleaning robot 1000 ( Fig. 20 As shown), cleaning system 4000 ( Fig.21 As shown), the control method of the cleaning robot ( Figure 22-27 ) and storage medium 2000 ( Fig.28 shown).

[0045] See also Figures 1 to 3 , and combined with Fig. 20The present disclosure provides a cleaning device 100, which is used for a cleaning robot 1000. When the cleaning robot 1000 performs a cleaning task, the cleaning device 100 cleans the garbage on the surface to be cleaned. The cleaning device 100 includes a roller brush housing 10, a driving assembly 20, a roller brush assembly 40, a shielding assembly 50 and a lifting assembly 60. The roller brush housing 10 is disposed on the body 200 of the cleaning robot 1000, and has a suction port 11, and the suction port 11 is used for allowing the garbage on the surface to be cleaned to enter the roller brush housing 10. The driving assembly 20 is disposed in the roller brush housing 10 or the body 200. The roller brush assembly 40 is at least partially disposed in the roller brush housing 10, and the roller brush assembly 40 is connected to the driving assembly 20. The shielding assembly 50 is connected to the driving assembly 20. The lifting assembly 60 is connected to the driving assembly 20 and the roller brush housing 10. The driving assembly 20 is used to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush shell 10 to move, thereby driving the roller brush assembly 40 to rise and fall relative to the body 200.

[0046] It should be noted that, in some embodiments, the cleaning robot 1000 is an intelligent device capable of realizing functions such as sweeping, vacuuming and mopping. The cleaning robot 1000 includes but is not limited to a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, an intelligent robot and a mobile robot. Among them, the material of the fuselage 200 may be a metal material and / or a non-metallic material, and the metal material includes but is not limited to aluminum, iron, steel or aluminum alloy, and the non-metallic material includes but is not limited to plastic. In one example, the fuselage 200 may be made of a metal material and a non-metallic material, thereby making the structural strength of the fuselage 200 higher, preventing the fuselage 200 from collision and damage during the operation of the cleaning robot 1000, and improving the stability and reliability of the cleaning robot 1000. In another example, the fuselage 200 may be made of a non-metallic material, for example, the fuselage 200 may be made of a plastic material, thereby making the weight of the fuselage 200 lighter, thereby facilitating the lightweighting of the cleaning robot 1000.

[0047] The cleaning device 100 is a device that can realize the mopping or sweeping function of the cleaning robot 1000. That is, the cleaning device 100 can mop or sweep the surface to be cleaned. Specifically, in one example, the surface to be cleaned can be the floor in a building. In another example, the surface to be cleaned can also be the surface of other objects that need to be cleaned, such as a wall, a bed, a window, etc.

[0048] The material of the roller brush housing 10 may be a metal material and / or a non-metal material, wherein the metal material includes but is not limited to aluminum, iron, steel or aluminum alloy, etc., and the non-metal material includes but is not limited to plastic, etc. In certain embodiments of the present disclosure, when the cleaning robot 1000 cleans garbage on the surface to be cleaned through the cleaning device 100, the suction port 11 is opposite to the surface to be cleaned, and in the forward direction X of the cleaning robot 1000, one end of the roller brush shell 10 close to the front end of the body 200 is spaced from (not in contact with) the surface to be cleaned, and one end of the roller brush shell 10 close to the rear end of the body 200 is in contact with the surface to be cleaned, that is, in the forward direction X of the cleaning robot 1000, one end of the suction port 11 close to the front end of the body 200 is not in contact with the surface to be cleaned, and one end of the suction port 11 close to the rear end of the body 200 is in contact with the surface to be cleaned. In this way, as much garbage as possible can be sucked into the roller brush shell 10 through the suction port 11. Compared with the side of the suction port 11 close to the rear end of the body 200 in contact with the surface to be cleaned, the cleaning device 100 in this embodiment can clean large garbage and is not easy to miss garbage, thereby improving the cleaning effect of the cleaning device 100.

[0049] Further, in certain embodiments, see Figure 7 The roller brush housing 10 includes a cover body 12, and the cover body 12 covers the suction port 11. The cover body 12 includes a first side 103 and a second side 105, and the first side 103 is closer to the front end of the cleaning robot 1000 than the second side 105. When the cleaning robot 1000 performs a cleaning task, the first side 103 does not contact the surface to be cleaned, and the second side 105 contacts the surface to be cleaned. For example, at least a portion of the first side 103 can be tilted relative to the second side 105. In this way, it can be achieved that the end of the suction port 11 in the above embodiment close to the front end of the fuselage 200 does not contact the surface to be cleaned, and the end of the suction port 11 close to the rear end of the fuselage 200 contacts the surface to be cleaned.

[0050] It should be noted that the directions described in the embodiments of the present disclosure are defined when the cleaning robot 1000 is carried on the surface to be cleaned. The “front end” and “rear end” are relative to the forward direction X of the cleaning robot 1000. When the cleaning robot 1000 moves forward along the forward direction X, the front end of the body 200 closest to the forward direction X is the front end of the body 200, and the rear end of the body 200 closest to the forward direction X is the rear end of the body 200.

[0051] The driving assembly 20 is a structure in the cleaning device 100 that can provide power to some of the components. In some embodiments of the present disclosure, when the driving assembly 20 is in stable motion, the driving force generated by the driving assembly 20 can act on the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush housing 10 to move, thereby driving the roller brush assembly 40 to rise and fall relative to the body 200.

[0052] In certain embodiments, see Figure 3 The roller brush housing 10 further includes a roller brush chamber housing 14 and a cover 12. The roller brush chamber housing 14 has a receiving chamber 18 and a suction port 11 connected to the receiving chamber 18. The cover 12 is detachably connected to the roller brush chamber housing 14. The cover 12 can be connected to the roller brush chamber housing 14 by a detachable connection method such as a snap connection or a bolt connection.

[0053] The roller brush assembly 40 includes a roller brush 41, which is arranged in the accommodating chamber 18 and contacts the surface to be cleaned through the suction port 11. When the driving force generated by the driving assembly 20 is transmitted to the roller brush 41, the roller brush 41 rotates relative to the roller brush chamber shell 14 under the drive of the driving assembly 20. In this way, the roller brush 41 can clean the garbage on the surface to be cleaned, and the garbage can be sucked into the accommodating chamber 18 through the suction port 11 under the action of the suction airflow, thereby cleaning the surface to be cleaned. It should be noted that the opening size of the suction port 11 can be: the opening size of the roller brush shell 10 for allowing garbage to enter the accommodating chamber 18 during the cleaning process of the cleaning device 100.

[0054] Further, in certain embodiments, see Figure 1-2 The roller brush housing 10 is further provided with a dust suction port 19, which is connected to the accommodating chamber 18, and is used to allow the garbage in the accommodating chamber to move out of the accommodating chamber 18. Specifically, when the garbage enters the accommodating chamber 18, the garbage in the accommodating chamber 18 can move out of the accommodating chamber 18 through the dust suction port 19 under the action of the suction airflow, and enter the garbage collection container (for example, a dust box) of the cleaning robot 1000.

[0055] The opening size of the suction port 11 will have a certain influence on the vacuum degree between the surface to be cleaned and the accommodating chamber 18. Specifically, the larger the opening of the suction port 11, the smaller the suction force of the accommodating chamber 18, the lower the cleaning efficiency of the cleaning device 100, and the more difficult it is for the garbage to be sucked into the accommodating chamber 18; the smaller the opening of the suction port 11, the greater the suction force of the accommodating chamber 18, the higher the cleaning efficiency of the cleaning device 100, and the easier it is for the garbage to be sucked into the accommodating chamber 18. That is to say, to clean the garbage on the same surface to be cleaned, the larger the opening size of the suction port 11, the greater the suction force required. Therefore, in certain embodiments of the present disclosure, the driving component 20 is capable of driving the shielding component 50 to move so as to change the opening size of the suction port 11 so as to adjust the cleaning effectiveness of the cleaning device 100. Thus, the cleaning device 100 can adjust the opening size of the suction port 11 according to the different adaptabilities of the surface to be cleaned, thereby ensuring that the garbage on different surfaces to be cleaned can be sucked into the accommodating chamber 18, thereby improving the applicability of the cleaning device 100 and the cleaning robot 1000, and ensuring the cleaning effect of the cleaning device 100 and the cleaning robot 1000.

[0056] In some embodiments, the surface to be cleaned includes a target area and a non-target area. The target area may refer to an area that needs to be deeply cleaned, such as a carpet area, a floor mat area, a foot mat area, a yoga mat area, a rubber mat area, a straw or bamboo mat area, a relatively dirty area, a user-defined area, etc. The non-target area may refer to an area that does not require deep cleaning, or may be other cleaning areas other than the above target areas, such as an area without carpets or an open ground. Exemplarily, the target area is a carpet area, and the non-target area is a non-carpet area. Among them, since the garbage in the target area (such as dust or fine impurities, etc.) is easy to hide in the gaps in the carpet, it can also be understood that the adsorption force on the garbage is relatively large. Therefore, when cleaning the target area, a larger suction force is required, and the opening of the suction port 11 needs to be in a smaller state, thereby increasing the vacuum degree between the surface to be cleaned and the accommodating chamber 18 to ensure the cleaning effect; and since the non-target area is usually smoother, when cleaning the non-target area, the opening of the suction port 11 can be in a larger state, so that the suction force of the accommodating chamber 18 can meet the cleaning requirements, and the opening of the suction port 11 in a larger state can also ensure that the garbage can enter the accommodating chamber 18 through the suction port 11, preventing the problem of larger garbage being blocked outside the suction port 11.

[0057] Therefore, please combine Fig.21In certain embodiments of the present disclosure, when the current position of the cleaning robot 1000 is the target area and the cleaning process is switched from the target area to the non-target area, the driving component 20 drives the shielding component 50 to move to increase the opening size of the suction port 11, and drives the roller brush component 40 to rotate to clean the non-target area. And / or, when the current position of the cleaning robot 1000 is the non-target area and the cleaning process is switched from the non-target area to the target area, the driving component 20 drives the shielding component 50 to move to reduce the opening size of the suction port 11, and drives the roller brush component 40 to rotate to clean the target area. And / or, during at least part of the time when the cleaning robot 1000 crosses an obstacle or enters and exits the base station 3000 or mops the floor, the drive component 20 drives the lifting component 60 to move so as to drive the roller brush assembly 40 to rise relative to the body 200; and / or, after the cleaning robot 1000 crosses an obstacle or enters and exits the base station 3000 or during at least part of the time when it sweeps the floor, the drive component 20 drives the lifting component 60 to move so as to drive the roller brush assembly 40 to descend relative to the body 200.

[0058] For the cleaning robot 1000, since the roller brush assembly 40 of the cleaning device 100 needs to contact the surface to be cleaned when the cleaning device 100 is used to realize the sweeping function, and when the cleaning robot 1000 encounters an obstacle, enters and exits the base station 3000, or the cleaning device 100 is used to realize the mopping function, it is desired that the roller brush assembly 40 of the cleaning device 100 is lifted or does not contact the surface to be cleaned, so as to facilitate crossing obstacles when encountering obstacles, or to facilitate climbing when entering and exiting the base station 3000, or to prevent the roller brush assembly 40 from getting wet and affecting the cleaning effect when mopping the floor. Therefore, in certain embodiments of the present disclosure, during at least part of the time period when the cleaning robot 1000 crosses obstacles, enters and exits the base station 3000, or mops the floor, the driving assembly 20 drives the lifting assembly 60 to move to drive the roller brush assembly 40 to rise relative to the fuselage 200. Exemplarily, when there is an obstacle on the surface to be cleaned, the driving assembly 20 drives the lifting assembly 60 to move so as to drive the roller brush assembly 40 to rise relative to the body 200. This can facilitate the cleaning robot 1000 to cross obstacles and improve the passing performance of the cleaning robot 1000. On the other hand, it is conducive to the cleaning robot 1000 to adapt to different cleaning environments and improve the cleaning effect of the cleaning robot 1000. It can be understood that in some embodiments, after the cleaning robot 1000 crosses the obstacle or enters and exits the base station 3000 or in at least part of the time period of sweeping, the driving assembly 20 drives the lifting assembly 60 to move so as to drive the roller brush assembly 40 to descend relative to the body 200. Thereby, the roller brush assembly 40 can be guaranteed to clean the surface to be cleaned normally.

[0059] In the cleaning device 100 of the disclosed embodiment, the cleaning device 100 includes a roller brush assembly 40, a shielding assembly 50 and a lifting assembly 60. The driving assembly 20 is used to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush shell 10 to move, thereby driving the roller brush assembly 40 to rise and fall relative to the body 200. Therefore, compared with the related art, the cleaning device 100 can not only clean the surface to be cleaned, but also use the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 to jointly perform other functions, thereby improving the applicability of the cleaning robot 1000, meeting the user's usage needs, and improving the cleaning effect.

[0060] The cleaning device 100 is further explained below with reference to the accompanying drawings.

[0061] See also Figure 1 and Figure 2 In some embodiments, the driving component 20 includes a driving member 21, and the driving component 20 drives the roller brush assembly 40 to rotate through the same driving member 21 to clean the surface to be cleaned, drives the shielding component 50 to move to change the opening size of the suction port 11, and drives the lifting component 60 to move to drive the roller brush shell 10 to move, thereby driving the roller brush assembly 40 to rise and fall relative to the body 200.

[0062] Specifically, in some embodiments, when the driving member 21 is in stable operation, the driving member 21 can output a driving force, and the driving force can be transmitted to the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 to drive the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 to move. Among them, the driving member 21 can be arranged in the roller brush housing 10 or the fuselage 200. The driving member 21 and the roller brush housing 10 or the fuselage 200 can be combined together in a detachable connection method or a non-detachable connection method, and the non-detachable connection method includes but is not limited to bonding or welding, etc.; the detachable connection method includes but is not limited to snap connection or threaded connection, etc. It should be noted that in some embodiments, the driving member 21 can be a driving structure such as a motor or an electric push rod, wherein the motor includes but is not limited to a DC servo motor, an AC servo motor and a stepping motor, etc.

[0063] More specifically, in some embodiments, the number of driving members 21 included in the driving assembly 20 is at least two. Exemplarily, the number of driving members 21 included in the driving assembly 20 is two, and at this time, both driving members 21 can drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port, and drive the lifting assembly 60 to move to drive the roller brush housing 10 to move, thereby driving the roller brush assembly 40 to rise relative to the fuselage 200. For example, one of the two driving members 21 can drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to increase the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush assembly 40 to rise relative to the fuselage 200; the other of the two driving members 21 can drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to reduce the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush assembly 40 to descend relative to the fuselage 200. For another example, one of the two driving members 21 can drive one of the roller brush assembly 40 , the shielding assembly 50 , and the lifting assembly 60 to move, and the other can drive the remaining two of the roller brush assembly 40 , the shielding assembly 50 , and the lifting assembly 60 to move.

[0064] In other embodiments, the driving assembly 20 includes one driving member 21. That is, one driving member 21 can simultaneously drive the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 to move. Thus, the movement of the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 can be realized by only one power source, for example, one motor. This can reduce the cleaning device 100 and the cleaning robot 1000 ( Fig. 20 The production cost of the cleaning robot 1000 is reduced, which is conducive to improving the competitiveness of the cleaning robot 1000. In addition, since the number of power sources is small, the space of the cleaning robot 1000 can be occupied as little as possible, so that the cleaning device 100 and the cleaning robot 1000 have fewer parts, and are more convenient to disassemble or repair, which is conducive to miniaturization of the cleaning device 100 and the cleaning robot 1000. For ease of description, the following embodiment only takes the number of driving members 21 included in the driving assembly 20 as one as an example.

[0065] Please continue reading Figure 1 and Figure 2, further, in some embodiments, the driving assembly 20 further includes a transmission component 23. The transmission component 23 is connected to the output end of the driving member 21, and the transmission component 23 is used to transmit the driving force of the driving member 21 to the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60. Specifically, in some embodiments, when the driving member 21 is stably running, the driving member 21 can output the driving force, and the driving force can be transmitted to the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 through the transmission component 23, so as to drive the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 to move.

[0066] In some embodiments, when the output end of the driving member 21 rotates along the first rotation direction, the transmission component 23 transmits the driving force of the driving member 21 to the roller brush assembly 40, which can drive the roller brush 41 to rotate to clean the surface to be cleaned. When the output end of the driving member 21 rotates along the second rotation direction, the transmission component 23 at least transmits the driving force of the driving member 21 to the shielding assembly 50 or the lifting assembly 60, and the first rotation direction and the second rotation direction are opposite. It should be noted that in some embodiments, when the driving member 21 is a motor, the output end of the driving member 21 is the output shaft of the driving member 21.

[0067] Specifically, in some embodiments, when the output shaft of the driving member 21 rotates along the first rotation direction, the transmission component 23 can transmit the driving force of the driving member 21 to the roller brush assembly 40 to drive the roller brush assembly 40 to move and clean the surface to be cleaned. In this case, the transmission component 23 will not transmit the driving force of the driving member 21 to the shielding assembly 50 and the lifting assembly 60, that is, the shielding assembly 50 and the lifting assembly 60 remain in a stopped state; when the output shaft of the driving member 21 rotates along the second rotation direction, the transmission component 23 can transmit the driving force of the driving member 21 to the shielding assembly 50 to drive the shielding assembly 50 to move and change the opening size of the suction port 11; or, transmit the driving force of the driving member 21 to the lifting assembly 60 to drive the lifting assembly 60 to move and drive the roller brush assembly 40 to rise and fall relative to the body 200; or, transmit the driving force of the driving member 21 to the roller brush assembly 40 to drive the roller brush assembly 40 to rotate. Thus, the cleaning device 100 can control the rotation direction of the output end of the driving member 21 to control the cleaning device 100 to achieve different functions, thereby improving the cleaning robot 1000 ( Fig. 20 Applicability of the

[0068] In some embodiments, during the process of the output end of the driving member 21 rotating along the first rotation direction, the roller brush assembly 40 rotates along the first direction. During the process of the output end of the driving member 21 rotating along the second rotation direction, the roller brush assembly 40 rotates along the second direction, and the cleaning device 100 includes at least one of the first state, the second state and the third state, and the first direction is opposite to the second direction, wherein: in the first state, the driving member 21 drives the shielding assembly 50 to move to change the opening size of the suction port 11; in the second state, the driving member 21 does not drive the shielding assembly 50 to move, and does not drive the lifting assembly 60 to move; in the third state, the driving member 21 drives the lifting assembly 60 to move to drive the roller brush assembly 40 to rise and fall relative to the body 200.

[0069] Specifically, the cleaning device 100 is in the first state, and the driving member 21 drives the shielding assembly 50 to move to reduce or increase the opening size of the suction port 11; the cleaning device 100 is in the second state, and the driving member 21 does not drive the shielding assembly 50 to move, nor does it drive the lifting assembly 60 to move; the cleaning device 100 is in the third state, and the driving member 21 drives the lifting assembly 60 to move to drive the roller brush assembly 40 to rise or fall relative to the body 200. Exemplarily, the cleaning robot 1000 includes a deep cleaning mode, a normal cleaning mode, and a lifting mode. Specifically, when the cleaning robot 100 switches from the deep cleaning mode to the normal cleaning mode, the driving member 21 drives the shielding assembly 50 to move to increase the opening size of the suction port 11; when the cleaning robot 1000 switches from the normal cleaning mode to the lifting mode, the driving member 21 drives the lifting assembly 60 to move to drive the roller brush assembly 40 to rise relative to the body 200; when the cleaning robot 1000 switches from the lifting mode to the normal cleaning mode, the driving member 21 drives the lifting assembly 60 to move to drive the roller brush assembly 40 to descend relative to the body 200; when the cleaning robot 1000 switches from the normal cleaning mode to the deep cleaning mode, the driving member 21 drives the shielding assembly 5 0 moves to reduce the opening size of the suction port 11; in the process of switching the cleaning robot 1000 from the deep cleaning mode to the lifting mode, the driving member 21 drives the shielding assembly 50 to move to increase the opening size of the suction port 11, and drives the lifting assembly 60 to move to drive the roller brush assembly 40 to rise relative to the body 200, so as to drive the roller brush assembly 40 to rise relative to the body 200; in the process of switching the cleaning robot 1000 from the lifting mode to the deep cleaning mode, the driving member 21 drives the shielding assembly 50 to move to reduce the opening size of the suction port 11, and drives the lifting assembly 60 to move to drive the roller brush assembly 40 to descend relative to the body 200, so as to drive the roller brush assembly 40 to descend relative to the body 200.

