A robot vacuum cleaner and a method for self-cleaning of a robot vacuum cleaner

Abstract

Embodiments of the present application provide a sweeping machine and a sweeping machine self-cleaning method. The sweeping machine comprises a shell, a side brush structure, a cleaning part and a sensor structure. The side brush structure is rotationally connected to the bottom of the shell, and the cleaning part is arranged in the shell in a spaced manner from the side brush structure. The side brush structure is provided with an extension piece, which extends towards the top of the shell. The sensor structure is connected to the top of the shell, and the sensor structure is arranged opposite the extension piece. The sensor structure is used to stop the movement of the extension piece, so that the side brush structure stops rotating at a preset position. The side brush structure has a plurality of extended brush strips. At the preset position, at least one brush strip is located in the cleaning part, and the brush strip is cleaned. The extension piece is identified by the sensor structure, and the side brush structure is precisely positioned to clean the hair wound on the brush strip by the cleaning part. The extension piece extends towards the top of the shell, and the sensor structure is connected to the top of the shell, so as to avoid the influence of lubricating oil in the shell on the sensor structure, and to have good oil-proof effect.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a sweeping robot and a self-cleaning method for the sweeping robot. Background Technology

[0002] With the development of technology and the improvement of people's living standards, sweeping machines can be used to automatically complete the cleaning of the ground, greatly reducing people's daily cleaning work. Therefore, sweeping machines have gradually become more and more widely used.

[0003] In existing technologies, sweeping machines are usually equipped with side brush structures for cleaning corners, furniture edges, etc. The side brush structure rotates to sweep the floor, pushing the debris towards the suction port of the sweeping machine to achieve floor cleaning.

[0004] However, during their research on existing technologies, the inventors discovered that the side brush structure is prone to tangling when cleaning hair, pet fur, or ropes, which affects the cleaning performance of the side brush structure and may even cause the motor to stall, resulting in damage to the device. Summary of the Invention

[0005] In view of the above problems, the present invention is proposed to provide a sweeping machine and a self-cleaning method for a sweeping machine that overcomes or at least partially solves the above problems.

[0006] To solve the above-mentioned technical problems, this application is implemented as follows:

[0007] In a first aspect, embodiments of this application provide a sweeping machine, which includes: a housing, a side brush structure, a cleaning unit, and a sensor structure;

[0008] The side brush structure is rotatably connected to the bottom of the housing, and the cleaning part is spaced apart from the side brush structure at the bottom of the housing;

[0009] The side brush structure is provided with an extension member that extends toward the top of the housing;

[0010] The sensor structure is connected to the top of the housing and is disposed opposite to the extension. The sensor structure is used to stop the movement of the extension so that the side brush structure stops rotating at a preset position.

[0011] The side brush structure has multiple extended brush strips, and at least one of the brush strips is located in the cleaning section at the preset position to clean the brush strips.

[0012] Optionally, the sweeper includes a transmission assembly, the housing has a transmission cavity, and the transmission assembly is disposed within the transmission cavity;

[0013] The extension is connected to the transmission assembly and extends through the transmission cavity to the top of the transmission cavity, with the sensor structure positioned opposite the top of the extension.

[0014] Optionally, a gap is provided between the extension and the top of the housing, and the sensor structure is connected to the top of the housing and exposed through the gap.

[0015] Optionally, the sensor structure includes a signal transceiver, and a sensing element is provided at the top of the extension;

[0016] The transceiver is exposed in the gap, and the sensor is positioned opposite to the transceiver at the preset position.

[0017] When the transceiver detects the sensing element, the sensor structure stops the movement of the transmission assembly and the extension.

[0018] Optionally, the sensor structure is a photoelectric sensor, the signal transceiver extends into the gap, the signal transceiver can receive and transmit light, and the sensing element is a light-shielding element protruding towards the signal transceiver;

[0019] At the preset position, the light-shielding member blocks the light emitted by the transceiver. The transceiver detects the light-shielding member and stops the movement of the transmission assembly and the extension member.

[0020] Optionally, the sensor structure is a Hall sensor, and the sensing element is a magnetic element protruding toward the signal transceiver;

[0021] At the preset position, the Hall sensor detects the magnetic element and emits an electrical signal to stop the movement of the transmission assembly and the extension.

[0022] Optionally, the housing is provided with a snap-fit ​​part and an opening, and the sensor structure includes a sensor body and a signal transceiver connected to the sensor body;

[0023] The sensor body is snapped into the snap-fit ​​part, and the signal transceiver is exposed through the opening.

[0024] Optionally, the sweeper also includes a controller, which is electrically connected to the sensor structure;

[0025] When the brush bar needs cleaning, the controller activates the sensor structure to stop the side brush structure from rotating at a preset position.