[0070] Specifically, in some embodiments, during the process that the output end of the driving member 21 rotates along the first rotation direction, the roller brush assembly 40 rotates along the first direction, at which time, the roller brush assembly 40 can clean the surface to be cleaned, and the cleaning device 100 can realize the sweeping function of the cleaning robot 1000. More specifically, the opening size of the suction port 11 in the normal cleaning mode and the lifting mode is larger than the opening size of the suction port 11 in the deep cleaning mode; the height of the roller brush assembly 40 relative to the body 200 in the deep cleaning mode and the normal cleaning mode is smaller than the height of the roller brush assembly 40 relative to the body 200 in the lifting mode, so that in the deep cleaning mode, the roller brush assembly 40 can perform deep cleaning on the surface to be cleaned (e.g., the target area); in the normal cleaning mode, the roller brush assembly 40 can perform daily cleaning on the surface to be cleaned (e.g., the non-target area); in the lifting mode, the roller brush assembly 40 can be lifted relative to the body 200 to facilitate obstacle crossing, entering and exiting the base station, or performing mopping tasks. In which, during the process of the output end of the driving member 21 rotating along the second rotation direction, the cleaning device 100 can switch between deep cleaning mode, normal cleaning mode and lifting mode, so that the cleaning device 100 can be suitable for different working scenes, improve the applicability of the cleaning device 100, and ensure the cleaning effect of the cleaning device 100.

[0071] See also Figures 1 to 3 In some embodiments, the transmission component 23 includes a first output end. The shielding assembly 50 includes a shielding component 501, which is connected to the first output end of the transmission component 23, and the shielding component 501 can move relative to the roller brush housing 10 to change the opening size of the suction port 11. It should be noted that, in some embodiments, the first output end of the transmission component 23 can be a part of the transmission component 23 that cooperates with the shielding component 501 and can transmit the driving force of the driving member 21 to the shielding component 50.

[0072] Specifically, in some embodiments, when the output end of the driving member 21 rotates along the second rotation direction, the driving force of the driving member 21 can be transmitted to the shielding member 501 through the first output end of the transmission member 23, and drive the shielding member 501 to move relative to the roller brush shell 10 to change the opening size of the suction port 11, so that the cleaning robot 1000 can be adapted to different working scenarios, that is, when the current position of the cleaning robot 1000 is in the target area or the non-target area, the cleaning robot 1000 can effectively clean the surface to be cleaned, thereby improving the cleaning effect of the cleaning robot 1000.

[0073] Furthermore, please combine Figure 3 and Figure 4In some embodiments, the shielding member 501 includes a shielding member 51 and a connecting member 53. The shielding member 51 is connected to the roller brush housing 10, and the shielding member 51 is used to shield the opening of the suction port 11. One end of the connecting member 53 is connected to the first output end of the transmission member 23, and the other end of the connecting member 53 is connected to the shielding member 51. When the connecting member 53 moves along the first direction (A1 / A2), the shielding member 51 moves relative to the roller brush housing 10 to be in the first shielding position ( Figure 3 shown) and the second occlusion position ( Figure 4 When the shielding member 51 is in the first shielding position, the opening size of the suction port 11 is greater than the opening size of the suction port 11 when the shielding member 51 is in the second shielding position.

[0074] Specifically, in some embodiments, when the output end of the driving member 21 rotates along the second rotation direction, the driving force of the driving member 21 can be transmitted to the connecting member 53 through the first output end of the transmission member 23, and drive the connecting member 53 to move relative to the roller brush shell 10 along the first direction (A1 / A2), so as to drive the shielding member 51 to move relative to the roller brush shell 10, thereby making the shielding member 51 switch between the first shielding position and the second shielding position, so as to change the opening size of the suction port 11, and further change the vacuum degree between the surface to be cleaned and the accommodating chamber 18 during operation, so that the cleaning robot 1000 can be adapted to different working scenarios and improve the cleaning effect.

[0075] It should be noted that, in some embodiments, the cross-section of the shielding member 51 cut by a plane perpendicular to the forward direction X of the cleaning robot 1000 is greater than or equal to the cross-section of the suction port 11 cut by a plane perpendicular to the forward direction X of the cleaning robot 1000. Thus, in the process of the shielding member 51 switching from the first shielding position to the second shielding position, the shielding member 51 can effectively block the suction port 11 to reduce the opening size of the suction port 11.

[0076] Optionally, the shielding member 51 may be made of an elastic material, including but not limited to rubber and silicone. Thus, when the cleaning device 100 cleans the garbage on the surface to be cleaned, the shielding member 51 may produce a certain elastic deformation so that the garbage can smoothly pass through the suction port 11 into the accommodating chamber 18, thereby preventing the shielding member 51 from blocking the garbage, thereby improving the cleaning effect; and the use of an elastic material may also prevent the shielding member 51 from rigidly colliding with harder garbage or the surface to be cleaned, thereby preventing the shielding member 51 from being damaged, thereby extending the service life of the shielding member 51 and ensuring the normal operation of the shielding assembly 50. Of course, in other embodiments, the shielding member 51 may also be made of a non-elastic material.

[0077] See also Figure 2In some embodiments, the roller brush housing 10 is provided with a guide member 15, and the guide member 15 is used to guide the connecting member 53 to move along the first direction (A1 / A2). One of the guide member 15 and the connecting member 53 is provided with a guide groove, and the other is provided with a guide column, at least part of the guide column is accommodated in the guide groove, and the two are slidably connected. Exemplarily, the guide member 15 is provided with a guide groove, and the connecting member 53 is provided with a guide column, and the guide member 15 accommodates at least part of the connecting member 53 and guides the connecting member 53 to move along the first direction (A1 / A2).

[0078] Specifically, in some embodiments, the guide member 15 is provided with a guide groove, and the connecting member 53 is provided with a guide column. The guide member 15 can be recessed from the outer wall of the roller brush shell 10 toward the accommodating cavity 18 of the roller brush shell 10, and at least a portion of the connecting member 53 is arranged in the guide member 15. Thus, the guide member 15 can guide the connecting member 53 to move along the first direction (A1 / A2) while limiting the moving direction and moving stroke of the connecting member 53 relative to the roller brush shell 10, thereby preventing the moving direction and moving stroke of the connecting member 53 in the first direction (A1 / A2) from being unrestricted when a program error occurs in the driving member 21, resulting in collision and damage between the connecting member 53 and other structures of the cleaning device 100, thereby ensuring the stability and reliability of the cleaning device 100.

[0079] Please combine Figure 5 In some embodiments, in a direction perpendicular to the first direction (A1 / A2), the guide member 15 includes a first guide side wall 151 and a second guide side wall 153 opposite to each other, and the connecting member 53 includes a first connecting side wall 535 and a second connecting side wall 536 opposite to each other, the first connecting side wall 535 and the first guiding side wall 151 are slidably matched, and the second connecting side wall 536 and the second guiding side wall 153 are slidably matched. Further, in some embodiments, one of the first connecting side wall 535 and the first guiding side wall 151 is provided with a guiding groove, and the other is provided with a guiding column; one of the second connecting side wall 536 and the second guiding side wall 153 is provided with a guiding groove, and the other is provided with a guiding column. Exemplarily, the first connecting side wall 535 is provided with a guiding column, and the first guiding side wall 151 is provided with a guiding groove; the second connecting side wall 536 is provided with a guiding column, and the second guiding side wall 153 is provided with a guiding groove. On the one hand, this can reduce the resistance of the connecting member 53 to slide in the guide member 15, reduce the power consumption required for the drive component 20 to drive the shielding component 501 to move, and increase the battery life of the cleaning robot 1000; on the other hand, it can reduce the possibility of the connecting member 53 getting stuck in the guide member 15, ensure the normal movement of the connecting member 53 along the first direction (A1 / A2), and improve the stability and reliability of the shielding component 501.

[0080] Furthermore, in some embodiments, a first protruding structure 537 is disposed on the first connecting side wall 535 . The first protruding structure 537 protrudes and extends from the first connecting side wall 535 in a direction away from the second connecting side wall 536 , and the first protruding structure 537 abuts against the first guiding side wall 151 .

[0081] Specifically, the first protruding structure 537 may include a plurality of spaced protrusions, which protrude and extend from the first connecting side wall 535 in a direction away from the second connecting side wall 536. When the connecting member 53 is arranged in the guide member 15, the protrusions abut against the first guide side wall 151. Therefore, compared with the first connecting side wall 535 directly abutting against the first guide side wall 151, the setting of the first protruding structure 537 can reduce the contact area between the first connecting side wall 535 and the first guide side wall 151, thereby reducing the friction between the connecting member 53 and the guide member 15. On the one hand, it can reduce the power consumption required by the driving component 20 to drive the shielding component 501 to move, thereby increasing the battery life of the cleaning robot 1000; on the other hand, it can reduce the possibility of the connecting member 53 getting stuck in the guide member 15, ensure the normal movement of the connecting member 53 along the first direction (A1 / A2), and improve the stability and reliability of the shielding component 501.

[0082] It can be understood that in other embodiments, the first guide sidewall 151 may be provided with a first protruding structure 537, the first protruding structure 537 protrudes and extends from the first guide sidewall 151 toward the direction close to the second guide sidewall 153, and the first protruding structure 537 abuts against the first connecting sidewall 535. The structure of the first protruding structure 537 in this embodiment is substantially the same as that of the first protruding structure 537 in the above-mentioned embodiment, and will not be described in detail herein.

[0083] In some embodiments, a second protruding structure is disposed on the second connecting sidewall 536 . The second protruding structure protrudes and extends from the second connecting sidewall 536 toward a direction away from the first connecting sidewall 535 . The second protruding structure abuts against the second guiding sidewall 153 .

[0084] Specifically, the second protruding structure may include a plurality of spaced protrusions, which protrude and extend from the second connecting side wall 536 in a direction away from the first connecting side wall 535. When the connecting member 53 is arranged in the guide member 15, the protrusions abut against the second guide side wall 153. Therefore, compared with the second connecting side wall 536 directly abutting against the second guide side wall 153, the setting of the second protruding structure can reduce the contact area between the second connecting side wall 536 and the second guide side wall 153, thereby reducing the friction between the connecting member 53 and the guide member 15. On the one hand, it can reduce the power consumption required by the driving component 20 to drive the shielding component 501 to move, thereby increasing the battery life of the cleaning robot 1000; on the other hand, it can reduce the possibility of the connecting member 53 getting stuck in the guide member 15, ensure the normal movement of the connecting member 53 along the first direction (A1 / A2), and improve the stability and reliability of the shielding component 501.

[0085] It is understandable that in other embodiments, a second protruding structure is provided on the second guide side wall 153, the second protruding structure protrudes and extends from the second guide side wall 153 toward the direction close to the first guide side wall 151, and the second protruding structure abuts against the second connecting side wall 536. The structure of the second protruding structure in this embodiment is substantially the same as that of the second protruding structure in the above embodiment, and will not be described in detail herein.

[0086] See also Figures 1 to 4 In some embodiments, the shielding member 51 is rotatably connected to the cover body 12, and the shielding member 51 does not contact the surface to be cleaned when it is in the first shielding position, and contacts the surface to be cleaned when it is in the second shielding position.

[0087] Specifically, in some embodiments, when the first output end of the transmission component 23 transmits the driving force output by the driving member 21 to the shielding member 51, the shielding member 51 can rotate relative to the cover body 12 to move between the first shielding position and the second shielding position. In the first shielding position, the shielding member 51 does not contact the surface to be cleaned. At this time, the opening of the suction port 11 is larger, and the current position of the cleaning robot 1000 may be a non-target area; the shielding member 51 contacts the surface to be cleaned in the second shielding position. At this time, the opening of the suction port 11 is smaller, and the current position of the cleaning robot 1000 may be a target area.

[0088] Furthermore, please combine Figure 5In some embodiments, the shielding member 51 includes two connecting arms 511 and a shielding portion 513. One end of the two connecting arms 511 is rotatably connected to the cover body 12, and the shielding portion 513 is connected to the other ends of the two connecting arms 511. For example, the shielding member 51 is set to be U-shaped. The shielding portion 513 is arranged on the side where the first edge 103 of the cover body 12 is located. When the connecting arm 511 rotates relative to the cover body 12, the shielding portion 513 is driven to move to change the gap between it and the surface to be cleaned, thereby changing the opening size of the suction port 11. Exemplarily, the opening size of the suction port 11 can be the height size of the shielding portion 513 and the surface to be cleaned in the direction perpendicular to the surface to be cleaned. That is, in the direction perpendicular to the surface to be cleaned, the greater the height of the shielding portion 513 from the surface to be cleaned, the larger the corresponding opening size of the suction port 13.

[0089] Specifically, in some embodiments, the shielding portion 513 may be in the shape of a flat plate or an arc plate, etc. In one example, when the shielding portion 513 is in the shape of a flat plate, the plane where the shielding portion 513 is located is parallel to the height direction of the cleaning robot 1000. In this case, the plane where the shielding portion 513 is located is substantially perpendicular to the surface to be cleaned. In another example, when the shielding portion 513 is in the shape of a flat plate, the angle between the plane where the shielding portion 513 is located and the height direction of the cleaning robot 1000 is an acute angle, and in the advancing direction X of the cleaning robot 1000, the distance between the shielding portion 513 and the surface to be cleaned gradually increases. This makes it easier for the shielding portion 513 to gather garbage (such as dust or particulate matter, etc.) to the suction port 11, thereby improving the cleaning effect of the cleaning device 100.

[0090] In some embodiments, the connecting arm 511 and the shielding portion 513 may be an integral structure, that is, the connecting arm 511 and the shielding portion 513 may be formed into an integral structure by an integral molding method, thereby improving the bonding strength between the connecting arm 511 and the shielding portion 513, preventing the problem of cracking between the connecting arm 511 and the shielding portion 513 during the cleaning process of the cleaning device 100, thereby improving the stability and reliability of the cleaning device 100 and the cleaning robot 1000. In other embodiments, the connecting arm 511 and the shielding portion 513 may be a split structure, that is, the connecting arm 511 and the shielding portion 513 are two different structures. The connecting arm 511 and the shielding portion 513 may be combined together by a non-detachable connection method or a detachable connection method, wherein the non-detachable connection method includes but is not limited to bonding or welding, etc.; the detachable connection method includes but is not limited to snap connection or threaded connection, etc.

[0091] See also Figure 2 and Figure 5In some embodiments, the shielding member 51 further includes a supporting portion 515 , which is disposed on a side of the shielding member 513 opposite to the connecting member 53 , and the supporting portion 515 is connected to the connecting member 53 .

[0092] Specifically, in some embodiments, the abutting portion 515 can protrude and extend from the shielding portion 513 toward the direction of the connecting member 53, and when the cleaning device 100 is assembled, the abutting portion 515 can abut against the connecting member 53. In this way, when the connecting member 53 moves in the reverse direction A2 of the first direction (A1 / A2) relative to the roller brush housing 10, the connecting member 53 can apply a force to the shielding member 51 through the abutting portion 515 to drive the shielding member 51 to switch from the first shielding position to the second shielding position. In addition, the setting of the abutting portion 515 can also facilitate the installation and positioning of the shielding member 51 and the connecting member 53, thereby improving the assembly efficiency of the cleaning device 100.

[0093] Please combine Figure 1 In some embodiments, the shielding assembly 50 further includes a second elastic member 505 disposed between the shielding member 51 and the roller brush housing 10, and the second elastic member 505 is used to provide a force to move the shielding member 51 toward the first shielding position.

[0094] Specifically, in some embodiments, when the connecting member 53 moves in the reverse direction A2 of the first direction (A1 / A2), the connecting member 53 applies a force to the shielding member 51 so that the shielding member 51 moves toward the second shielding position relative to the roller brush housing 10, in which case the second elastic member 505 generates an elastic force; when the connecting member 53 moves in the positive direction A1 of the first direction (A1 / A2), the connecting member 53 does not apply a force to the shielding member 51, in which case the elastic force generated by the second elastic member 505 can move the shielding member 51 toward the first shielding position. Thus, the provision of the second elastic member 505 can facilitate the movement of the shielding member 51 relative to the roller brush housing 10 to switch between the first shielding position and the second shielding position, reduce the power consumption of the driving member 21 during the movement of the shielding member 51, that is, when the shielding member 51 moves toward the first shielding position relative to the roller brush housing 10, the driving member 21 does not need to be driven, thereby facilitating the battery life of the cleaning robot 1000.

[0095] It should be noted that, in some embodiments, the second elastic member 505 may be a tension spring or a torsion spring, etc. Exemplarily, when the second elastic member 505 is a torsion spring, the second elastic member 505 is disposed between the connecting arm 511 and the roller brush housing 10. When the connecting member 53 moves in the reverse direction A2 of the first direction (A1 / A2), the torsion spring is compressed to generate an elastic force; when the connecting member 53 moves in the forward direction A1 of the first direction (A1 / A2), the elastic force generated by the torsion spring can move the shielding member 51 toward the first shielding position.

[0096] In one example, the second elastic member 505 includes one, in which case the second elastic member 505 can be connected to the shielding member 51 in a direction perpendicular to both the forward direction X and the height direction Z of the cleaning robot 1000 (eg Figure 2 In another example, the second elastic member 505 includes two second elastic members 505, and the two second elastic members 505 can be arranged at opposite ends of the shielding member 51 in a direction perpendicular to both the advancing direction X and the height direction Z of the cleaning robot 1000.

[0097] See also Figure 1 and Figure 2 In some embodiments, the transmission component 23 includes a second output end. The lifting assembly 60 includes a connecting shaft 61 and a lifting member 63. The connecting shaft 61 is fixedly mounted on the roller brush housing 10. The lifting member 63 is rotatably sleeved on the connecting shaft 61 and can be matched or released with the second output end of the transmission component 23; when the second output end of the transmission component 23 is matched with the lifting member 63, the lifting member 63 rotates around the connecting shaft 61 along the positive direction B2 of the second direction (B1 / B2) to switch from the first lifting position to the second lifting position; when the second output end of the transmission component 23 is released from the lifting member 63, the lifting member 63 rotates around the connecting shaft 61 along the reverse direction B1 of the second direction (B1 / B2) to switch from the second lifting position to the first lifting position, and the distance between the roller brush assembly 40 and the surface to be cleaned when the lifting member 63 is in the first lifting position is less than the distance between the roller brush assembly 40 and the surface to be cleaned when the lifting member 63 is in the second lifting position.

[0098] In some embodiments, the lifting assembly 60 further includes a restoring member 64, which is connected to the connecting shaft 61 and the lifting member 63, so as to provide a force for the lifting member 63 when the second output end of the transmission component 23 is released from the lifting member 63, so that the lifting member 63 rotates around the connecting shaft 61 in the opposite direction B1 of the second direction (B1 / B2) to switch from the second lifting position to the first lifting position, that is, the lifting member 63 can be restored to its original position by the force provided by the restoring member 64, and there is no need for the driving assembly 20 to output power to drive it, which can save power. Exemplarily, the restoring member 64 can be a torsion spring, which can be sleeved on the connecting shaft 61 and abut against the lifting member 63. When the lifting member 63 moves from the first lifting position to the second lifting position, the torsion spring is deformed by force. When the second output end of the transmission component 23 is released from the lifting member 63, the torsion spring returns to its original state to provide a force for the lifting member 63 to restore it from the second lifting position to the first lifting position.

[0099] It should be noted that, in some embodiments, the second output end of the transmission component 23 can be a part of the transmission component 23 that can cooperate with the lifting assembly 60 and can transmit the driving force of the driving member 21 to the lifting member 63. Exemplarily, when the second output end of the transmission component 23 cooperates with the lifting member 63, the lifting member 63 rotates around the connecting shaft 61 along the positive direction B2 of the second direction (B1 / B2) to switch from the first lifting position to the second lifting position, and the lifting member 63 applies a force to the bracket 210 of the body 200 (for example, pressing the bracket 210 downward toward the surface to be cleaned) so that the roller brush housing 10 rotates around the rotating shaft 220 (the rotating arm 16 of the roller brush housing 10 is connected to the body 200 through the rotating shaft 220) to realize the upward lifting of the roller brush housing 10, thereby driving the roller brush assembly 40 to rise. It can be understood that when the second output end of the transmission component 23 cooperates with the lifting assembly 60, the roller brush housing 10 can be lifted or lowered. Since the roller brush assembly 40 is connected to the roller brush housing 10, it is lifted or lowered therewith.

[0100] Specifically, in some embodiments, when the output end of the driving member 21 rotates along the second rotation direction, the driving force of the driving member 21 can be transmitted to the lifting member 63 through the second output end of the transmission member 23, and drive the lifting member 63 to rotate around the connecting shaft 61 to switch between the first lifting position and the second lifting position, and drive the roller brush assembly 40 to rise and fall relative to the body 200. On the one hand, this can facilitate the cleaning robot 1000 to overcome obstacles and improve the passing performance of the cleaning robot 1000; on the other hand, it is beneficial for the cleaning robot 1000 to adapt to different cleaning environments and improve the cleaning effect of the cleaning robot 1000.

[0101] See also Figures 1 to 3In some embodiments, the transmission component 23 includes a third output end, and the third output end of the transmission component 23 is connected to the roller brush 41. The roller brush 41 rotates relative to the roller brush chamber housing 14 under the drive of the driving member 21. It should be noted that, in some embodiments, the third output end of the transmission component 23 can be a part of the transmission component 23 that can cooperate with the roller brush 41 and can transmit the driving force of the driving member 21 to the roller brush 41.

[0102] Specifically, in some embodiments, when the output end of the driving member 21 rotates along the first rotation direction, the driving force of the driving member 21 can be transmitted to the roller brush 41 through the third output end of the transmission component 23, so as to drive the roller brush 41 to rotate relative to the roller brush chamber housing 14 along the first direction, thereby cleaning the surface to be cleaned. When the output end of the driving member 21 rotates along the second rotation direction, the driving force of the driving member 21 can be transmitted to the roller brush 41 through the third output end of the transmission component 23, so as to drive the roller brush 41 to rotate relative to the roller brush chamber housing 14 along the second direction. When the output end of the driving member 21 rotates along the second rotation direction, the driving force of the driving member 21 can be transmitted to the roller brush 41, the shielding member 51 or the lifting member 63 through the transmission member 23 to adjust the position of the shielding member 51 or the lifting member 63. When the shielding member 51 or the lifting member 63 is adjusted to the desired position, it stops. This process is relatively short, and the rotation of the roller brush 41 in this process is also relatively short, and the cleaning of the cleaning surface is limited. Therefore, after adjusting the position of the shielding member 51 or the lifting member 63, the output end of the driving member 21 can be controlled to rotate along the first rotation direction to only drive the roller brush 41 to rotate to perform the cleaning work. At this time, the shielding member 51 or the lifting member 63 will not change.

[0103] See also Figure 6 In some embodiments, the cleaning device 100 further includes a detection component 80 , which is disposed between the roller brush housing 10 and the transmission component 23 , and is used to detect the position of the moving part 2352 in the transmission component 23 relative to the roller brush housing 10 .

[0104] Among them, the setting of the detection component 80 enables the cleaning device 100 to obtain the current position of the moving part 2352, and obtain the position of the shielding component 50 and the lifting component 60 relative to the roller brush shell 10 according to the current position of the moving part 2352, thereby facilitating the cleaning device 100 to adjust the position of the moving part 2352 in a timely and accurate manner, so as to adjust the position of the shielding component 50 and the lifting component 60, and ensure the stability and reliability of the cleaning device 100.

[0105] Further, in some embodiments, the detection assembly 80 includes a first detection member 81 and a second detection member 83, one of the first detection member 81 and the second detection member 83 is disposed on the roller brush housing 10, and the other is disposed on the movable member 2352, and the first detection member 81 and the second detection member 83 cooperate to detect the position of the movable member 2352 relative to the roller brush housing 10.

[0106] Specifically, in some embodiments, one of the first detection member 81 and the second detection member 83 may be an electromagnetic sensor (such as a Hall sensor, etc.), a photoelectric sensor (such as a laser sensor, etc.) or an ultrasonic sensor, and the other of the first detection member 81 and the second detection member 83 may be a component that can cooperate with an electromagnetic sensor (such as a Hall sensor, etc.), a photoelectric sensor (such as a laser sensor, etc.) or an ultrasonic sensor, thereby, the first detection member 81 and the second detection member 83 can cooperate to jointly detect the moving position of the moving member 2352 relative to the roller brush housing 10.

[0107] Exemplarily, one of the first detection member 81 and the second detection member 83 is a light emitter and the other is a light receiver. The light emitter is used to emit light (laser or infrared light, etc.), and the light receiver is used to receive light and indicate the position of the moving member 2352 relative to the roller brush housing 10 based on the received light.

[0108] In other embodiments, the cleaning device 100 also includes a detection component 80, which is disposed in the roller brush shell 10 and at least one of the shielding component and the lifting component, and the detection component 80 is used to detect the position of the shielding member 51 of the shielding assembly 50 relative to the roller brush shell 10 and / or the position of the lifting member 63 of the lifting assembly 60 relative to the roller brush shell 10.

[0109] Among them, the setting of the detection component 80 enables the cleaning device 100 to directly obtain the position of the shielding component 51 and / or the lifting component 63 relative to the roller brush shell 10, thereby facilitating the cleaning device 100 to adjust the position of the shielding component 50 and the lifting component 60, thereby ensuring the stability and reliability of the cleaning device 100.

[0110] Further, in some embodiments, the detection assembly 80 includes a first detection member 81 and a second detection member 83, one of which is disposed on the roller brush housing 10, and the other is disposed on the shielding assembly 50 and / or the lifting assembly 60, and the first detection member 81 and the second detection member 83 cooperate to detect the position of the connecting member 53 relative to the roller brush housing 10 and / or the position of the lifting member 63 relative to the roller brush housing 10. It can be understood that the first detection member 81 and the second detection member 83 in this embodiment are substantially the same as the first detection member 81 and the second detection member 83 in the above-mentioned embodiment, and no repeated description is made here.

[0111] See also Figure 1 , Fig.12 or Fig.15 In some embodiments, the cleaning device 100 may further include a protective cover 91, which is arranged on the roller brush housing 10 and forms an installation space together with the roller brush housing 10. At least part of the transmission component 23 is located in the installation space. Therefore, the setting of the protective cover 91 can prevent external impurities such as water, dust, sand and gravel from contacting the transmission component 23, thereby preventing impurities from damaging the transmission component 23 and preventing the risk of impurities causing jamming of the operation of the transmission component 23, thereby ensuring the stability and reliability of the cleaning device 100.

[0112] It should be noted that, in some embodiments, the protective cover 91 and the roller brush housing 10 can be combined together in a detachable connection manner or a non-detachable connection manner, wherein the detachable connection manner includes but is not limited to a snap connection or a threaded connection, etc.; the non-detachable connection manner includes but is not limited to bonding or welding, etc.

[0113] See also Figure 1 , Figure 2 , Figure 3 and Fig.19 In some embodiments, the cleaning device 100 further includes a fan, which is connected to the accommodating chamber 18. When the fan draws air, a negative pressure state may be formed in the accommodating chamber 18. At this time, there is a certain pressure difference between the accommodating chamber 18 and the external atmospheric pressure, so that the accommodating chamber 18 has a certain suction force to achieve the suction of the garbage on the surface to be cleaned. It can be understood that when the shielding component 50 moves to reduce the opening size of the suction port 11, the accommodating chamber 18 can more effectively achieve a high vacuum degree, thereby effectively improving the cleaning effect of the cleaning device 100.

[0114] However, if there is a large gap between the shielding assembly 50 and the cover body 12, when the shielding assembly 50 moves to reduce the opening size of the suction port 11, the accommodating chamber 18 can still be connected to the outside through the gap between the shielding assembly 50 and the cover body 12, which will make it difficult for the accommodating chamber 18 to achieve a high vacuum degree, affecting the cleaning effect of the cleaning device 100.

[0115] Please combine Fig.19In some embodiments of the present disclosure, the cleaning device 100 further includes a first seal 93, which is connected to the shielding assembly 50. During at least a portion of the time period when the shielding assembly 50 reduces the opening size of the suction port 11, the first seal 93 seals the gap between the shielding assembly 50 and the cover body 12. Thus, the provision of the first seal 93 can ensure the sealing effect of the accommodating chamber 18 after the shielding assembly 50 reduces the opening size of the suction port 11, so that the accommodating chamber 18 can achieve a high vacuum degree, thereby facilitating the improvement of the cleaning effect of the cleaning device 100. It should be noted that, in some embodiments, the material of the first seal 93 includes but is not limited to rubber, silicone, and foam.

[0116] Specifically, in some embodiments, the first seal 93 can be disposed on the shielding portion 513 of the shielding member 51 and cooperate with the first edge 103 of the cover body 12. When the shielding assembly 50 reduces the opening size of the suction port 11 and the fan is exhausting air, the first seal 93 can swing toward the cover body 12 and abut against the cover body 12 to achieve sealing of the gap between the shielding assembly 50 and the cover body 12.

[0117] See also Figure 1 and Fig.19 In some embodiments, the body 200 is provided with a mounting shell 230, and the mounting shell 230 is used to accommodate at least part of the roller brush shell 10. Specifically, in some embodiments, the mounting shell 230 is provided with a mounting space 250, and the mounting space 250 can be recessed from the side of the mounting shell 230 facing the surface to be cleaned toward the direction away from the surface to be cleaned, and at least part of the roller brush shell 10 is arranged in the mounting space 250. Among them, the setting of the mounting space 250 can reduce the size of the space jointly occupied by the cleaning device 100 and the body 200 on the one hand, thereby facilitating the miniaturization of the cleaning robot; on the other hand, it is conducive to the installation and positioning of the cleaning device 100 on the body 200, thereby improving the assembly efficiency of the cleaning device 100.

[0118] Usually, combine Figure 2 and Figure 3 When the cleaning device 100 is installed in the mounting shell 230, a certain gap needs to be formed between the cleaning device 100 and the mounting shell 230 to prevent the shielding component 50 from interfering with the mounting shell 230 when the shielding component 50 moves. However, when the cleaning device 100 cleans the surface to be cleaned, dust or other dirt easily enters the gap between the shielding component 50 and the mounting shell 230, thereby easily affecting the cleaning effect. For example, in a possible scenario, dirt in the gap between the shielding component 50 and the mounting shell 230 easily falls onto the cleaned surface to be cleaned, affecting the cleaning effect.

[0119] In certain embodiments of the present disclosure, the cleaning device 100 further includes a second seal 95, which is disposed between the shielding member 51 of the shielding assembly 50 and the mounting housing 230, and is used to seal the gap between the shielding member 51 and the mounting housing 230. Thus, the provision of the second seal 95 can prevent external dust and other dirt from entering the gap between the shielding member 51 and the mounting housing 230, thereby ensuring the cleanliness of the cleaning robot and improving the cleaning effect of the cleaning robot. It should be noted that, in certain embodiments, the material of the second seal 95 includes but is not limited to rubber, silicone, and foam.

[0120] Specific implementation method of this application

[0121] See also Figure 1 , Figure 2 and Figure 5 In the first embodiment, the connecting member 53 of the shielding assembly 50 includes a first sub-member 531 and a second sub-member 532. The first sub-member 531 is connected to the shielding member 51. The second sub-member 532 is provided with a matching member 56, which is connected to the first output end of the transmission member 23. The second sub-member 532 is connected to the first sub-member 531. When the connecting member 53 moves along the first direction (A1 / A2), the second sub-member 532 and the first sub-member 531 are relatively stationary or relatively moving.

[0122] In which, when the shielding member 51 is subjected to external force (for example, the force generated by the collision between the shielding member 51 and an obstacle or a protrusion on the surface to be cleaned during the operation of the cleaning device 100), and the shielding member 51 cannot move relative to the surface to be cleaned to release the external force, the shielding member 51 will be damaged, affecting the service life of the shielding assembly 50 and the normal operation of the cleaning device 100. Therefore, in this embodiment, the second sub-assembly 532 and the first sub-assembly 531 can move relative to each other, so that the shielding member 51 can move away from the surface to be cleaned when subjected to external force to release the external force, thereby reducing the possibility of damage to the shielding assembly 50, extending the service life of the shielding assembly 50, and ensuring the normal operation of the cleaning device 100. In addition, when the external force on the shielding member 51 disappears, the second sub-assembly 532 and the first sub-assembly 531 can move relative to each other so that the shielding member 51 returns to the position before the movement.

[0123] In this embodiment, one of the first sub-component 531 and the second sub-component 532 is provided with a protrusion 5301, and the other is provided with an accommodating space 5303. The bottom of the accommodating space 5303 is provided with a groove 5305 extending along the first direction (A1 / A2). The protrusion 5301 extends into the groove 5305 and can move along the first direction (A1 / A2) in the groove 5305. It should be noted that in some embodiments, the quantitative relationship between the protrusion 5301 and the groove 5305 can be one-to-one; or many-to-one, that is, one protrusion 5301 corresponds to one groove 5305; or, multiple protrusions 5301 correspond to one groove 5305.

[0124] Among them, the setting of the accommodating space 5303 can, on the one hand, guide the relative movement of the first sub-component 531 and the second sub-component 532, thereby ensuring the stability of the relative movement of the first sub-component 531 and the second sub-component 532; on the other hand, it can reduce the space size occupied by the first sub-component 531 and the second sub-component 532, thereby facilitating the miniaturization of the cleaning device 100; and on the other hand, it can facilitate the installation and positioning of the first sub-component 531 and the second sub-component 532, thereby facilitating the assembly efficiency of the connecting component 53.

[0125] Specifically, in some embodiments, the first sub-component 531 is provided with a protrusion 5301, and the second sub-component 532 is provided with an accommodation space 5303. In this case, when the first sub-component 531 extends into the accommodation space 5303, the protrusion 5301 can extend into the groove 5305, so that the protrusion 5301 and the groove 5305 cooperate to limit the direction of relative movement of the first sub-component 531 and the second sub-component 532, that is, the first sub-component 531 and the second sub-component 532 are limited to relative movement only along the first direction (A1 / A2).

[0126] In one example, the groove 5305 may be a through groove, that is, the groove 5305 runs through the bottom of the accommodating space 5303, so that when the relative movement of the first sub-component 531 and the second sub-component 532 is blocked, the cause of the fault can be quickly checked. For example, when the first sub-component 531 and the second sub-component 532 cannot move relative to each other, it is easy to observe whether the protrusion 5301 is stuck in the groove 5305, thereby ensuring the stability and reliability of the operation of the shielding component 50. In another example, the groove 5305 may be a blind groove, that is, the groove 5305 is recessed from the bottom of the accommodating space 5303 toward the direction away from the center of the accommodating space 5303, but the groove 5305 does not run through the bottom of the accommodating space 5303, thereby preventing impurities such as water or dust from the outside from entering the accommodating space 5303 to cause the shielding component 50 to be contaminated, thereby ensuring the cleanliness of the cleaning device 100.

[0127] In this embodiment, in the first direction (A1 / A2), the groove 5305 includes a first side surface 5307 and a second side surface 5309 opposite to each other, and the first side surface 5307 is closer to the matching member 56 than the second side surface 5309. The shielding member 501 also includes a first elastic member 55, and the first elastic member 55 is arranged between the first sub-member 531 and the second sub-member 532. When the connecting member 53 moves in the positive direction A1 of the first direction (A1 / A2), the protrusion 5301 abuts against the first side surface 5307. When the connecting member 53 moves in the reverse direction A2 of the first direction (A1 / A2), the first elastic member 55 is used to make the first sub-member 531 and the second sub-member 532 relatively stationary. When the force applied to the shielding member 51 exceeds the preset force threshold, the first elastic member 55 is compressed, the first sub-member 531 and the second sub-member 532 move relative to each other, and the protrusion 5301 moves between the first side surface 5307 and the second side surface 5309.

[0128] Specifically, in some embodiments, when the connecting member 53 moves in the positive direction A1 of the first direction (A1 / A2), the protrusion 5301 abuts against the first side surface 5307. In this case, the connecting member 53 can drive the shielding member 51 to move in a direction away from the surface to be cleaned, for example, driving the shielding member 51 to switch from the second shielding position to the first shielding position; when the connecting member 53 moves in the reverse direction A2 of the first direction (A1 / A2), the elastic force of the first elastic member 55 can make the first sub-member 531 and the second sub-member 532 relatively stationary. In this case, the protrusion 5301 still abuts against the first side surface 5307, and the connecting member 53 can drive the shielding member 51 to move in a direction close to the surface to be cleaned, for example, driving the shielding member 51 to switch from the first shielding position to the second shielding position. Furthermore, when the force applied to the shielding member 51 exceeds the preset force threshold, that is, when the external force applied to the shielding member 51 exceeds the preset force threshold, the first elastic member 55 is compressed. In this case, the first sub-member 531 and the second sub-member 532 move relative to each other, that is, the shielding member 51 moves relative to the connecting member 53. In this way, the force applied to the shielding member 51 can be buffered, thereby preventing the shielding member 51 from being damaged by a rigid collision with an obstacle or a protrusion on the surface to be cleaned, thereby ensuring the normal operation of the cleaning device 100.

[0129] Exemplarily, in the case where the first elastic member 55 includes a compression spring, the opposite ends of the compression spring are respectively connected to the first sub-member 531 and the second sub-member 532. When the protrusion 5301 abuts against the first side surface 5307, the compression spring can be in a compressed state and have a certain compression margin, and the compression spring can also be in an extended state. The second sub-member 532 can push the first sub-member 531 to move through the compression spring to drive the shielding member 51 to move relative to the roller brush housing 10. When the force applied to the shielding member 51 exceeds the preset force threshold, the compression spring is compressed to allow the first sub-member 531 and the second sub-member 532 to move relative to each other, and can absorb the force applied to the shielding member 51; when the force applied to the shielding member 51 disappears, the elastic force generated by the compression of the compression spring can restore the shielding member 51 to the position before the movement.

[0130] It can be understood that, when the protrusion 5301 abuts against the first side surface 5307, the shielding member 51 is not subjected to any force (the force refers to the force other than the force applied to the shielding member 51 by the first elastic member 55); or, the force applied to the shielding member 51 is less than a preset force threshold.

[0131] In some embodiments, a protruding structure may be provided on the side wall opposite to the first sub-component 531 and the second sub-component 532; or, a protruding structure may be provided on the side wall opposite to the first sub-component 531 and the second sub-component 532. Thus, compared with the direct contact between the first sub-component 531 and the second sub-component 532, the provision of the protruding structure can reduce the friction between the first sub-component 531 and the second sub-component 532, so that the relative movement of the first sub-component 531 and the second sub-component 532 is smoother. The protruding structure in this embodiment is substantially the same as the first protruding structure 537 in the above-mentioned embodiment, and will not be described in detail here.

[0132] See also Figure 1 and Figure 2 In this embodiment, the lifting assembly 60 further includes a sliding member 65, which is slidably mounted on the roller brush housing 10 and rotatably connected to the lifting member 63. The second output end of the transmission component 23 is engaged with or disengaged from the lifting member 63 through the sliding member 65. Specifically, when the second output end of the transmission component 23 is engaged with the lifting member 63 through the sliding member 65, the driving force of the driving member 21 can be transmitted to the lifting member 63, so that the lifting member 63 moves between the first lifting position and the second lifting position, thereby driving the cleaning device 100 to rise and fall relative to the body 200; when the second output end of the transmission component 23 is disengaged from the lifting member 63, the driving force of the driving member 21 will not be transmitted to the lifting member 63, and at this time, the lifting member 63 can be located at the first lifting position.

[0133] Further, in some embodiments, the sliding member 65 includes a sliding portion 651 and a sliding protrusion 653 connected to each other, and the sliding protrusion 653 can cooperate with the second output end of the transmission component 23. The roller brush housing 10 is provided with a guide groove 17, which is used to accommodate at least part of the sliding portion 651 and guide the sliding portion 651 to move relative to the roller brush housing 10.

[0134] Specifically, in some embodiments, the guide groove 17 may be recessed from the outer wall of the roller brush housing 10 toward the center of the roller brush housing 10, and at least a portion of the sliding portion 651 is disposed in the guide groove 17. Thus, the setting of the guide groove 17 can limit the moving direction of the sliding portion 651 relative to the roller brush housing 10, preventing the sliding portion 651 from deviating during movement, causing the lifting assembly 60 to be unable to drive the cleaning device 100 to rise and fall relative to the body 200, and ensuring the stability and reliability of the cleaning device 100.

[0135] See also Figure 2 In some embodiments, in the third direction C, the guide groove 17 includes a first guide side wall 171 and a second guide side wall 173 opposite to each other, and the sliding portion 651 is slidably matched with the first guide side wall 171 and the second guide side wall 173, and the third direction C is perpendicular to the advancing direction X of the cleaning robot 1000. In this way, the friction between the sliding portion 651 and the guide groove 17 can be reduced, so that on the one hand, the friction between the sliding member 65 and the guide groove 17 can be prevented from being too large, so that the sliding member 65 cannot move relative to the roller brush housing 10, thereby ensuring the normal operation of the lifting assembly 60; on the other hand, the power consumption required by the driving assembly 20 to drive the sliding member 65 to move can be reduced, thereby increasing the battery life of the cleaning robot 1000.