[0026] Optionally, the sweeper further includes a driver electrically connected to the controller and connected to the transmission assembly;

[0027] The side brush structure is vertically and vertically connected to the housing. When the side brush structure is in the preset position, the controller controls the driver to work. The driver drives the side brush structure to rise through the transmission component so that at least one of the brush strips is close to the cleaning part.

[0028] Optionally, when the sensor structure is activated, the driver drives the side brush structure to rotate in the first direction through the transmission assembly, so that the side brush structure is located at the preset position;

[0029] When the side brush structure is in the preset position, the driver drives the side brush structure to rotate in a second direction through the transmission assembly, so as to lift the side brush structure; wherein the second direction is opposite to the first direction.

[0030] Optionally, the transmission assembly includes a first gear and a second gear, both of which are located within the transmission cavity. The first gear is connected to the side brush structure, the second gear meshes with the first gear, and the second gear is connected to the output end of the driver.

[0031] Optionally, the housing is provided with a transmission assembly, the side brush structure includes a side brush shell and a side brush body disposed in the side brush shell, the side brush shell is connected to the transmission assembly, and the side brush body is provided with a plurality of brush strips, the brush strips extending out of the side brush shell;

[0032] The side brush body rotates in the second direction and abuts against the upper surface inside the side brush shell, so that the side brush structure is raised close to the shell.

[0033] Optionally, the side brush body includes a sleeve and a side brush curved arm connected to the sleeve, and the brush strip is connected to the side brush curved arm;

[0034] When the side brush housing rotates in the second direction, the side brush arm bends and abuts against the upper surface inside the side brush housing.

[0035] Secondly, this application provides a self-cleaning method for a sweeping machine, applied to the sweeping machine mentioned above. The sweeping machine includes: a housing, a side brush structure, a cleaning unit, and a sensor structure; the side brush structure is rotatably connected to the bottom of the housing, and the cleaning unit is spaced apart from the side brush structure at the bottom of the housing; the side brush structure has an extension extending toward the top of the housing; the sensor structure is connected to the top of the housing, and the sensor structure is disposed opposite to the extension; the method includes:

[0036] The sensor structure is activated;

[0037] The sensor structure identifies the position of the extension;

[0038] The extension member stops moving, and the side brush structure stops rotating at a preset position; wherein, the side brush structure has multiple extended brush strips, and at least one of the brush strips is located in the cleaning section at the preset position;

[0039] The cleaning unit cleans the brush strip.

[0040] Optionally, the sweeper also includes a controller driver, the output of which is connected to the extension, the sensor structure is electrically connected to the controller, and the side brush structure is liftably connected to the housing;

[0041] Prior to the step of cleaning the brush strip in the cleaning section, the method further includes:

[0042] The controller controls the operation of the driver;

[0043] The driver drives the side brush structure to lift, so that the brush bar is close to the cleaning section.

[0044] In this embodiment, the sweeping machine includes: a housing, a side brush structure, a cleaning section, and a sensor structure. The side brush structure is rotatably connected to the bottom of the housing, and the cleaning section is spaced apart from the side brush structure at the bottom of the housing. The side brush structure has an extension extending towards the top of the housing. The sensor structure is connected to the top of the housing and is positioned opposite to the extension. The sensor structure is used to stop the movement of the extension, so that the side brush structure stops rotating at a preset position. The side brush structure has multiple extended brush strips, and at least one brush strip is located in the cleaning section at the preset position for cleaning the brush strips. Thus, when the side brush structure becomes entangled with hair, pet fur, or rope, the sensor structure can identify the position of the extension, and the extension can be used to accurately position the rotation of the side brush structure, keeping the brush strips stationary within the cleaning area of ​​the cleaning section. This allows the cleaning section to effectively clean the hair, rope, and other debris entangled on the brush strips, avoiding affecting the cleaning performance of the side brush structure and reducing the risk of motor stalling and damage to components. Furthermore, the extension extends toward the top of the housing, and the sensor structure is connected to the top of the housing, which avoids impurities such as lubricating oil inside the housing from affecting the positioning and identification between the sensor structure and the extension, thus having a good oil-proof effect and making the sensor structure have good accuracy.

[0045] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0046] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0047] Figure 1 This is a cross-sectional structural schematic diagram of a sweeper according to an embodiment of this application;

[0048] Figure 2 This is one of the bottom views of a sweeping machine described in the embodiments of this application;

[0049] Figure 3 This is a second bottom view of a sweeping machine described in the embodiments of this application;

[0050] Figure 4 This is a schematic diagram of the sensor structure of a sweeping machine according to an embodiment of this application;

[0051] Figure 5 This is another schematic diagram of the sensor structure of a sweeping machine described in the embodiments of this application;

[0052] Figure 6 This is a bottom view of the sensor structure of a sweeping machine according to an embodiment of this application;

[0053] Figure 7 This is a top view of the sensor structure of a sweeping machine according to an embodiment of this application;