[0136] Further, in some embodiments, the sliding portion 651 or the first guide side wall 171 may be provided with a convex structure, and the convex structure is located between the sliding portion 651 and the first guide side wall 171; and / or, the sliding portion 651 or the second guide side wall 173 may be provided with a convex structure, and the convex structure is located between the sliding portion 651 and the second guide side wall 173, thereby, compared with the direct contact between the sliding portion 651 and the side wall of the guide groove 17 (including the first guide side wall 171 and the second guide side wall 173), the provision of the convex structure can reduce the friction between the sliding portion 651 and the side wall of the guide groove 17, so that the sliding portion 651 moves more smoothly in the guide groove 17. Among them, the structure of the convex structure in this embodiment is basically the same as the structure of the first protruding structure 537 in the above-mentioned embodiment, and will not be repeated here.

[0137] See also Figure 2In some embodiments, the transmission component 23 includes a first transmission unit 231, a second transmission unit 233, a third transmission unit 235 and a clutch unit 237. The input end of the first transmission unit 231 is connected to the output end of the driving member 21. The input end of the second transmission unit 233 is connected to the first output end of the first transmission unit 231, and the output end of the second transmission unit 233 (i.e., the third output end of the transmission component 23) is connected to the roller brush assembly 40. The output end of the third transmission unit 235 (i.e., the first output end of the transmission component 23 and the second output end of the transmission component 23) is connected to the shielding assembly 50 or the lifting assembly 60. One end of the clutch unit 237 is connected to the second output end of the first transmission unit 231, and the other end of the clutch unit 237 is connected to the input end of the third transmission unit 235. The clutch unit 237 is used to connect or disconnect the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235.

[0138] Specifically, in some embodiments, when the output end of the driving member 21 rotates along the first rotation direction, the driving force of the driving member 21 can be transmitted to the first transmission unit 231, and is transmitted to the roller brush assembly 40 through the first output end of the first transmission unit 231 and the second transmission unit 233 in sequence to drive the roller brush assembly 40 to move; when the output end of the driving member 21 rotates along the second rotation direction, the driving force of the driving member 21 can be transmitted to the first transmission unit 231, and is transmitted to the roller brush assembly 40, the shielding assembly 50 or the lifting assembly 60 through the second output end of the first transmission unit 231, the clutch unit 237 and the third transmission unit 235 in sequence to drive the roller brush assembly 40, the shielding assembly 50 or the lifting assembly 60 to move. It can be understood that when the output end of the driving member 21 rotates along the first rotation direction, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is disconnected; when the output end of the driving member 21 rotates along the second rotation direction, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected, thereby preventing the lifting assembly 60 and the shielding assembly 50 from moving during the movement of the roller brush assembly 40 and affecting the cleaning of the roller brush assembly 40 on the surface to be cleaned, thereby ensuring the normal operation of the cleaning device 100.

[0139] Further, in some embodiments, the first transmission unit 231 includes a first rotating shaft 2311 rotatably mounted on the roller brush housing 10, and the third transmission unit 235 includes a second rotating shaft 2351 rotatably mounted on the roller brush housing 10. The clutch unit 237 includes a first transmission member 2371, a second transmission member 2373 and a third transmission member 2375. The first transmission member 2371 is fixedly mounted on the first rotating shaft 2311. The second transmission member 2373 is slidably mounted on the second rotating shaft 2351, and the second transmission member 2373 is engaged with the first transmission member 2371. The third transmission member 2375 is fixedly mounted on the second rotating shaft 2351, and when the first rotating shaft 2311 rotates, the first transmission member 2371 rotates and drives the second transmission member 2373 to rotate, so that the second transmission member 2373 switches between the first sliding position and the second sliding position. When the second transmission member 2373 is located at the first sliding position, the second transmission member 2373 is disengaged from the third transmission member 2375, and the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is disconnected; when the second transmission member 2373 is located at the second sliding position, the second transmission member 2373 is engaged with the third transmission member 2375, and the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected.

[0140] It should be noted that, in some embodiments, the first transmission member 2371 and the second transmission member 2373 can be helical gears, and the third transmission member 2375 can be a ratchet. Along the extension direction of the second rotating shaft 2351, the second transmission member 2373 is provided with teeth on the end surface facing the third transmission member 2375, and the third transmission member 2375 is also provided with teeth on the end surface facing the second transmission member 2373. Among them, when the second transmission member 2373 is located in the first sliding position, the teeth on the end face of the second transmission member 2373 are spaced from the third transmission member 2375, and the second transmission member 2373 cannot drive the third transmission member 2375 to rotate, so that the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is disconnected; when the second transmission member 2373 is located in the second sliding position, the teeth on the end face of the second transmission member 2373 can engage with the teeth on the ratchet, and the second transmission member 2373 can drive the third transmission member 2375 to rotate, so that the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected.

[0141] Furthermore, in some embodiments, the output end of the driving member 21 rotates along the first rotation direction to move the second transmission member 2373 to or to the first sliding position. The output end of the driving member 21 rotates along the second rotation direction to move the second transmission member 2373 to or to the second rotation position, and the first rotation direction is opposite to the second rotation direction.

[0142] Specifically, in some embodiments, when the output end of the driving member 21 rotates along the first rotation direction, the first rotating shaft 2311 rotates along the first rotation direction relative to the roller brush housing 10 and drives the first transmission member 2371 to rotate along the first rotation direction. The rotation of the first transmission member 2371 can drive the second transmission member 2373 to rotate relative to the second rotating shaft 2351, and drive the second transmission member 2373 to move relative to the second rotating shaft 2351 toward the first sliding position, for example, driving the second transmission member 2373 to move from the second sliding position to the first sliding position. In this case, the power transmission between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is The transmission path is disconnected; when the output end of the driving member 21 rotates along the second rotation direction, the first rotating shaft 2311 rotates relative to the roller brush housing 10 along the second rotation direction and drives the first transmission member 2371 to rotate along the second rotation direction. The rotation of the first transmission member 2371 can drive the second transmission member 2373 to rotate relative to the second rotating shaft 2351, and drive the second transmission member 2373 to move relative to the second rotating shaft 2351 toward the second sliding position, for example, drive the second transmission member 2373 to move from the first sliding position to the second sliding position. In this case, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected. It should be noted that in some embodiments, the first rotation direction and the second rotation direction are opposite.

[0143] See also Figure 2 and Figure 6 In some embodiments, the third transmission unit 235 includes a moving part 2352, which is connected to the clutch unit 237. When the driving force of the driving member 21 is transmitted to the moving part 2352, the moving part 2352 moves relative to the roller brush housing 10 to drive the shielding assembly 50 or the lifting assembly 60 to operate.

[0144] Further, in certain embodiments, when the driving force of the driving member 21 is transmitted to the moving member 2352, the moving member 2352 moves along a fourth direction (Y1 / Y2) relative to the roller brush housing 10 to drive the shielding assembly 50 or the lifting assembly 60 to operate, for example, the fourth direction (Y1 / Y2) is perpendicular to the forward direction X of the cleaning robot 1000.

[0145] Specifically, in some embodiments, the third transmission unit 235 may further include a gear connecting rod unit 2350, one end of which is connected to the clutch unit 237, and the other end is connected to the moving member 2352. When the second transmission member 2373 is engaged with the third transmission member 2375 so that the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected, the gear connecting rod unit 2350 can convert the rotational driving force of the third transmission member 2375 into a moving driving force to drive the moving member 2352 to move relative to the roller brush housing 10 along the fourth direction (Y1 / Y2), thereby realizing the driving of the shielding assembly 50 or the lifting assembly 60. It should be noted that in some embodiments, the fourth direction (Y1 / Y2) may be the same as the third direction C.

[0146] In some embodiments, the moving member 2352 includes a moving body 2354 and a protrusion 2356, and the protrusion 2356 protrudes and extends from the moving body 2354. When the clutch unit 237 transmits the driving force of the driving member 21 to the moving member 2352, the moving member 2352 moves along the fourth direction (Y1 / Y2) relative to the roller brush housing 10 so that the protrusion 2356 drives the lifting assembly 60 to operate. It should be noted that, in some embodiments, the protrusion 2356 is the second output end of the transmission component 23.

[0147] Specifically, please combine Fig.13 In some embodiments, the protrusion 2356 includes a convex block, and the convex block includes a first surface 23561 and a second surface 23563 opposite to each other in the fourth direction (Y1 / Y2), and the first surface 23561 is a side of the convex block corresponding to the sliding protrusion 653. For example, the convex block is a trapezoid, and the first surface 23561 and the second surface 23563 are the two waists of the trapezoid. Among them, the first surface 23561 is arranged at an angle, and in the direction from the first surface 23561 to the second surface 23563, the distance between the first surface 23561 and the moving body 2354 gradually increases. Therefore, compared with the case where the first surface 23561 is not arranged at an angle, the power consumption required for the driving member 21 to drive the moving member 2352 to move so that the sliding protrusion 653 moves along the protrusion 2356 in this embodiment is smaller. In addition, the inclined setting of the first surface 23561 can also prevent the sliding protrusion 653 from getting stuck when abutting against the protrusion 2356, causing the driving member 21 to burn out or other faults, thereby improving the safety of the driving component 20 and extending the service life of the driving component 20.

[0148] In some embodiments, the moving body 2354 and the protrusion 2356 may be an integral structure, that is, the moving body 2354 and the protrusion 2356 may be formed into an integral structure by an integral molding method, thereby improving the bonding strength between the moving body 2354 and the protrusion 2356, preventing the protrusion 2356 from falling off the moving body 2354 when the moving part 2352 cooperates with the lifting assembly 60, thereby improving the stability and reliability of the cleaning device 100. In other embodiments, the moving body 2354 and the protrusion 2356 may be a split structure, that is, the moving body 2354 and the protrusion 2356 are two different structures. Among them, the moving body 2354 and the protrusion 2356 can be combined together by a non-detachable connection method or a detachable connection method, wherein the non-detachable connection method includes but is not limited to bonding or welding, etc.; the detachable connection method includes but is not limited to snap connection or threaded connection, etc.

[0149] In some embodiments, when the protrusion 2356 is engaged with the lifting assembly 60, the lifting assembly 60 is located at the second lifting position and the roller brush assembly 40 is at a first height relative to the fuselage 200; when the protrusion 2356 is disengaged from the lifting assembly 60, the lifting assembly 60 is located at the first lifting position and the roller brush assembly 40 is at a second height relative to the fuselage 200, and the first height is greater than the second height.

[0150] Specifically, in some embodiments, the protrusion 2356 and the lifting assembly 60 may cooperate as follows: the sliding protrusion 653 is carried on the protrusion 2356 and moves on the protrusion 2356; the protrusion 2356 and the lifting assembly 60 may be released as follows: the sliding protrusion 653 is not carried on the protrusion 2356. Among them, when the moving part 2352 moves along the fourth direction (Y1 / Y2) to make the protrusion 2356 cooperate (abut) with the sliding protrusion 653, the sliding protrusion 653 can move relative to the roller brush shell 10 along the first surface 23561 toward the top of the protrusion 2356 (the side of the protrusion 2356 away from the moving body 2354) until the sliding protrusion 653 moves to the top of the protrusion 2356, at this time, the lifting assembly 60 is located in the second lifting position, and the roller brush assembly 40 is at the first height relative to the fuselage 200; when the moving part 2352 moves along the fourth direction (Y1 / Y2) to make the protrusion 2356 and the sliding protrusion 653 release the cooperation (abutment), the sliding protrusion 653 disengages from the first surface 23561, at this time, the lifting assembly 60 is located in the first lifting position, and the roller brush assembly 40 is at the second height relative to the fuselage 200. Thus, the driving assembly 20 can drive the lifting assembly 60 to move so that the roller brush assembly 40 switches between the first height and the second height, thereby improving the obstacle surmounting capability of the cleaning device 100 and ensuring the normal operation of the cleaning device 100.

[0151] It can be understood that when the roller brush assembly 40 is at a first height relative to the body 200, the shielding member 51 of the shielding assembly 50 is in a first shielding position. At this time, the cleaning device 100 can cross obstacles to ensure the normal operation of the cleaning device 100; when the roller brush assembly 40 is at a second height relative to the body 200, the shielding member 51 of the shielding assembly 50 is in a second shielding position. At this time, the opening of the suction port 11 is smaller, and the suction force of the accommodating chamber 18 is larger, and the cleaning device 100 can clean the target area; when the roller brush assembly 40 is at the second height relative to the body 200, the shielding member 51 of the shielding assembly 50 is in the first shielding position. At this time, the opening of the suction port 11 is larger, and the suction force of the accommodating chamber 18 is smaller, and the cleaning device 100 can clean the non-target area.

[0152] In some embodiments, a guide portion 101 is provided on one of the moving part 2352 and the roller brush housing 10, and a matching portion 2357 is provided on the other of the moving part 2352 and the roller brush housing 10, and the guide portion 101 cooperates with the matching portion 2357 to guide the moving part 2352 to move along the fourth direction (Y1 / Y2).

[0153] Specifically, see Figure 6 In some embodiments, one of the guide portion 101 and the matching portion 2357 may be a protrusion, and the other may be a groove. When the moving member 2352 is disposed on the roller brush housing 10, the protrusion can cooperate with the groove to guide the moving member 2352 to move relative to the roller brush housing 10 along the fourth direction (Y1 / Y2). In addition, the protrusion can cooperate with the groove to limit the movement stroke of the moving member 2352 relative to the roller brush housing 10, thereby preventing the moving stroke of the moving member 2352 in the fourth direction (Y1 / Y2) from being unrestricted when a program error occurs in the driving component 20, resulting in collision and damage between the moving member 2352 and the roller brush housing 10 or other structures on the roller brush housing 10, thereby ensuring the stability and reliability of the cleaning device 100.

[0154] See also Figure 2 and Figure 6 In some embodiments, the moving member 2352 is provided with a moving groove 2353, the shielding assembly 50 includes a matching member 56 matched with the moving groove 2353, the matching member 56 is accommodated in the moving groove 2353, and the moving member 2352 moves relative to the roller brush housing 10 along the fourth direction (Y1 / Y2), so that the shielding assembly 50 moves relative to the roller brush housing 10 along the first direction (A1 / A2) through the matching member 56. It should be noted that, in some embodiments, the moving groove 2353 is the first output end of the transmission component 23.

[0155] Specifically, in some embodiments, when the cleaning device 100 is assembled, the matching member 56 is located in the movable groove 2353 and can move in the movable groove 2353 to allow the shielding assembly 50 to move relative to the roller brush housing 10 along the first direction (A1 / A2). In one example, the moving member 2352 includes a first side and a second side opposite to each other, and the first side of the moving member 2352 is opposite to the roller brush housing 10. The movable groove 2353 can be a through groove, that is, the movable groove 2353 passes through the first side of the moving member 2352 and the second side of the moving member 2352, thereby, when the movement of the matching member 56 in the movable groove 2353 is blocked, the cause of the fault can be quickly checked, for example, when the matching member 56 cannot move, it is convenient to observe whether the matching member 56 is stuck in the movable groove 2353, thereby ensuring the stability and reliability of the operation of the cleaning device 100.

[0156] In another example, the moving groove 2353 may be a blind groove, that is, the moving groove 2353 is recessed from the first side of the moving member 2352 toward the second side of the moving member 2352, but the moving groove 2353 does not penetrate the second side of the moving member 2352, so that impurities such as water or dust from the outside can be prevented from entering the moving groove 2353 and accumulating, thereby preventing the cleaning device 100 from being contaminated on the one hand; on the other hand, it can prevent impurities from affecting the movement of the matching member 56, ensuring the normal operation of the shielding assembly 50. In another example, the moving groove 2353 may be a blind groove, and the moving groove 2353 is recessed from the second side of the moving member 2352 toward the first side of the moving member 2352, but the moving groove 2353 does not penetrate the first side of the moving member 2352.

[0157] Please combine Figure 2 and Figure 6 In some embodiments, the movable groove 2353 includes an elongated groove. The setting of the elongated groove enables the shielding assembly 50 to move relative to the roller brush housing 10 along the first direction (A1 / A2) to change the opening size of the suction port 11, thereby improving the applicability of the cleaning device 100 and enhancing the cleaning effect of the cleaning device 100. It should be noted that in some embodiments, the cross-sectional shape of the elongated groove may include but is not limited to a racetrack shape or a rectangle.

[0158] In other embodiments, the movable groove 2353 includes a first sub-groove 23531, a second sub-groove 23533 and a third sub-groove 23535. The first sub-groove 23531 extends along the fourth direction (Y1 / Y2). The second sub-groove 23533 extends along the fourth direction (Y1 / Y2), and the second sub-groove 23533 is staggered with the first sub-groove 23531 in the first direction (A1 / A2). The third sub-groove 23535 is located between the first sub-groove 23531 and the second sub-groove 23533, and connects the first sub-groove 23531 and the second sub-groove 23533, and the angle between the inner surface of the first sub-groove 23531 and the inner surface of the third sub-groove 23535 is an obtuse angle, and the angle between the inner surface of the second sub-groove 23533 and the inner surface of the third sub-groove 23535 is an obtuse angle. For example, the movable groove 2353 is Z-shaped. It should be noted that, in the height direction of the cleaning device 100 , the distance between the first sub-groove 23531 and the surface to be cleaned is greater than the distance between the second sub-groove 23533 and the surface to be cleaned.

[0159] The matching member 56 in this embodiment can reciprocate more smoothly between the first sub-groove 23531, the second sub-groove 23533 and the third sub-groove 23535, reducing the possibility of the matching member 56 getting stuck in the moving groove 2353, thereby ensuring the normal operation of the shielding assembly 50. It should be noted that the setting can be adjusted according to actual needs, for example, the angle between the inner surface of the first sub-groove 23531 and the inner surface of the third sub-groove 23535 is less than or equal to 90°, and the angle between the inner surface of the second sub-groove 23533 and the inner surface of the third sub-groove 23535 is less than or equal to 90°.

[0160] In one example, the matching member 56 may be a protrusion. In another example, the matching member 56 may be a pulley. When the matching member 56 is a pulley, the outer periphery of the matching member 56 is a convex arc surface, and the convex arc surface contacts the moving groove 2353, and the contact area is small, thereby reducing the friction force of the matching member 56 moving in the moving groove 2353, making the movement process of the matching member 56 smoother.

[0161] It can be understood that, in some embodiments, the inner surface of the first sub-groove 23531 and the inner surface of the third sub-groove 23535 are smoothly connected, and the inner surface of the second sub-groove 23533 and the inner surface of the third sub-groove 23535 are smoothly connected. This can further reduce the movement resistance of the matching member 56 in the movable groove 2353, and reduce the power consumption required for the driving member 21 to drive the shielding assembly 50 to move along the first direction (A1 / A2) through the moving member 2352.

[0162] In some embodiments, the angle between the inner surface of the first sub-groove 23531 and the inner surface of the third sub-groove 23535 may be in the range of (90°, 180°), that is, the angle between the inner surface of the first sub-groove 23531 and the inner surface of the third sub-groove 23535 may be any value between 90° and 180°, for example, 95°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, and 180°. 75°; the angle range between the inner surface of the second sub-groove 23533 and the inner surface of the third sub-groove 23535 can be (90°, 180°), that is, the angle between the inner surface of the second sub-groove 23533 and the inner surface of the third sub-groove 23535 can be any value between 90° and 180°, for example, 95°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170° and 175°.

[0163] In this embodiment, the movable groove 2353 is only described by taking the example that it includes the first sub-groove 23531 , the second sub-groove 23533 and the third sub-groove 23535 .

[0164] Please combine Figures 9 to 11 In some embodiments, when the matching member 56 is in the first matching position in the moving groove 2353, the moving member 2352 is in the first moving position, and the shielding member 51 of the shielding assembly 50 is in the first shielding position relative to the roller brush housing 10. When the matching member 56 is in the second matching position in the moving groove 2353, the moving member 2352 is in the second moving position, and the shielding member 51 of the shielding assembly 50 is in the first shielding position relative to the roller brush housing 10. When the matching member 56 is in the third matching position in the moving groove 2353, the moving member 2352 is in the third moving position, and the shielding member 51 of the shielding assembly 50 is in the second shielding position relative to the roller brush housing 10. The opening size of the suction port 11 when the shielding member 51 is in the first shielding position is greater than the opening size of the suction port 11 when the shielding member 51 is in the second shielding position.

[0165] Specifically, in some embodiments, when the matching member 56 is in the first matching position in the movable groove 2353, the matching member 56 is located at one end of the first sub-groove 23531 close to the third sub-groove 23535. In this case, the shielding member 51 is in the first shielding position relative to the roller brush housing 10, and the cleaning device 100 can clean the non-target area ( Fig. 9); when the matching member 56 is in the second matching position in the movable groove 2353, the matching member 56 is located at the end of the first sub-groove 23531 away from the third sub-groove 23535. In this case, the shielding member 51 is in the first shielding position relative to the roller brush housing 10, the sliding protrusion 653 matches the protrusion 2356, the lifting assembly 60 is in the second lifting position, the roller brush assembly 40 is at the first height relative to the fuselage 200, and the roller brush assembly 40 can be lifted to overcome obstacles, mop the floor, or enter and exit the base station, etc. ( Fig.10 When the matching member 56 is in the third matching position in the movable groove 2353, the matching member 56 is located in the second sub-groove 23533. In this case, the shielding member 51 is in the second shielding position relative to the roller brush housing 10, and the cleaning device 100 can clean the target area ( Fig.11 As shown). Thus, when the moving member 2352 reciprocates along the fourth direction (Y1 / Y2), the shielding member 51 can switch between the first shielding position and the second shielding position relative to the roller brush housing 10 to achieve the switching of the opening size of the suction port 11, so that the cleaning device 100 can be applied to different working scenes, improving the cleaning robot 1000 ( Fig. 20 Applicability of the

[0166] In some embodiments, when one of the first detection member 81 and the second detection member 83 is a light transmitter and the other is a light receiver, the light transmitter may include a first transmitter, a second transmitter and a third transmitter, and the light receiver may include a first receiver, a second receiver and a third receiver. When the moving member 2352 is in the first moving position, the first transmitter corresponds to the first receiver; when the moving member 2352 is in the second moving position, the second transmitter corresponds to the second receiver; when the moving member 2352 is in the third moving position, the third transmitter corresponds to the third receiver.

[0167] Compared to Figure 8 The embodiment shown, Figure 2 The clutch unit 237 in the illustrated embodiment is arranged closer to the first transmission unit 231, so that the transmission component 23 is more compact as a whole, the transmission mechanism is simpler, the transmission distance is shorter, and its disassembly and maintenance are convenient; at the same time, it is convenient to cover the transmission component 23 as a whole with a protective shell to prevent dust, water vapor, etc. from entering therein and damaging its service life.

[0168] Specific implementation method 2 of this application

[0169] See also Fig.12The shielding assembly 50 in the second embodiment also includes a limiting member 503, which is arranged between the connecting member 53 and the roller brush housing 10, and the limiting member 503 provides resistance for the reverse A2 movement of the connecting member 53 relative to the roller brush housing 10 along the first direction (A1 / A2).

[0170] Specifically, in some embodiments, when the driving force of the driving member 21 is transmitted to the connecting member 53 through the transmission member, and the connecting member 53 moves in the reverse direction A2 of the first direction (A1 / A2), the limiting member 503 can generate a force on the connecting member 53, and the direction of the force is substantially the same as the positive direction A1 of the first direction (A1 / A2); when the driving force of the driving member 21 disappears, the force generated by the limiting member 503 can make the connecting member 53 move in the positive direction A1 of the first direction (A1 / A2) to restore to the position before the movement. Thus, the setting of the limiting member 503 can facilitate the movement of the connecting member 53 relative to the roller brush housing 10 in the first direction (A1 / A2), and reduce the power consumption of the driving member 21 during the movement of the connecting member 53, that is, when the connecting member 53 moves in the positive direction A1 of the first direction (A1 / A2) relative to the roller brush housing 10, the driving of the driving member 21 is not required. Furthermore, the setting of the limiting member 503 can also prevent the connecting member 53 from falling off from the roller brush housing 10 , thereby ensuring the stability and reliability of the operation of the shielding assembly 50 .

[0171] In some embodiments, the roller brush housing 10 is provided with two mounting grooves 13, the connecting member 53 includes a connecting body 533 and a connecting protrusion 534, the connecting body 533 is movably mounted on the roller brush housing 10, and the connecting protrusion 534 protrudes and extends from the connecting body 533. The limiting member 503 includes a limiting body 5031 and two opposite connecting ends 5033, the two connecting ends 5033 are respectively mounted in the two mounting grooves 13, and the limiting body 5031 is sleeved on the connecting protrusion 534.

[0172] Specifically, in some embodiments, the connecting body 533 includes a first side and a second side opposite to each other, and the first side of the connecting body 533 is opposite to the roller brush housing 10. The connecting protrusion 534 protrudes and extends from the second side of the connecting body 533 in a direction away from the first side of the connecting body 533. Among them, the limiting member 503 can be a torsion spring, and when the connecting member 53 moves in the reverse direction A2 of the first direction (A1 / A2), the torsion spring can generate an elastic restoring force, and the direction of the elastic restoring force is substantially the same as the positive direction A1 of the first direction (A1 / A2); when the driving force of the driving member 21 disappears, the elastic restoring force generated by the limiting member 503 can make the connecting member 53 move in the positive direction A1 of the first direction (A1 / A2) to restore to the position before the movement.

[0173] In some embodiments, the connection end 5033 can be installed in the installation groove 13 using a detachable connection method or a non-detachable connection method, wherein the non-detachable connection method includes but is not limited to bonding or welding, etc.; the detachable connection method includes but is not limited to a snap connection or a threaded connection, etc.

[0174] It can be understood that the specific structure of the lifting assembly 60 in this embodiment is exactly the same as the specific structure of the lifting assembly 60 in the first embodiment, and no repeated description is made here; the specific structure of the driving assembly 20 in this embodiment is roughly the same as the specific structure of the driving assembly 20 in the first embodiment, and the difference between the driving assembly 20 in this embodiment and the driving assembly 20 in the first embodiment is that:

[0175] See also Figure 2 and Fig.13 In this embodiment, the moving member 2352 includes a moving body 2354 and a linkage portion 2355, and the linkage portion 2355 is connected to the moving body 2354. The shielding assembly 50 includes a matching member 56 that cooperates with the linkage portion 2355. When the moving member 2352 moves along the fourth direction (Y1 / Y2), the linkage portion 2355 enables the shielding assembly 50 to move relative to the roller brush housing 10 through the matching member 56.

[0176] Specifically, in some embodiments, during the movement of the moving member 2352 along the fourth direction (Y1 / Y2), the linkage portion 2355 and the moving body 2354 can move together along the fourth direction (Y1 / Y2), and the linkage portion 2355 can abut against the matching member 56, and drive the shielding assembly 50 to move relative to the roller brush housing 10 along the first direction (A1 / A2) through the matching member 56. Exemplarily, during the movement of the moving member 2352 along the positive direction Y1 of the fourth direction (Y1 / Y2), the linkage portion 2355 can drive the shielding assembly 50 to move relative to the roller brush housing 10 along the reverse direction A2 of the first direction (A1 / A2); during the movement of the moving member 2352 along the reverse direction Y2 of the fourth direction (Y1 / Y2), the shielding assembly 50 can move relative to the roller brush housing 10 along the second elastic member 505 ( Figure 1 As shown), it moves in the positive direction A1 along the first direction (A1 / A2).

[0177] Furthermore, please combine Fig.14In some embodiments, the linkage portion 2355 includes a linkage sub-portion 23551 and an elastic element 23553. The linkage sub-portion 23551 is movably connected to the moving body 2354. The elastic element 23553 is disposed between the moving body 2354 and the linkage sub-portion 23551. When the moving body 2354 moves along the fourth direction (Y1 / Y2), the linkage sub-portion 23551 moves along the fourth direction (Y1 / Y2) with the moving body 2354. When the linkage sub-portion 23551 is matched with the matching member 56, the elastic element 23553 provides a restoring force. When the linkage sub-portion 23551 is released from the matching member 56, the restoring force is used to reset the linkage sub-portion 23551.

[0178] Specifically, in some embodiments, when the moving member 2352 moves along the fourth direction (Y1 / Y2) and the linkage sub-portion 23551 cooperates (abuts) with the matching member 56, the linkage sub-portion 23551 can drive the matching member 56 to move along the first direction (A1 / A2) to make the shielding assembly 50 move along the first direction (A1 / A2). In this case, the elastic element 23553 generates a restoring force, and when the linkage sub-portion 23551 is released from the matching member 56, the restoring force can return the linkage sub-portion 23551 to the position before the movement.

[0179] In which, when the shielding member 51 is subjected to external force (for example, the force generated by the collision between the shielding member 51 and an obstacle or a protrusion on the surface to be cleaned during the operation of the cleaning device 100), and the shielding member 51 cannot move relative to the surface to be cleaned to release the external force, the shielding member 51 will be damaged, affecting the service life of the shielding assembly 50 and the normal operation of the cleaning device 100. Therefore, in this embodiment, the linkage sub-portion 23551 and the moving body 2354 can move relative to each other, so that the shielding member 51 can move away from the surface to be cleaned when subjected to external force to release the external force, thereby preventing the shielding assembly 50 from being damaged and ensuring the normal operation of the cleaning device 100. In addition, when the force applied to the shielding member 51 disappears, the shielding member 51 can return to the position before the movement.

[0180] Specifically, when the shielding member 51 moves in a direction away from the surface to be cleaned, the elastic element 23553 is deformed so that the linkage sub-portion 23551 can move relative to the moving body 2354 in the opposite direction Y2 of the fourth direction (Y1 / Y2), so that the shielding member 51 can move in a direction away from the surface to be cleaned to release the external force, prevent the shielding assembly 50 from being damaged, and ensure the normal operation of the cleaning device 100; when the force acting on the shielding member 51 disappears, the shielding member 51 can return to its position before the movement. At the same time, the restoring force generated by the elastic element 23553 can cause the linkage sub-portion 23551 to move relative to the moving body 2354 in the positive direction Y1 of the fourth direction (Y1 / Y2), so that the linkage sub-portion 23551 can be reset.

[0181] In some embodiments, the linkage sub-portion 23551 includes a first side and a second side opposite to each other, and the first side of the linkage sub-portion 23551 corresponds to the matching member 56. The elastic element 23553 may be a compression spring, and the opposite ends of the compression spring are respectively connected to the second side of the linkage sub-portion 23551 and the moving body 2354. When the linkage sub-portion 23551 is matched with the matching member 56, the compression spring is in a compressed state and has a certain compression margin. The elastic force generated by the compression spring can make the linkage sub-portion 23551 drive the matching member 56 to move along the first direction (A1 / A2). When the force applied to the shielding member 51 exceeds the preset force threshold, the compression spring is compressed to make the linkage sub-portion 23551 move relative to the moving body 2354 and absorb the force applied to the shielding member 51; when the force applied to the shielding member 51 disappears, the elastic force generated by the compression of the compression spring can restore the shielding member 51 to the position before the movement.

[0182] In some embodiments, when the shielding member 51 is in the second shielding position, the linkage sub-portion 23551 cooperates with the matching member 56. The linkage sub-portion 23551 includes a matching surface 23555, and the matching surface 23555 is used to cooperate with the matching member 56, and the matching surface 23555 is inclined compared to the fourth direction (Y1 / Y2). It should be noted that, in some embodiments, the matching surface 23555 can be the first side of the linkage sub-portion 23551 in the above embodiment.

[0183] Specifically, in some embodiments, the distance between the mating surface 23555 and the surface to be cleaned gradually decreases in the direction from the first side of the linkage sub-portion 23551 to the second side of the linkage sub-portion 23551. Thus, the inclined arrangement of the mating surface 23555 can prevent the mating surface 23555 from getting stuck when mating with the matching member 56, thereby preventing the driver 21 from burning or other faults, thereby improving the safety of the driver assembly 20 and extending the service life of the driver assembly 20.

[0184] Specific implementation method three of the present disclosure

[0185] See also Fig.15 The specific structure of the shielding assembly 50 and the matching relationship between the shielding assembly 50 and the roller brush housing 10 in the third embodiment are basically the same as the specific structure of the shielding assembly 50 and the matching relationship between the shielding assembly 50 and the roller brush housing 10 in the first embodiment, and will not be repeated here. The difference between this embodiment and the first embodiment is that:

[0186] See also Fig.15 and Fig.16 In this embodiment, the lifting member 63 includes a sleeve portion 631 and a hook portion 633. The sleeve portion 631 is rotatably sleeved on the connecting shaft 61. The hook portion 633 is connected to the sleeve portion 631 and extends from the sleeve portion 631. The hook portion 633 is used to connect the bracket 210 ( Figure 2 As shown in the figure, a force is applied so that the support 210 applies a reaction force to the cleaning device 100 to lift the support 210 relative to the support 210.

[0187] In some embodiments, the sleeve portion 631 and the hook portion 633 may be an integral structure, that is, the sleeve portion 631 and the hook portion 633 may be formed into an integral structure by an integral molding method, thereby improving the bonding strength between the sleeve portion 631 and the hook portion 633, preventing the sleeve portion 631 and the hook portion 633 from breaking when the lifting member 63 is matched with the bracket 210, thereby improving the stability and reliability of the cleaning device 100. In other embodiments, the sleeve portion 631 and the hook portion 633 may be a split structure, that is, the sleeve portion 631 and the hook portion 633 are two different structures. Among them, the sleeve portion 631 and the hook portion 633 can be combined together by a non-detachable connection method or a detachable connection method, wherein the non-detachable connection method includes but is not limited to bonding or welding, etc.; the detachable connection method includes but is not limited to snap connection or threaded connection, etc.

[0188] Furthermore, in some embodiments, a socket protrusion 6311 is provided on the socket portion 631 , and the socket protrusion 6311 can cooperate with the second output end of the transmission component 23 .

[0189] Specifically, in some embodiments, when the driving force of the driving member 21 is transmitted to the socket protrusion 6311 through the second output end of the transmission member 23, the socket protrusion 6311 can drive the socket portion 631 to rotate relative to the connecting shaft 61, so that the hook portion 633 applies a force to the bracket 210 in the body 200, thereby causing the bracket 210 to apply a reaction force to the cleaning device 100 to lift relative to the bracket 210 through the lifting member 63.

[0190] Please combine Fig.17In some embodiments, the transmission component 23 includes a first transmission unit 231, a second transmission unit 233, a third transmission unit 235 and a clutch unit 237. The input end of the first transmission unit 231 is connected to the output end of the driving member 21. The input end of the second transmission unit 233 is connected to the first output end of the first transmission unit 231, and the output end of the second transmission unit 233 (i.e., the third output end of the transmission component 23) is connected to the roller brush assembly 40. The output end of the third transmission unit 235 (i.e., the first output end of the transmission component 23 and the second output end of the transmission component 23) is connected to the shielding assembly 50 and the lifting assembly 60. One end of the clutch unit 237 is connected to the second output end of the first transmission unit 231, and the other end of the clutch unit 237 is connected to the input end of the third transmission unit 235. The clutch unit 237 is used to connect or disconnect the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235.

[0191] Specifically, in some embodiments, when the output end of the driving member 21 rotates along the first rotation direction, the driving force of the driving member 21 can be transmitted to the first transmission unit 231, and is transmitted to the roller brush assembly 40 through the first output end of the first transmission unit 231 and the second transmission unit 233 in sequence to drive the roller brush assembly 40 to move; when the output end of the driving member 21 rotates along the second rotation direction, the driving force of the driving member 21 can be transmitted to the first transmission unit 231, and is transmitted to the roller brush assembly 40, the shielding assembly 50 or the lifting assembly 60 through the second output end of the first transmission unit 231, the clutch unit 237 and the third transmission unit 235 in sequence to drive the roller brush assembly 40, the shielding assembly 50 or the lifting assembly 60 to move. It can be understood that when the output end of the driving member 21 rotates along the first rotation direction, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is disconnected; when the output end of the driving member 21 rotates along the second rotation direction, the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected, thereby preventing the lifting assembly 60 and the shielding assembly 50 from moving during the movement of the roller brush assembly 40 and affecting the cleaning of the roller brush assembly 40 on the surface to be cleaned, thereby ensuring the normal operation of the cleaning device 100.

[0192] In some embodiments, the clutch unit 237 includes a one-way clutch 2377, which includes a first sub-section and a second sub-section that are rotatably connected to each other, the first sub-section is connected to the second output end of the first transmission unit 231, and the second sub-section is connected to the input end of the third transmission unit 235, and the first sub-section and the second sub-section cooperate to connect or disconnect the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235.

[0193] Specifically, in some embodiments, the one-way clutch 2377 may include a one-way bearing, one of the first sub-unit and the second sub-unit is the inner ring of the one-way bearing, and the other of the first sub-unit and the second sub-unit is the outer ring of the one-way bearing. Wherein, the first sub-unit can only rotate freely in the clockwise direction or counterclockwise direction relative to the second sub-unit, for example, the first sub-unit can rotate freely in the clockwise direction relative to the second sub-unit and is locked in the counterclockwise direction; or, the first sub-unit can rotate freely in the counterclockwise direction relative to the second sub-unit and is locked in the clockwise direction. Thus, when the first sub-unit is connected to the second output end of the first transmission unit 231 and the second sub-unit is connected to the input end of the third transmission unit 235, the first sub-unit and the second sub-unit can control the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 to be connected or disconnected according to the rotation direction of the second output end of the first transmission unit 231.

[0194] Further, in some embodiments, the output end of the driving member 21 rotates along the first rotation direction to disconnect the transmission between the first sub-unit and the second sub-unit, and the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is disconnected. The output end of the driving member 21 rotates along the second rotation direction to connect the transmission between the first sub-unit and the second sub-unit, and the power transmission path between the second output end of the first transmission unit 231 and the input end of the third transmission unit 235 is connected, and the first rotation direction is opposite to the second rotation direction.

[0195] See also Figures 15 to 17 In some embodiments, when the driving force of the driving member 21 is transmitted to the moving member 2352, the moving member 2352 rotates relative to the roller brush housing 10 to drive the shielding assembly 50 or the lifting assembly 60 to operate.

[0196] Further, in some embodiments, the moving member 2352 includes a total transmission part 23580, a first transmission part 2358 and a second transmission part 2359, and the total transmission part 23580 is connected to the clutch unit 237. When the driving force of the driving member 21 is transmitted to the total transmission part 23580, the total transmission part 23580 drives the first transmission part 2358 and the second transmission part 2359 to rotate relative to the roller brush housing 10, and the first transmission part 2358 drives the lifting assembly 60 to operate; the second transmission part 2359 drives the shielding assembly 50 to operate. Exemplarily, the total transmission part 23580, the first transmission part 2358 and the second transmission part 2359 can be coaxially connected, that is, the total transmission part 23580, the first transmission part 2358 and the second transmission part 2359 are connected on the same axis.

[0197] Furthermore, in some embodiments, the first transmission part 2358 is provided with a protrusion 23581. When the driving force of the driving member 21 is transmitted to the first transmission part 2358, the first transmission part 2358 rotates relative to the roller brush housing 10 so that the protrusion 23581 drives the lifting assembly 60 to move. The second transmission part 2359 is provided with a coupling part 23591, which is eccentrically arranged relative to the second transmission part 2359. When the second transmission part 2359 rotates relative to the roller brush housing 10 together with the first transmission part 2358, the coupling part 23591 drives the shielding assembly 50 to operate.

[0198] Specifically, in some embodiments, the first transmission part 2358 may include a first main body 23583, which may be fixedly disposed on the second rotating shaft 2351, and a protrusion 23581 protrudes and extends from the outer peripheral wall of the first main body 23583 in a direction away from the central axis of the first main body 23583. For example, the cross-sectional shape of the first transmission part 2358 may be designed to be a water drop shape; the second transmission part 2359 includes a second main body 23593, which may be fixedly disposed on the second rotating shaft 2351, and a coupling part 23591 protrudes and extends from the second main body 23593 in a direction away from the first main body 23583. The central axes of the first main body 23583 and the second main body 23593 may coincide. It should be noted that, in some embodiments, the cross-sectional shape of the protrusion 23581 may be approximately triangular.

[0199] In certain embodiments, when the protrusion 23581 is engaged with the lifting assembly 60, the lifting assembly 60 can be moved to or located at the second lifting position, and the roller brush assembly 40 is at a first height relative to the fuselage 200. When the protrusion 23581 is disengaged from the lifting assembly 60, the lifting assembly 60 can be moved to or located at the first lifting position, and the roller brush assembly 40 is at a second height relative to the fuselage 200. The first height is greater than the second height.

[0200] Specifically, in some embodiments, the protrusion 23581 may cooperate with the lifting assembly 60 by: the sleeve protrusion 6311 abuts against the protrusion 23581 ; the protrusion 23581 may disengage from the lifting assembly 60 by: the sleeve protrusion 6311 does not abut against the protrusion 23581 . When the moving part 2352 rotates relative to the roller brush housing 10 so that the protrusion 23581 cooperates with the sleeve protrusion 6311, the sleeve protrusion 6311 can drive the sleeve part 631 and the hook part 633 to rotate around the connecting shaft 61, so that the lifting assembly 60 is located at the second lifting position, and the roller brush assembly 40 is at the first height relative to the fuselage 200; when the moving part 2352 rotates relative to the roller brush housing 10 so that the protrusion 23581 and the sleeve protrusion 6311 are released from the cooperation, the sleeve part 631 and the hook part 633 can rotate in the opposite direction around the connecting shaft 61, so that the lifting assembly 60 is located at the first lifting position, and the roller brush assembly 40 is at the second height relative to the fuselage 200. Thus, the driving assembly 20 can drive the lifting assembly 60 to move, so that the roller brush assembly 40 switches between the first height and the second height, thereby improving the obstacle crossing ability of the cleaning device 100 and ensuring the normal operation of the cleaning device 100.

[0201] In certain embodiments, when the connection portion 23591 rotates to a first position relative to the roller brush housing 10, the shielding member 51 of the shielding assembly 50 is in a first shielding position relative to the roller brush housing 10; when the connection portion 23591 rotates to a second position relative to the roller brush housing 10, the shielding member 51 of the shielding assembly 50 is in a second shielding position relative to the roller brush housing 10; when the shielding member 51 is in the first shielding position, the opening size of the suction port 11 is greater than the opening size of the suction port 11 when the shielding member 51 is in the second shielding position. Thus, when the connection portion 23591 rotates relative to the roller brush housing 10, the shielding member 51 can switch between the first shielding position and the second shielding position relative to the roller brush housing 10 to achieve switching of the opening size of the suction port 11, thereby enabling the cleaning device 100 to be suitable for different working scenarios and improving the cleaning robot 1000( Fig. 20 Applicability of the

[0202] In some embodiments, when the roller brush assembly 40 is at a first height relative to the body 200, the shielding member 51 of the shielding assembly 50 is in a first shielding position. At this time, the cleaning device 100 can cross obstacles to ensure the normal operation of the cleaning device 100; when the roller brush assembly 40 is at a second height relative to the body 200, the shielding member 51 of the shielding assembly 50 is in a second shielding position. At this time, the opening of the suction port 11 is smaller, and the suction force of the accommodating chamber 18 is larger, and the cleaning device 100 can clean the target area; when the roller brush assembly 40 is at the second height relative to the body 200, the shielding member 51 of the shielding assembly 50 is in the first shielding position. At this time, the opening of the suction port 11 is larger, and the suction force of the accommodating chamber 18 is smaller, and the cleaning device 100 can clean the non-target area.

[0203] Please combine Fig.18 In some embodiments, the cleaning device 100 further includes a functional component 2360. When the driving force of the driving member 21 is transmitted to the total transmission part 23580, the total transmission part 23580 drives the first transmission part 2358, the second transmission part 2359, and the functional component 2360 to rotate relative to the roller brush housing 10. For example, the total transmission part 23580, the first transmission part 2358, the second transmission part 2359, and the functional component 2360 can be coaxially connected, that is, the total transmission part 23580, the first transmission part 2358, the second transmission part 2359, and the functional component 2360 are connected on the same axis. The functional component 2360 can perform different functions from the roller brush assembly 40, the shielding assembly 50, and the lifting assembly 60. For example, when the functional component 2360 moves, the functional component 2360 can drive the roller brush assembly 40 to rise and fall relative to the surface to be cleaned. For example, the functional component 2360 drives the roller brush assembly 40 to descend by pressing the roller brush shell 10. When the functional component 2360 releases the roller brush shell 10, the roller brush shell 10 drives the roller brush assembly 40 to return to its original state, that is, to rise to its original position.

[0204] See also Figure 1 , Figure 3 The embodiment of the present disclosure provides a cleaning robot 1000, which includes a body 200 and a cleaning device 100 of any of the above embodiments. The cleaning device 100 is disposed on the body 200 and is used to clean a surface to be cleaned.

[0205] In the cleaning robot 1000 of the disclosed embodiment, the cleaning device 100 includes a roller brush assembly 40, a shielding assembly 50 and a lifting assembly 60. The driving assembly 20 is used to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush housing 10 to move, thereby driving the roller brush assembly 40 to rise and fall relative to the fuselage 200. Therefore, compared with the related art, the cleaning device 100 can not only clean the surface to be cleaned, but also use the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 to perform other functions together, thereby improving the applicability of the cleaning robot 1000, meeting the user's use needs, and improving the cleaning effect, such as deep cleaning of carpets, and lifting the roller brush when crossing obstacles, entering and exiting base stations, or mopping the floor. On the other hand, the cleaning functions of the above different needs can be realized through one driving assembly, saving costs and reducing the installation space of components, making the overall structure of the cleaning robot compact and miniaturized.

[0206] It can be understood that the specific structure of the cleaning robot 1000 in this embodiment is exactly the same as the specific structure of the cleaning robot 1000 in the above embodiment, and will not be described repeatedly here.

[0207] See also Figure 1 , Figure 3 and Fig.21 , the embodiment of the present disclosure provides a cleaning system 4000, the cleaning system 4000 includes the cleaning robot 1000 and the base station 3000 of the above embodiment, the base station 3000 is used to cooperate with the cleaning robot 1000, and the base station 3000 includes a parking position for accommodating the cleaning robot 1000. It can be understood that in some embodiments, when the cleaning robot 1000 is located at the parking position of the cleaning robot 1000, the base station 3000 can perform maintenance on the cleaning robot 1000, and the types of maintenance include but are not limited to charging, dust collection, cleaning and washing parts, replenishing fresh water, pumping sewage, etc. It can be understood that the cleaning robot 1000 can complete at least one of the following in the base station 3000: 1. The base station 3000 charges the cleaning robot 1000; 2. The base station 3000 recycles the garbage on the cleaning robot 1000 (for example, the garbage in the dust box or sewage box of the cleaning robot) into its dust collection container; 3. The cleaning parts of the cleaning robot 1000 are cleaned in the base station 3000 (for example, washing the mop, cleaning the roller brush, washing the drum, etc.); 4. The base station 3000 replenishes clean water to the clean water box of the cleaning robot 1000; 5. The base station 3000 recycles the dirt in the sewage box of the cleaning robot 1000 into its dirty container and discharges it to the outside. The above maintenance types are only exemplary descriptions and are not intended to be limitations of the present disclosure.

[0208] In the cleaning system 4000 of the disclosed embodiment, the cleaning device 100 includes a roller brush assembly 40, a shielding assembly 50 and a lifting assembly 60. The driving assembly 20 is used to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush shell 10 to move, thereby driving the roller brush assembly 40 to rise and fall relative to the body 200. Therefore, compared with the related art, the cleaning device 100 can not only clean the surface to be cleaned, but also use the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 to jointly perform other functions, thereby improving the applicability of the cleaning robot 1000, meeting the user's usage needs, and improving the cleaning effect.

[0209] See also Fig. 22 The present disclosure provides a control method for a cleaning robot, and the control method is applied to the cleaning robot 1000 of the above embodiment. The control method includes:

[0210] 01: During at least part of the time period when the cleaning robot 1000 cleans the target area, the driving component 20 is controlled to drive the roller brush component 40 to move to clean the target area, and to drive the shielding component 50 to move to reduce the opening size of the suction port 11.

[0211] Please combine Fig. 20 , the above control method can be applied to the cleaning robot 1000, which includes a processor 300 and a memory, in which computer program 2100 instructions are stored. Among them, the processor 300 is a component of the cleaning robot 1000 for analyzing or processing data, and issuing instructions to the drive component 20 or controlling the drive component 20. The processor 300 can be one or more. In the embodiment of the present disclosure, the processor 300 is used to execute the control method in 01. That is, the processor 300 is used to: during at least part of the time period when the cleaning robot 1000 cleans the target area, control the drive component 20 to drive the roller brush component 40 to move to clean the target area, and drive the shielding component 50 to move to reduce the opening size of the suction port 11.

[0212] It can be understood that the specific structure of the cleaning robot 1000 in this embodiment is exactly the same as the specific structure of the cleaning robot 1000 in the above embodiment, and the target area and non-target area in this embodiment are exactly the same as the target area and non-target area in the above embodiment, and will not be repeated here.

[0213] The surface to be cleaned includes a target area and a non-target area. Taking a carpet as an example, the target area is difficult to be effectively cleaned because the material of the carpet is relatively softer than the ground and the adsorption force on garbage (such as dust, hair and debris, etc.) is relatively large. Therefore, under the same conditions, the adsorption force of the non-target area on garbage is smaller than that of the target area. When the cleaning robot 1000 cleans the target area, considering that most of the garbage in the target area is difficult to adsorb and clean, it needs to concentrate the adsorption force to clean it. It will be set within a period of time. After the opening size of the suction port 11 is adjusted to a smaller opening, the roller brush 41 will roll up the garbage in the target area, and the fan can concentrate the adsorption force to effectively suck this part of the garbage into the dust box to achieve a better cleaning effect.

[0214] When the cleaning robot 1000 is cleaning the non-target area and the target area, the opening size of the suction port 11 can be set differently. For example, when the cleaning robot 1000 moves from the non-target area to the target area, it is necessary to control the opening size of the suction port 11 to be reduced. For another example, when the cleaning robot 1000 moves from the target area to the non-target area, it is necessary to control the opening size of the suction port 11 to be increased. In some embodiments, the cleaning robot 1000 reduces the opening size of the suction port 11 when cleaning the target area, and increases the opening size of the suction port 11 or restores the opening size of the suction port 11 after cleaning or leaving the target area (for example, the suction port 11 is restored to the opening size before cleaning the target area).

[0215] In some embodiments, during at least part of the time period when the cleaning robot 1000 cleans the target area, the timing for controlling the movement of the shielding assembly 50 to reduce the opening size of the suction port 11 may be when part of the cleaning robot 1000 has reached the target area, for example, the side brush 260 located in front of the forward direction of the cleaning robot 1000 can clean the target area, or for another example, the roller brush 41 located in the middle of the forward direction of the cleaning robot 1000 can clean the target area, or for another example, the sensor located on the left or right side of the forward direction of the cleaning robot 1000 can identify the target area; it may also be that the cleaning robot 1000 has completely reached the target area, for example, the wiping member 270 located behind the forward direction of the cleaning robot 1000 can clean the target area, or for another example, the sensor located at the tail of the forward direction of the cleaning robot 1000 can identify the target area.

[0216] Specifically, in some embodiments, during at least part of the time period when the cleaning robot 1000 enters the target area from the non-target area for cleaning, that is, during at least part of the time period when the cleaning robot 1000 enters the area that requires deep cleaning from the area that does not require deep cleaning, the processor 300 can control the drive assembly 20 to drive the roller brush assembly 40 to move to clean the target area, and at the same time control the shielding assembly 50 to move to reduce the opening size of the suction port 11, so as to increase the suction force of the accommodating chamber 18 and ensure that the cleaning device 100 effectively cleans the target area. In other words, compared with the cleaning robot 1000 when cleaning the non-target area, the opening size of the suction port 11 is smaller when cleaning the target area.

[0217] The timing of controlling the driving component 20 to drive the roller brush 41 to rotate to clean the target area may be before, at the same time, or after controlling the shielding component 50 to move to reduce the opening size of the suction port 11. For example, the shielding component 50 is first controlled to move to reduce the opening size of the suction port 11. After the opening size of the suction port 11 is reduced, the shielding component 50 remains in this position, and the driving component 20 drives the roller brush 41 to rotate to take away the garbage with greater adsorption force.

[0218] When the cleaning robot 1000 cleans the target area, in addition to the rotation of the roller brush 41, the side brush 260 and the mopping member 270 can also operate according to the corresponding cleaning mode. For example, when the cleaning mode is sweeping and mopping, the roller brush 41, the side brush 260, and the mopping member 270 all operate.

[0219] More specifically, in some embodiments, the cleaning robot 1000 may include a detection device, which can output a detection signal according to the current position of the cleaning robot 1000 (including the target area and the non-target area), and the detection signal includes the current position of the cleaning robot 1000. The processor 300 can obtain the detection signal output by the detection device and control the operation of the cleaning device 100 according to the detection signal. In this way, the cleaning device 100 can adaptively adjust the operating state according to different current positions, improve the applicability of the cleaning device 100, ensure the normal operation of the cleaning device 100, and enhance the intelligent attributes of the cleaning robot 1000. It should be noted that, in some embodiments, the detection device may include but is not limited to a position detection sensor and an image acquisition device.

[0220] See also Fig.23 In some embodiments, 01: driving the shielding assembly 50 to move to reduce the opening size of the suction port 11 includes:

[0221] 011: Drive the shielding component 50 to move so that the shielding component 50 contacts the target area.

[0222] Please combine Fig. 20, one or more processors can execute the control method in 011, that is, one or more processors 300 are used to: drive the shielding component 50 to move so that the shielding component 50 contacts the target area.

[0223] In some embodiments, the shielding assembly 50 is driven to move to reduce the opening size of the suction port 11 so that the shielding assembly 50 contacts the target area. Exemplarily, the opening size of the suction port 11 can be the smallest, that is, the shielding assembly 50 moves to the second shielding position. When the shielding assembly 50 contacts the target area, there is almost no gap (or there is a minimum gap) between the shielding member 51 of the shielding assembly 50 and the surface to be cleaned. At this time, the sealing performance in the accommodating chamber 18 is good, that is, a good vacuum degree is formed between the cleaning device 100 and the surface to be cleaned, and the fan can concentrate the adsorption force to adsorb the garbage on the surface to be cleaned corresponding to the suction port 11, that is, the garbage on the part of the surface to be cleaned covered by the cleaning device 100 can be effectively sucked into the dust box of the cleaning robot 1000, and the cleaning device 100 has a better cleaning effect on the surface to be cleaned.

[0224] Specifically, in some embodiments, when the cleaning robot 1000 enters the target area from the non-target area for cleaning, the processor can control the movement of the shielding assembly 50 so that the shielding member 51 of the shielding assembly 50 contacts the target area, that is, the shielding member 51 contacts the surface to be cleaned. In this way, the opening size of the suction port 11 can be reduced, and the suction force of the accommodating chamber 18 can be increased, thereby improving the cleaning effect of the cleaning robot 1000.

[0225] and / or, see Fig. 22 and Fig.23 In some embodiments, the control method further comprises:

[0226] 02: Control and increase the operating power of the fan of the cleaning robot 1000. The fan is connected to the roller brush housing 10. When the fan is running, the garbage on the target area is sucked into the roller brush housing 10 through the suction port 11.

[0227] One or more processors are capable of executing the control method in 02, that is, one or more processors 300 are used to: control and increase the operating power of the fan of the cleaning robot 1000, the fan is connected to the roller brush shell 10, and during the operation of the fan, the garbage on the target area is sucked into the roller brush shell 10 through the suction port 11.

[0228] The timing for increasing the operating power of the fan can be after, at the same time, or before driving the shielding assembly 50 to move to reduce the opening size of the suction port 11. For example, after the shielding assembly 50 moves to reduce the opening size of the suction port 11, the sealing inside the accommodating chamber 18 is better, that is, a better vacuum is formed between the cleaning device 100 and the surface to be cleaned, and the fan can concentrate the adsorption force to adsorb the garbage on the surface to be cleaned corresponding to the suction port 11. If the operating power of the fan is increased at this time, the adsorption force will be greater, which can improve the adsorption efficiency of the fan on the garbage, thereby not only improving the cleaning effect, but also improving the cleaning effect.

[0229] Specifically, in some embodiments, when the cleaning robot 1000 cleans the target area, the processor 300 can control to increase the operating power of the fan, so that negative pressure can be quickly formed in the accommodating chamber 18 and the suction force of the accommodating chamber 18 can be increased, thereby, on the one hand, improving the cleaning efficiency of the cleaning robot 1000; on the other hand, it can improve the cleaning effect of the cleaning robot 1000. For example, when the target area is a carpet area, the cleaning robot 1000 can more easily suck up dust on the carpet and debris deeply embedded in the carpet fibers.

[0230] See also Fig.24 In some embodiments, the control method further comprises:

[0231] 03: During at least part of the time period when the cleaning robot 1000 cleans the non-target area, the control driving assembly 20 drives the roller brush assembly 40 and / or the wiping member 270 of the cleaning robot 1000 to move to clean the non-target area, and / or drives the shielding assembly 50 to move to increase the opening size of the suction port 11.

[0232] One or more processors are capable of executing the control method in 03, that is, one or more processors 300 are used to: control the drive component 20 to drive the roller brush component 40 and / or the wiping member 270 of the cleaning robot 1000 to move to clean the target area, and / or drive the shielding component 50 to move to increase the opening size of the suction port 11 during at least part of the time period when the cleaning robot 1000 cleans the non-target area.

[0233] Before the cleaning robot 1000 cleans the non-target area, if it is not in the target area, that is, the opening size of the suction port 11 has not been reduced, for example, it moves from the non-target area A to the non-target area B, and for example, it moves from the base station 3000 to the non-target area C, then when the cleaning robot 1000 cleans the non-target area, it is not necessary to adjust the opening size of the suction port 13. If the cleaning robot 1000 moves from the target area to the non-target area for cleaning, then during at least part of the time period when the cleaning robot 1000 cleans the non-target area, the shielding assembly 50 is driven to move to increase the opening size of the suction port 11.

[0234] The cleaning modes of the cleaning robot 1000 for cleaning non-target areas may include but are not limited to single sweeping, single mopping, sweeping and mopping simultaneously, sweeping first and then mopping, etc. In the above different cleaning modes, the operation states of the roller brush 41, the mopping and wiping member 270, and the side brush 260 are different. For example, when only mopping the floor, the roller brush 41 and the side brush 260 are not running, and only the mopping and wiping member 270 is running; for another example, when only sweeping the floor, the roller brush 41 and the side brush 260 are running, and the mopping and wiping member 270 is not running; for another example, when sweeping and mopping simultaneously, the roller brush 41, the mopping and wiping member 270, and the side brush 260 are all running. Therefore, during at least part of the time period of cleaning the non-target area, at least one of the roller brush 41 and the mopping and wiping member 270 is running.

[0235] In some embodiments, during at least part of the time period when the cleaning robot 1000 cleans the non-target area, the timing for controlling the movement of the shielding assembly 50 to increase the opening size of the suction port 11 may be when part of the cleaning robot 1000 has reached the non-target area. For example, the side brush 260 located in front of the forward direction of the cleaning robot 1000 can clean the non-target area. For another example, the roller brush 41 located in the middle of the forward direction of the cleaning robot 1000 can clean the non-target area. For another example, the sensor located on the left or right side of the forward direction of the cleaning robot 1000 can identify the non-target area. It may also be that the cleaning robot 1000 has completely reached the non-target area. For example, the wiping member 270 located behind the forward direction of the cleaning robot 1000 can clean the non-target area. For another example, the sensor located at the tail of the forward direction of the cleaning robot 1000 can identify the non-target area.

[0236] The timing of controlling the driving assembly 20 to drive the roller brush 41 and / or the wiping member 270 of the cleaning robot 1000 to move to clean the non-target area may be before, at the same time, or after controlling the shielding assembly 50 to move to increase the opening size of the suction port 11. For example, after controlling the shielding assembly 50 to move to reduce the opening size of the suction port 11, the operating power of the fan of the cleaning robot 1000 is controlled to increase.

[0237] Specifically, in some embodiments, during at least part of the time period when the cleaning robot 1000 enters a non-target area from a target area for cleaning, that is, during at least part of the time period when the cleaning robot 1000 enters an area that does not require deep cleaning from an area that requires deep cleaning, the processor 300 can control the drive assembly 20 to drive the roller brush assembly 40 and / or the wiping member 270 of the cleaning robot 1000 to move to clean the target area, and at the same time control the shielding assembly 50 to move to increase the opening size of the suction port 11, thereby ensuring that the suction force of the accommodating chamber 18 meets the cleaning requirements while also ensuring that the garbage can enter the accommodating chamber 18 through the suction port 11, thereby preventing the problem of larger garbage being blocked outside the suction port 11.

[0238] See also Fig.25 In some embodiments, 03: driving the shielding assembly 50 to move to increase the opening size of the suction port 11 includes:

[0239] 031: Drive the shielding component 50 to move so that the shielding component 50 does not contact the non-target area.

[0240] One or more processors can execute the control method in 031 , that is, one or more processors 300 are used to: drive the shielding component 50 to move so that the shielding component 50 does not contact the non-target area.

[0241] Specifically, in certain embodiments, when the cleaning robot 1000 enters the non-target area from the target area for cleaning, the processor 300 can control the movement of the shielding assembly 50 so that the shielding member 51 of the shielding assembly 50 does not contact the non-target area, that is, the shielding member 51 does not contact the surface to be cleaned, thereby ensuring that the suction force of the accommodating chamber 18 meets the cleaning requirements while ensuring that the garbage can enter the accommodating chamber 18 through the suction port 11, thereby preventing the problem of larger garbage being blocked outside the suction port 11.

[0242] See also Fig.25 In some embodiments, after driving the shielding assembly 50 to move to increase the opening size of the suction port 11, the control method further includes:

[0243] 04: Control to reduce the operating power of the fan of the cleaning robot 1000. The fan is connected to the roller brush housing 10. When the fan is running, the garbage on the surface to be cleaned is sucked into the roller brush housing 10 through the suction port 11.

[0244] One or more processors are capable of executing the control method in 04, that is, one or more processors 300 are used to: control the reduction of the operating power of the fan of the cleaning robot 1000, the fan is connected to the roller brush shell 10, and during the operation of the fan, the garbage on the surface to be cleaned is sucked into the roller brush shell 10 through the suction port 11.

[0245] In some embodiments, the shielding assembly 50 is controlled to move to increase the opening size of the suction port 11 so that the shielding assembly 50 is not in contact with the non-target area. Exemplarily, the opening size of the suction port 11 can be the maximum opening, that is, the shielding assembly 50 is controlled to move to the first shielding position. The opening size of the suction port 11 is adjusted to a larger opening, including: the shielding assembly 50 moves so that the shielding assembly 50 is not in contact with the non-target area. The shielding assembly 50 is not in contact with the non-target area, which can be that the suction port 11 has a variety of openings, for example, the suction port 11 has a maximum opening. Of course, the opening size of the suction port 11 can be any opening between the maximum opening and the minimum opening, that is, the shielding assembly 50 can also be at any position between the first shielding position and the second shielding position.

[0246] Specifically, in some embodiments, when the cleaning robot 1000 cleans a non-target area, the processor 300 can control the reduction of the operating power of the fan, so that the suction force of the accommodating chamber 18 can meet the cleaning requirements while reducing the power consumption of the fan, thereby increasing the battery life of the cleaning robot 1000 and improving the user experience.

[0247] And / or, in some embodiments, the control method further comprises:

[0248] 05: During at least part of the time when the cleaning robot 1000 crosses an obstacle or enters and exits the base station 3000 or mops the floor, the driving component 20 is controlled to drive the lifting component 60 to move so as to cause the cleaning device 100 to rise relative to the body 200; and / or, after the cleaning robot 1000 crosses an obstacle or enters and exits the base station 3000 or during at least part of the time when sweeping the floor, the driving component 20 is controlled to drive the lifting component 60 to move so as to cause the cleaning device 100 to descend relative to the body 200; wherein, the base station 3000 is used in conjunction with the cleaning robot 1000, and the cleaning robot 1000 moves to the base station 3000 for maintenance.

[0249] One or more processors are capable of executing the control method in 05, that is, one or more processors 300 are used to: control the drive component 20 to drive the lifting component 60 to move and drive the cleaning device 100 to rise relative to the body 200 during at least part of the time period when the cleaning robot 1000 crosses an obstacle or enters and exits the base station 3000 or mops the floor; and / or, after the cleaning robot 1000 crosses an obstacle or enters and exits the base station 3000 or during at least part of the time period when sweeping the floor, control the drive component 20 to drive the lifting component 60 to move and drive the cleaning device 1000 to descend relative to the body 200; wherein, the base station 3000 is used in conjunction with the cleaning robot 1000, and the cleaning robot 1000 moves to the base station 3000 for maintenance.

[0250] For the cleaning robot 1000, since the roller brush assembly 40 of the cleaning device 100 needs to contact the surface to be cleaned when the cleaning device 100 is used to realize the sweeping function, when the cleaning robot 1000 encounters obstacles, enters and exits the base station 3000, or the cleaning device 100 is used to realize the mopping function, it is hoped that the roller brush assembly 40 of the cleaning device 100 does not contact the surface to be cleaned or is appropriately lifted to reduce obstacles. Therefore, in some embodiments of the present disclosure, during at least part of the time period when the cleaning robot 1000 crosses obstacles or enters and exits the base station 3000 or mops the floor, the driving assembly 20 drives the lifting assembly 60 to move to drive the roller brush assembly 40 to rise relative to the fuselage 200. Exemplarily, when an obstacle is encountered on the surface to be cleaned, the driving assembly 20 drives the lifting assembly 60 to move to drive the roller brush assembly 40 to rise relative to the fuselage 200, which can facilitate the cleaning robot 1000 to cross obstacles and improve the passing performance of the cleaning robot 1000; on the other hand, it is conducive to the cleaning robot 1000 to adapt to different cleaning environments and improve the cleaning effect of the cleaning robot 1000. It can be understood that in some embodiments, after the cleaning robot 1000 crosses an obstacle or enters and exits the base station 3000 or during at least part of the time period of sweeping the floor, the driving component 20 drives the lifting component 60 to move to drive the cleaning device 100 to descend relative to the body 200, thereby ensuring that the roller brush assembly 40 can normally clean the surface to be cleaned.

[0251] See also Fig. 20 , and combined with Fig.26 In some embodiments, the cleaning robot 1000 further includes a driving wheel 280 rotatably disposed on the body 200 , and the driving wheel 280 is used to drive the cleaning robot 1000 to move. The control method further includes:

[0252] 06: During at least a portion of the time period when the driving assembly 20 drives the shielding assembly 50 and / or the lifting assembly 60 to move, the driving wheel 280 is controlled to reduce the rotation speed and / or stop rotating.

[0253] One or more processors are capable of executing the control method in 06, that is, one or more processors 300 are used to control the drive wheel 280 to reduce the rotation speed and / or stop rotating during at least a portion of the time period when the drive component 20 drives the shielding component 50 and / or the lifting component 60 to move.

[0254] Specifically, in some embodiments, during at least part of the time period when the drive assembly 20 drives the shielding assembly 50 to move, that is, during at least part of the time period when the drive assembly 20 drives the shielding member 51 to move between the first shielding position and the second shielding position, if the rotation speed of the drive wheel 280 remains unchanged, it may cause the shielding member 51 to have a poor cleaning effect on the cleaning surface by the cleaning device 100 during the switching process. For example, when the cleaning robot 1000 switches from a non-target area to a target area, if the rotation speed of the drive wheel 280 remains unchanged, during the switching process of the shielding member 51, the cleaning device 100 may have difficulty in cleaning the garbage (such as dust) on the target area, thereby affecting the cleaning effect. Therefore, during at least part of the time period when the drive assembly 20 drives the shielding assembly 50 to move, the rotation speed of the drive wheel 280 is controlled to decrease; and / or the drive wheel 280 is controlled to stop rotating, so as to ensure the cleaning effect of the cleaning robot 1000.

[0255] During at least part of the time period when the driving component 20 drives the lifting component 60 to move, that is, during at least part of the time period when the driving component 20 drives the lifting member 63 to move between the first lifting position and the second lifting position, if the rotation speed of the driving wheel 280 remains unchanged, it may cause the cleaning device 100 to collide with an obstacle and be damaged during the switching process of the lifting member 63, thereby affecting the service life of the cleaning device 100 and hindering the normal operation of the cleaning robot 1000. Therefore, during at least part of the time period when the driving component 20 drives the lifting component 60 to move, the rotation speed of the driving wheel 280 is controlled to decrease; and / or the driving wheel 280 is controlled to stop rotating, so as to prevent the cleaning device 100 from colliding with an obstacle during the switching process of the lifting member 63, thereby extending the service life of the cleaning device 100 and ensuring the normal operation of the cleaning robot 1000.

[0256] and / or, see Fig. 20 , and combined with Fig.26 In some embodiments, the control method further comprises:

[0257] 07: During at least part of the time period when the cleaning robot 1000 crosses the obstacle, the driving wheel 280 is controlled to increase the rotation speed.

[0258] One or more processors can execute the control method in 07, that is, one or more processors 300 are used to control the driving wheel to increase the rotation speed during at least a portion of the time period when the cleaning robot 1000 crosses the obstacle.

[0259] Specifically, in some embodiments, when the cleaning robot 1000 encounters an obstacle, the processor 300 can control the movement of the lifting assembly 60 to cause the roller brush assembly 40 to rise relative to the body 200. At this time, the processor 300 can also control the driving wheel 280 to increase the rotation speed, so that the cleaning robot 1000 can quickly cross the obstacle and ensure the normal operation of the cleaning robot 1000.

[0260] In some embodiments, the shielding member 51 in the shielding assembly 50 has a first shielding position and a second shielding position, and the opening size of the suction port 11 when the shielding member 51 is in the first shielding position is larger than the opening size of the suction port 11 when the shielding member 51 is in the second shielding position; the lifting member 63 in the lifting assembly 60 has a first lifting position and a second lifting position, and the height of the roller brush assembly 40 relative to the body 200 when the lifting member 63 is in the first lifting position is smaller than the height of the roller brush assembly 40 relative to the body 200 when the lifting member 63 is in the second lifting position; the transmission component 23 in the driving assembly 20 is used to transmit the driving force of the driving assembly 20 to the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60. The cleaning device 100 also includes a detection component 80, which is used to detect the position of the transmission component 23 and / or the shielding member 51 and / or the lifting member 63 relative to the roller brush housing 10, and output a detection signal.

[0261] See also Fig. 27 In some embodiments, the control method further comprises:

[0262] 08: Obtaining the detection signal output by the detection component 80; and

[0263] 091: When the detection signal is the first detection signal, it is determined that the shielding member 51 is located at the second shielding position and the lifting member 63 is located at the first lifting position; and / or,

[0264] 093: When the detection signal is the second detection signal, it is determined that the shielding member 51 is located at the first shielding position and the lifting member 63 is located at the first lifting position; and / or,

[0265] 095: When the detection signal is the third detection signal, it is determined that the shielding member 51 is located at the first shielding position and the lifting member 63 is located at the second lifting position.

[0266] One or more processors 300 are capable of executing the control methods in 08, 091, 093 and 095, that is, one or more processors 300 are used to: obtain the detection signal output by the detection component 80; and when the detection signal is a first detection signal, determine that the blocking member 51 is located at the second blocking position and the lifting member 63 is located at the first lifting position; when the detection signal is a second detection signal, determine that the blocking member 51 is located at the first blocking position and the lifting member 63 is located at the first lifting position; when the detection signal is a third detection signal, determine that the blocking member 51 is located at the first blocking position and the lifting member 63 is located at the second lifting position.

[0267] Specifically, in some embodiments, it can be seen from the above that the detection component 80 includes a first detection member 81 and a second detection member 83, one of which is arranged on the roller brush housing 10, and the other is arranged on the shielding component 50 and / or the lifting component 60, and the first detection member 81 and the second detection member 83 cooperate to detect the position of the connecting member 53 relative to the roller brush housing 10 and / or the position of the lifting member 63 relative to the roller brush housing 10 and output a detection signal. The processor 300 obtains the position of the shielding component 50 and the lifting component 60 relative to the roller brush housing 10 based on the detection signal, so as to facilitate the cleaning device 100 to adjust the position of the moving member 2352 in a timely and accurate manner, so as to adjust the position of the shielding component 50 and the lifting component 60, and ensure the stability and reliability of the cleaning device 100. It can be understood that the first detection member 81 and the second detection member 83 in this embodiment are substantially the same as the first detection member 81 and the second detection member 83 in the above-mentioned embodiment, and no repeated description is made here.

[0268] See also Fig.28 The present disclosure further provides a storage medium 2000 on which a computer program 2100 is stored. When the computer program 2100 is executed by one or more processors 300, the control method described in any of the previous embodiments is implemented.

[0269] For example, please combine Figure 1 , Figure 2 , Fig. 20 and Fig. 22 , when the computer program 2100 is executed by the processor 300, the following cleaning control method is implemented:

[0270] 01: During at least part of the time period when the cleaning robot 1000 cleans the target area, the driving component 20 is controlled to drive the roller brush component 40 to move to clean the target area, and to drive the shielding component 50 to move to reduce the opening size of the suction port 11.

[0271] For another example, when the computer program 2100 is executed by the processor 300, the control methods in 011, 02, 03, 031, 04, 05, 06, 07, 08, 091, 093 and 095 can also be implemented.

[0272] In the storage medium 2000 of the present disclosure, the cleaning device 100 includes a roller brush assembly 40, a shielding assembly 50 and a lifting assembly 60. The driving assembly 20 is used to drive the roller brush assembly 40 to rotate to clean the surface to be cleaned, drive the shielding assembly 50 to move to change the opening size of the suction port 11, and drive the lifting assembly 60 to move to drive the roller brush shell 10 to move, thereby driving the cleaning device 100 to rise and fall relative to the body 200. Therefore, compared with the related art, the cleaning device 100 can not only clean the surface to be cleaned, but also use the roller brush assembly 40, the shielding assembly 50 and the lifting assembly 60 to jointly perform other functions, thereby improving the applicability of the cleaning robot 1000, meeting the user's usage needs, and improving the cleaning effect.

[0273] It should be noted that the "no contact" described in the present disclosure may mean that the cleaning robot is not in contact with the surface to be cleaned when it is placed on a relatively flat surface to be cleaned. Here, it is necessary to exclude contacts in some other states, that is, contacts in the following states cannot be regarded as contacts, including but not limited to: the contact with obstacles or the surface to be cleaned caused by the up and down movement of the body of the cleaning robot when overcoming obstacles; the contact with the bottom surface of the base station caused by the ups and downs of the cleaning robot when entering and exiting the base station; the contact caused by the ups and downs of the body of the cleaning robot when walking on the uneven surface to be cleaned; the contact with garbage caused by large or flying garbage on the surface to be cleaned when the cleaning robot is performing a cleaning task, or the contact with the surface to be cleaned caused by the uneven part of the surface to be cleaned itself, etc. For example, when the cleaning robot is stationary on a relatively flat surface to be cleaned, the first side is not in contact with the surface to be cleaned, and the second side is in contact with the surface to be cleaned (such as the first side is inclined relative to the second side, the second side is placed on the surface to be cleaned, and the first side is suspended above the surface to be cleaned); for another example, when the cleaning robot is stationary in a relatively flat non-target area, the shielding member is not in contact with the non-target area (such as the shielding member is suspended in the non-target area); for another example, when the cleaning robot is stationary in a relatively flat target area, the shielding member is in contact with the target area (such as at least part of the shielding member is in contact with the target area).

[0274] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0275] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0276] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, a computer storage medium can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer storage media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer storage medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0277] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0278] A person of ordinary skill in the art can understand that all or part of the steps carried by the method of the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, the functional units in the various embodiments of the present disclosure can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0279] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure. The scope of the present disclosure is defined by the claims and their equivalents.

Claims

1. A cleaning device, used for a cleaning robot, wherein when the cleaning robot performs a cleaning task, the cleaning device is used to clean the garbage on the surface to be cleaned, characterized in that: include: A roller brush housing, which is arranged on the body of the cleaning robot and has a suction port, and the suction port is used for allowing garbage on the surface to be cleaned to enter the roller brush housing; A driving assembly, wherein the driving assembly is arranged on the roller brush housing or the body; A roller brush assembly, wherein the roller brush assembly is at least partially disposed in the roller brush housing, and the roller brush assembly is connected to the driving assembly; A shielding component connected to the driving component; A lifting assembly, the lifting assembly is connected to the driving assembly and the roller brush housing; The driving assembly is used to drive the roller brush assembly to rotate to clean the surface to be cleaned, drive the shielding assembly to move to change the opening size of the suction port, and drive the lifting assembly to move to drive the roller brush shell to move, thereby driving the roller brush assembly to rise and fall relative to the body.

2. The cleaning device according to claim 1, characterized in that The driving assembly includes a driving member, which drives the roller brush assembly to rotate through the same driving member to clean the surface to be cleaned, drives the shielding assembly to move to change the opening size of the suction port, and drives the lifting assembly to move to drive the roller brush shell to move, thereby driving the cleaning device to rise and fall relative to the body.

3. The cleaning device according to claim 2, characterized in that: The driving component includes one driving member.

4. The cleaning device according to claim 1, characterized in that The surface to be cleaned includes a target area and a non-target area; When the current position of the cleaning robot is the target area and the cleaning robot switches from cleaning the target area to cleaning the non-target area, the driving component drives the shielding component to move to increase the opening size of the suction port, and drives the roller brush component to rotate to clean the non-target area; and / or, When the current position of the cleaning robot is the non-target area and the cleaning robot switches from cleaning the non-target area to cleaning the target area, the driving component drives the shielding component to move to reduce the opening size of the suction port, and drives the roller brush component to rotate to clean the target area; and / or, During at least part of the time when the cleaning robot crosses an obstacle or enters or exits a base station or mops the floor, the driving component drives the lifting component to move so as to drive the roller brush component to rise relative to the body; and / or, After the cleaning robot passes over an obstacle or enters or exits a base station or during at least a portion of the time period when sweeping the floor, the driving assembly drives the lifting assembly to move so as to drive the roller brush assembly to descend relative to the body.

5. The cleaning device according to claim 1, characterized in that: The roller brush housing includes a cover body, the cover body covers the suction port, the cover body includes a first side and a second side, and the first side is closer to the front end of the cleaning robot than the second side; When the cleaning robot performs a cleaning task, the first side does not contact the surface to be cleaned, and the second side contacts the surface to be cleaned.

6. The cleaning device according to claim 5, characterized in that: The drive assembly comprises: A driving member, wherein the driving member is disposed on the roller brush housing or the body; and A transmission component is connected to the output end of the driving member, and is used to transmit the driving force of the driving member to the roller brush assembly, the shielding assembly or the lifting assembly.

7. The cleaning device according to claim 6, characterized in that: When the output end of the driving member rotates along the first rotation direction, the transmission component transmits the driving force of the driving member to the roller brush assembly; When the output end of the driving member rotates along the second rotation direction, the transmission component at least transmits the driving force of the driving member to the shielding assembly or the lifting assembly, and the first rotation direction is opposite to the second rotation direction.

8. The cleaning device according to claim 7, characterized in that: When the output end of the driving member rotates along the first rotation direction, the roller brush assembly rotates along the first direction; During the process that the output end of the driving member rotates along the second rotation direction, the roller brush assembly rotates along the second direction, and the cleaning device includes at least one of a first state, a second state and a third state, the first direction is opposite to the second direction, wherein: In the first state, the driving member drives the shielding assembly to move so as to change the opening size of the suction port; In the second state, the driving member does not drive the shielding assembly to move, and does not drive the lifting assembly to move; In the third state, the driving member drives the lifting assembly to move so as to drive the roller brush assembly to rise and fall relative to the body.

9. The cleaning device according to claim 6, characterized in that: The transmission component includes a first output end; the shielding component includes: A shielding component is connected to the first output end of the transmission component, and the shielding component moves relative to the roller brush housing to change the opening size of the suction port.

10. The cleaning device according to claim 9, characterized in that The shielding component comprises: A shielding member connected to the roller brush housing, the shielding member being used to shield the opening of the suction port; and A connecting member, one end of which is connected to the first output end of the transmission component, and the other end of which is connected to the shielding member, and when the connecting member moves along the first direction, the shielding member is driven to move relative to the roller brush shell to move between a first shielding position and a second shielding position, and when the shielding member is in the first shielding position, the opening size of the suction port is larger than the opening size of the suction port when the shielding member is in the second shielding position.

11. The cleaning device according to claim 10, characterized in that The connecting piece comprises: A first sub-component, the first sub-component being connected to the shielding component; and The second sub-component is provided with a matching component, the matching component is connected to the first output end of the transmission component, the second sub-component is connected to the second sub-component, and when the connecting component moves along the first direction, the second sub-component and the second sub-component are relatively stationary or move relative to each other.

12. The cleaning device according to claim 11, characterized in that One of the first sub-component and the second sub-component is provided with a protrusion, and the other is provided with an accommodating space. The bottom of the accommodating space is provided with a groove extending along the first direction. The protrusion extends into the groove and can move in the groove along the first direction.

13. The cleaning device according to claim 12, characterized in that In the first direction, the groove includes a first side surface and a second side surface opposite to each other, and the first side surface is closer to the matching member than the second side surface; The shielding component also includes: A first elastic member, wherein the first elastic member is disposed between the first sub-member and the second sub-member; When the connecting member moves in the positive direction along the first direction, the protrusion abuts against the first side surface; When the connecting member moves in the opposite direction along the first direction, the first elastic member is used to make the first sub-member and the second sub-member relatively stationary; When the force applied to the connecting member exceeds a preset force threshold, the first elastic member is compressed, the first sub-member and the second sub-member move relative to each other, and the protrusion moves between the first side surface and the second side surface.

14. The cleaning device according to claim 10, characterized in that The shielding component also includes: A limiting member is disposed between the connecting member and the roller brush housing, and provides resistance for the reverse movement of the shielding member relative to the roller brush housing along the first direction.

15. The cleaning device according to claim 14, characterized in that The roller brush shell is provided with two mounting grooves, the connecting member includes a connecting body and a connecting protrusion, the connecting body is movably mounted on the roller brush shell, and the connecting protrusion protrudes from the connecting body; the limiting member includes a limiting body and two opposite connecting ends, the two connecting ends are respectively mounted in the two mounting grooves, and the limiting body is sleeved on the connecting protrusion.

16. The cleaning device according to any one of claims 10 to 15, characterized in that: The roller brush housing is provided with a guide member, and the guide member is used to guide the connecting member to move along the first direction.

17. The cleaning device according to claim 16, characterized in that In a direction perpendicular to the first direction, the guide member includes a first guide side wall and a second guide side wall opposite to each other, the connecting member includes a first connecting side wall and a second connecting side wall opposite to each other, the first connecting side wall and the first guide side wall are slidably matched, and the second connecting side wall and the second guide side wall are slidably matched.

18. The cleaning device according to claim 17, characterized in that The first connecting side wall is provided with a first protruding structure, the first protruding structure protrudes and extends from the first connecting side wall in a direction away from the second connecting side wall, and the first protruding structure abuts against the first guiding side wall; or, the first guiding side wall is provided with a first protruding structure, the first protruding structure protrudes and extends from the first guiding side wall in a direction close to the second guiding side wall, and the first protruding structure abuts against the first connecting side wall; The second connecting side wall is provided with a second protruding structure, the second protruding structure protrudes and extends from the second connecting side wall in a direction away from the first connecting side wall, and the second protruding structure abuts against the second guide side wall; or, the second guide side wall is provided with a second protruding structure, the second protruding structure protrudes and extends from the second guide side wall in a direction close to the first guide side wall, and the second protruding structure abuts against the second connecting side wall.

19. The cleaning device according to claim 10, characterized in that The shielding member is rotatably connected to the cover body. When the shielding member is in the first shielding position, the shielding member does not contact the surface to be cleaned. When the shielding member is in the second shielding position, the shielding member contacts the surface to be cleaned.

20. The cleaning device according to claim 19, characterized in that The shielding member comprises: Two connecting arms, one end of each of the two connecting arms being rotatably connected to the cover body respectively; and A shielding portion, wherein the shielding portion is connected to the other ends of the two connecting arms, and the shielding portion is arranged on the side where the first edge of the cover body is located; when the connecting arm rotates relative to the cover body, the shielding portion is driven to move to change the size of the gap between it and the surface to be cleaned, thereby changing the opening size of the suction port.

21. The cleaning device according to claim 20, characterized in that The shielding member further includes: a supporting portion, the supporting portion is arranged on a side of the shielding member opposite to the connecting member, the supporting portion is connected to the connecting member; and / or, The shielding assembly further includes a second elastic member disposed between the shielding member and the roller brush housing, wherein the second elastic member is used to provide a force for moving the shielding member toward the first shielding position.

22. The cleaning device according to claim 6, characterized in that The transmission component includes a second output end; the lifting assembly includes: A connecting shaft, the connecting shaft is fixedly mounted on the roller brush housing; and A lifting member, the lifting member is rotatably mounted on the connecting shaft and can be engaged or disengaged from the second output end of the transmission component; when the second output end of the transmission component is engaged with the lifting member, the lifting member rotates in the positive direction around the connecting shaft along the second direction to switch from the first lifting position to the second lifting position, and when the second output end of the transmission component is disengaged from the lifting member, the lifting member rotates in the reverse direction around the connecting shaft along the second direction to switch from the second lifting position to the first lifting position, and when the lifting member is in the first lifting position, the distance between the roller brush assembly and the surface to be cleaned is smaller than the distance between the roller brush assembly and the surface to be cleaned when the lifting member is in the second lifting position.

23. The cleaning device according to claim 22, characterized in that The lifting member comprises: a sleeve portion, the sleeve portion being rotatably sleeved on the connecting shaft; and A hook portion, the hook portion is connected to the sleeve portion and is bent and extended from the sleeve portion, and the hook portion is used to apply a force to the bracket in the fuselage so that the bracket applies a reaction force to the roller brush shell to lift the bracket relative to the bracket.

24. The cleaning device according to claim 23, characterized in that The sleeve portion is provided with a sleeve protrusion, and the sleeve protrusion can cooperate with the second output end of the transmission component.

25. The cleaning device according to claim 22, characterized in that The lifting assembly also includes: A sliding member is slidably mounted on the roller brush housing and is rotatably connected to the lifting member. The second output end of the transmission component is matched or released with the lifting member through the sliding member.

26. The cleaning device according to claim 25, characterized in that The sliding member comprises a sliding portion and a sliding protrusion connected to each other, and the sliding protrusion can cooperate with the second output end of the transmission component; The roller brush housing is provided with a guide groove, and the guide groove is used to accommodate at least a part of the sliding part and guide the sliding part to move relative to the roller brush housing.

27. The cleaning device according to claim 26, characterized in that In the third direction, the guide groove includes a first guide side wall and a second guide side wall opposite to each other, the sliding portion is slidably matched with both the first guide side wall and the second guide side wall, and the third direction is perpendicular to the forward direction of the cleaning robot.

28. The cleaning device according to claim 6, characterized in that The transmission component includes a third output end; the roller brush housing also includes a roller brush cavity housing, the roller brush cavity housing has a receiving cavity and the suction port communicated with the receiving cavity, and the cover body is detachably connected to the roller brush cavity housing; The roller brush chamber shell is also provided with a dust suction port, which is connected to the accommodating chamber, and is used to allow the garbage in the accommodating chamber to move out of the accommodating chamber; The roller brush assembly includes a roller brush, which is arranged in the accommodating cavity and contacts the surface to be cleaned through the suction port. The roller brush is connected to the third output end of the transmission component, and the roller brush rotates relative to the roller brush cavity shell under the drive of the driving member.

29. The cleaning device according to claim 6, characterized in that The transmission components include: A first transmission unit, wherein an input end of the first transmission unit is connected to an output end of the driving member; A second transmission unit, wherein an input end of the second transmission unit is connected to the first output end of the first transmission unit, and an output end of the second transmission unit is connected to the roller brush assembly; A third transmission unit, an output end of which is connected to the shielding assembly or the lifting assembly; and A clutch unit, one end of which is connected to the second output end of the first transmission unit, and the other end of which is connected to the input end of the third transmission unit, and the clutch unit is used to connect or disconnect the power transmission path between the second output end of the first transmission unit and the input end of the third transmission unit.

30. The cleaning device according to claim 29, characterized in that The first transmission unit includes a first rotating shaft rotatably mounted on the roller brush housing, and the third transmission unit includes a second rotating shaft rotatably mounted on the roller brush housing; The clutch unit comprises: a first transmission member, the first transmission member being fixedly mounted on the first rotating shaft; a second transmission member, the second transmission member being slidably mounted on the second rotating shaft, the second transmission member being meshed with the first transmission member; and a third transmission member, the third transmission member being fixedly mounted on the second rotating shaft, and when the first rotating shaft rotates, the first transmission member rotates and drives the second transmission member to rotate, so that the second transmission member switches between the first sliding position and the second sliding position; When the second transmission member is located at the first sliding position, the second transmission member is disengaged from the third transmission member, and the power transmission path between the second output end of the first transmission unit and the input end of the third transmission unit is disconnected; when the second transmission member is located at the second sliding position, the second transmission member is engaged with the third transmission member, and the power transmission path between the second output end of the first transmission unit and the input end of the third transmission unit is connected.

31. The cleaning device according to claim 30, characterized in that The output end of the driving member rotates along a first rotation direction so that the second transmission member is located at the first sliding position; The output end of the driving member rotates along a second rotation direction so that the second transmission member is located at the second rotation position, and the first rotation direction is opposite to the second rotation direction.

32. The cleaning device according to claim 31, characterized in that The clutch unit comprises: A one-way clutch, the one-way clutch includes a first sub-section and a second sub-section that are rotatably connected, the first sub-section is connected to the second output end of the first transmission unit, the second sub-section is connected to the input end of the third transmission unit, the first sub-section and the second sub-section cooperate to connect or disconnect the power transmission path between the second output end of the first transmission unit and the input end of the third transmission unit.

33. The cleaning device according to claim 32, characterized in that The output end of the driving member rotates in a first rotation direction to disconnect the transmission between the first sub-unit and the second sub-unit, and the power transmission path between the second output end of the first transmission unit and the input end of the third transmission unit is disconnected; The output end of the driving member rotates along the second rotation direction to connect the transmission of the first sub-part with the second sub-part, the power transmission path between the second output end of the first transmission unit and the input end of the third transmission unit is connected, and the first rotation direction is opposite to the second rotation direction.

34. The cleaning device according to claim 29, characterized in that The third transmission unit comprises: A moving part is connected to the clutch unit. When the driving force of the driving part is transmitted to the moving part, the moving part moves relative to the roller brush housing to drive the shielding component or the lifting component to operate.

35. The cleaning device according to claim 34, characterized in that When the driving force of the driving member is transmitted to the moving member, the moving member moves along a fourth direction relative to the roller brush housing to drive the shielding assembly or the lifting assembly to operate, and the fourth direction is perpendicular to the forward direction of the cleaning robot.

36. The cleaning device according to claim 35, characterized in that The moving part is provided with a moving groove, and the shielding assembly includes a matching part that cooperates with the moving groove, and the matching part is accommodated in the moving groove. The moving part moves along the fourth direction relative to the roller brush shell, so that the shielding assembly moves along the first direction relative to the roller brush shell through the matching part.

37. The cleaning device according to claim 36, characterized in that When the matching member is in the first matching position in the moving groove, the moving member is in the first moving position, and the shielding member of the shielding assembly is in the first shielding position relative to the roller brush housing; When the matching member is in the second matching position in the moving groove, the moving member is in the second moving position, and the shielding member of the shielding assembly is in the first shielding position relative to the roller brush housing; When the moving member is in the third matching position in the moving groove, the moving member is in the third moving position, and the shielding member of the shielding assembly is in the second shielding position relative to the roller brush housing; When the shielding member is in the first shielding position, the opening size of the suction port is greater than the opening size of the suction port when the shielding member is in the second shielding position.

38. The cleaning device according to claim 36, characterized in that The mobile slot comprises: a first sub-groove, the first sub-groove extending along the fourth direction; a second sub-groove, the second sub-groove extending along the fourth direction, and the second sub-groove and the first sub-groove are staggered in the first direction; and A third sub-groove, wherein the third sub-groove is located between the first sub-groove and the second sub-groove, and connects the first sub-groove and the second sub-groove, wherein the angle between the inner surface of the first sub-groove and the inner surface of the third sub-groove is an obtuse angle, and the angle between the inner surface of the second sub-groove and the inner surface of the third sub-groove is an obtuse angle.

39. The cleaning device according to claim 35, characterized in that The moving part includes a moving body and a linkage part, and the linkage part is connected to the moving body; The shielding assembly includes a matching piece that cooperates with the linkage portion. During the movement of the moving member along the fourth direction, the linkage portion enables the shielding assembly to move relative to the roller brush housing through the matching piece.

40. The cleaning device according to claim 39, characterized in that The linkage unit comprises: a linkage sub-unit, the linkage sub-unit being movably connected to the moving body; and, An elastic element is arranged between the moving body and the linkage sub-part. When the moving body moves along the fourth direction, the linkage sub-part moves along the fourth direction with the moving body. When the linkage sub-part is matched with the matching part, the elastic element provides a restoring force. When the linkage sub-part is released from the matching part, the restoring force is used to reset the linkage sub-part.

41. The cleaning device according to claim 40, characterized in that When the shielding member is in the second shielding position, the linkage sub-portion cooperates with the matching member; and / or, The linkage sub-part includes: a mating surface, the mating surface is used to cooperate with the matching piece, and the mating surface is inclined compared to the fourth direction.

42. The cleaning device according to any one of claims 35 to 41, characterized in that: The moving part includes a moving body and a protrusion, and the protrusion extends from the moving body; when the clutch unit transmits the driving force of the driving member to the moving part, the moving part moves along the fourth direction relative to the roller brush shell so that the protrusion drives the lifting assembly to operate.

43. The cleaning device according to claim 42, characterized in that When the protrusion is engaged with the lifting assembly, the lifting assembly is located at a second lifting position, and the roller brush assembly is at a first height relative to the body; when the protrusion is released from the lifting assembly, the lifting assembly is located at the first lifting position, and the roller brush assembly is at a second height relative to the body, and the first height is greater than the second height; When the roller brush assembly is at the first height relative to the body, the shielding member of the shielding assembly is at least at a first shielding position; When the roller brush assembly is at the second height relative to the body, the shielding member of the shielding assembly is at the second shielding position or the first shielding position.

44. The cleaning device according to any one of claims 35 to 41, characterized in that: A guiding portion is provided on one of the moving part and the roller brush housing, and a matching portion is provided on the other, and the guiding portion matches with the matching portion to guide the moving part to move along the fourth direction.

45. The cleaning device according to claim 34, characterized in that When the driving force of the driving member is transmitted to the moving member, the moving member rotates relative to the roller brush housing to drive the shielding component or the lifting component to operate.

46. ​​The cleaning device according to claim 45, characterized in that The moving part includes a total transmission part, a first transmission part and a second transmission part. The total transmission part is connected to the clutch unit. When the driving force of the driving member is transmitted to the total transmission part, the total transmission part drives the first transmission part and the second transmission part to rotate relative to the roller brush shell, so that the first transmission part drives the lifting component to operate or the second transmission part drives the shielding component to operate.

47. The cleaning device according to claim 46, characterized in that The first transmission part is provided with a protrusion, and when the driving force of the driving member is transmitted to the main transmission part, the first transmission part rotates relative to the roller brush housing so that the protrusion drives the lifting assembly to move; The second transmission part is provided with a connecting part, and the connecting part is eccentrically arranged relative to the second transmission part. When the driving force of the driving member is transmitted to the total transmission part, the second transmission part rotates relative to the roller brush shell so that the connecting part drives the shielding assembly to operate.

48. The cleaning device according to claim 47, characterized in that The protrusion cooperates with the lifting assembly so that the lifting assembly is located at a second lifting position, and the roller brush assembly is at a first height relative to the fuselage. The protrusion is released from the lifting assembly so that the lifting assembly is located at the first lifting position, and the roller brush assembly is at a second height relative to the fuselage, and the first height is greater than the second height. When the connecting portion is rotated to a first position relative to the roller brush housing, the shielding member of the shielding assembly is in a first shielding position relative to the roller brush housing; when the connecting portion is rotated to a second position relative to the roller brush housing, the shielding member of the shielding assembly is in a second shielding position relative to the roller brush housing, and when the shielding member is in the first shielding position, the opening size of the suction port is greater than the opening size of the suction port when the shielding member is in the second shielding position; When the roller brush assembly is at the first height relative to the body, the shielding member is at least at the first shielding position; When the roller brush assembly is at the second height relative to the body, the shielding member is at the second shielding position or the first shielding position.

49. The cleaning device according to claim 46, characterized in that The cleaning device also includes a functional component. When the driving force of the driving member is transmitted to the main transmission part, the main transmission part drives the functional component to rotate relative to the roller brush shell. The functional component performs different functions from the roller brush assembly, the shielding assembly and the lifting assembly.

50. The cleaning device according to claim 6, characterized in that The cleaning device also includes: A detection component is arranged on the roller brush housing and the transmission component, and is used to detect the position of the moving part in the transmission component relative to the roller brush housing.

51. The cleaning device according to claim 50, characterized in that The detection component includes a first detection member and a second detection member, one of which is arranged on the roller brush housing, and the other is arranged on the moving member, and the first detection member and the second detection member cooperate to detect the position of the moving member relative to the roller brush housing.

52. The cleaning device according to claim 6, characterized in that The cleaning device also includes: A detection component, which is arranged on the roller brush shell and at least one of the shielding component and the lifting component, and is used to detect the position of the shielding member of the shielding component relative to the roller brush shell and / or the position of the lifting member of the lifting component relative to the roller brush shell.

53. The cleaning device according to claim 52, characterized in that The detection component includes a first detection component and a second detection component, one of the first detection component and the second detection component is arranged on the roller brush shell, and the other is arranged on the shielding component and / or the lifting component, and the first detection component and the second detection component cooperate to detect the position of the connecting component relative to the roller brush shell and / or the position of the lifting component relative to the roller brush shell.

54. The cleaning device according to claim 5, characterized in that The cleaning device also includes: A first sealing member, the first sealing member is connected to the shielding assembly, and the first sealing member seals the gap between the shielding assembly and the cover body during at least a portion of the time period when the shielding assembly reduces the opening size of the suction port; and / or The body is provided with a mounting shell, and the mounting shell is used to accommodate at least part of the roller brush shell; the cleaning device also includes: A second sealing member is disposed between the shielding member of the shielding assembly and the mounting shell, and is used to seal a gap between the shielding member and the mounting shell.

55. A cleaning robot, characterized in that: include: body; and The cleaning device described in any one of claims 1 to 54 is arranged on the body and is used to clean the surface to be cleaned.

56. A cleaning system comprising: The cleaning robot according to claim 55; and A base station is used in conjunction with the cleaning robot, and the base station includes a docking position for accommodating the cleaning robot.

57. A control method for a cleaning robot, characterized in that: The control method is applied to the cleaning robot according to claim 55, and the control method comprises: During at least part of the time period when the cleaning robot cleans the target area, the driving component is controlled to drive the roller brush component to move to clean the target area, and to drive the shielding component to move to reduce the opening size of the suction port.

58. The control method according to claim 57, characterized in that: The driving of the shielding component to move so as to reduce the opening size of the suction port includes: driving the shielding component to move so that the shielding component contacts the target area; and / or, After driving the shielding assembly to move to reduce the opening size of the suction port, the control method further includes: controlling to increase the operating power of the fan of the cleaning robot, the fan being connected to the roller brush shell, and during the operation of the fan, the garbage on the target area is sucked into the roller brush shell through the suction port.

59. The control method according to claim 57, characterized in that: The control method further comprises: During at least part of the time period when the cleaning robot is cleaning a non-target area, the driving assembly is controlled to drive the roller brush assembly and / or the wiping member of the cleaning robot to move to clean the non-target area, and / or to drive the shielding assembly to move to increase the opening size of the suction port.

60. The control method according to claim 59, characterized in that: The driving the shielding component to move to increase the opening size of the suction port includes: driving the shielding component to move so that the shielding component does not contact the non-target area; and / or, After driving the shielding assembly to move to increase the opening size of the suction port, the control method further includes: controlling to reduce the operating power of the fan of the cleaning robot, the fan being connected to the roller brush shell, and during the operation of the fan, the garbage on the non-target area is sucked into the roller brush shell through the suction port.

61. The control method according to claim 57, characterized in that: The control method further comprises: During at least part of the time period when the cleaning robot crosses an obstacle or enters or exits a base station or mops the floor, the driving component is controlled to drive the lifting component to move so that the roller brush component rises relative to the body; and / or, After the cleaning robot passes over an obstacle or enters or exits a base station or during at least a portion of a period of time while sweeping the floor, the driving assembly is controlled to drive the lifting assembly to move so as to drive the roller brush assembly to descend relative to the body; The base station is used in conjunction with the cleaning robot, and the cleaning robot moves to the base station for maintenance.

62. The control method according to claim 57, characterized in that: The cleaning robot further comprises a driving wheel, which is rotatably arranged on the body and is used to drive the cleaning robot to move; The control method further comprises: During at least a portion of the time period in which the driving component drives the shielding component and / or the lifting component to move, the driving wheel is controlled to reduce the rotation speed and / or stop rotating; and / or, During at least a portion of the time period when the cleaning robot crosses an obstacle, the driving wheel is controlled to increase its rotation speed.

63. The control method according to claim 57, characterized in that: The shielding member in the shielding assembly has a first shielding position and a second shielding position, and when the shielding member is in the first shielding position, the opening size of the suction port is larger than the opening size of the suction port when the shielding member is in the second shielding position; The lifting member in the lifting assembly has a first lifting position and a second lifting position, and when the lifting member is in the first lifting position, the height of the roller brush assembly relative to the fuselage is less than the height of the roller brush assembly relative to the fuselage when the lifting member is in the second lifting position; The transmission component in the driving assembly is used to transmit the driving force of the driving assembly to the roller brush assembly, the shielding assembly and the lifting assembly; The cleaning device further comprises a detection component, which is used to detect the position of the transmission component and / or the shielding component and / or the lifting component relative to the roller brush housing and output a detection signal; The control method further comprises: Acquiring the detection signal output by the detection component; and When the detection signal is the first detection signal, it is determined that the shielding member is located at the second shielding position and the lifting member is located at the first lifting position; and / or, When the detection signal is the second detection signal, it is determined that the shielding member is located at the first shielding position and the lifting member is located at the first lifting position; and / or, When the detection signal is the third detection signal, it is determined that the shielding member is located at the first shielding position and the lifting member is located at the second lifting position.

64. A cleaning robot, comprising a processor and a memory, wherein the memory stores computer program instructions, and the processor is used to execute the control method described in any one of claims 57-63.

65. A storage medium storing a computer program, characterized in that: When the program is executed by one or more processors, the control method described in any one of claims 57-63 is implemented.

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