[0054] Figure 8 This is a schematic diagram of the structure of an extension of a sweeping machine according to an embodiment of this application;

[0055] Figure 9 This is a top view of an extension of a sweeping machine according to an embodiment of this application;

[0056] Figure 10 This is one of the schematic diagrams of the sensor structure and sensing element of a sweeping machine according to an embodiment of this application;

[0057] Figure 11 This is a second schematic diagram of the sensor structure and sensing element of a sweeping machine according to an embodiment of this application;

[0058] Figure 12 This is a top view of a partial structure of a sweeping machine according to an embodiment of this application;

[0059] Figure 13 This is one of the schematic diagrams of the side brush structure of a sweeper described in the embodiments of this application;

[0060] Figure 14 This is a second schematic diagram of the side brush structure of a sweeper described in the embodiments of this application;

[0061] Figure 15 This is the third schematic diagram of the side brush structure of a sweeper described in the embodiments of this application;

[0062] Figure 16 This is the fourth schematic diagram of the side brush structure of a sweeper described in the embodiments of this application;

[0063] Figure 17 This is an exploded structural diagram of the side brush structure of a sweeper according to an embodiment of this application;

[0064] Figure 18 This is a schematic diagram of the side brush body of a sweeper according to an embodiment of this application;

[0065] Figure 19 This is a flowchart illustrating the steps of a self-cleaning method for a sweeping machine as described in an embodiment of this application.

[0066] Reference numerals: 10 – Housing; 20 – Side brush structure; 30 – Cleaning section; 40 – Sensor structure; 21 – Extension; 22 – Brush strip; 11 – Transmission cavity; 41 – Signal transceiver; 23 – Sensor; 12 – Snap-fit ​​part; 13 – Opening; 42 – Sensor body; 50 – Driver; 14 – First gear; 15 – Second gear; 24 – Side brush housing; 25 – Side brush body; 26 – Sleeve; 27 – Side brush curved arm. Detailed Implementation

[0067] Embodiments of the present invention will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0068] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0069] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0070] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0071] Reference Figures 1 to 18 The diagram shows a structural schematic of a sweeping machine according to an embodiment of this application. The sweeping machine may specifically include: a housing 10, a side brush structure 20, a transmission assembly, a cleaning unit 30, and a sensor structure 40.

[0072] The housing 10 is provided with a transmission cavity 11, and the transmission assembly is accommodated in the transmission cavity 11;

[0073] The side brush structure 20 is connected to the transmission assembly, and the side brush structure 20 is rotatably connected to the bottom of the housing 10;

[0074] The cleaning section 30 and the side brush structure 20 are disposed at a distance from each other at the bottom of the housing 10;

[0075] The sensor structure 40 is connected to the housing 10, and at least a portion of the sensor structure 40 extends into the transmission cavity 11. The sensor structure 40 is used to stop the movement of the transmission component within the transmission cavity 11, so that the side brush structure 20 stops rotating at a preset position.

[0076] The side brush structure 20 has a plurality of extended brush strips 22, and at least one of the brush strips 22 is located in the cleaning section 30 at the preset position to clean the brush strips 22.

[0077] In this embodiment, when the side brush structure 20 becomes entangled while cleaning hair, pet fur, or ropes, the position of the extension member 21 can be identified by the sensor structure 40. The extension member 21 allows for more precise positioning of the rotational position of the side brush structure 20, ensuring that the brush bar 22 of the side brush structure 20 remains stationary within the cleaning area of ​​the cleaning section 30. This allows the cleaning section 30 to effectively clean the hair, ropes, and other debris entangled on the brush bar 22, preventing any impact on the cleaning performance of the side brush structure 20 and reducing the risk of motor stalling and subsequent damage. Furthermore, the extension member 21 extends towards the top of the housing 10, and the sensor structure 40 is connected to the top of the housing 10. This prevents impurities such as lubricating oil inside the housing 10 from affecting the positioning and identification between the sensor structure 40 and the extension member 21, providing good oil resistance and enhancing the accuracy of the sensor structure 40.

[0078] For example, in this embodiment, the extension 21 can be the brush shaft of the brush structure 20, and the first gear 14 of the transmission assembly can be sleeved on the brush shaft and connected to the brush shell 24. Alternatively, the brush body 25 and / or the brush shell 24 of the brush structure 20 can also be connected to the brush shaft. The first gear 14 of the transmission assembly can drive the brush shaft and the brush shell 24 to rotate, realizing the rotational movement of the brush structure 20. Furthermore, the extension 21 can also be a separate extension column or other structure; the specific type of the extension 21 in this embodiment is not limited.

[0079] Specifically, in this embodiment, the sensor structure 40 has the characteristics of non-contact detection, fast response speed, and wide detection distance, thereby enabling the sensor structure 40 to achieve relatively accurate positioning and control of the transmission component and the side brush structure 20.

[0080] For example, in this embodiment, the cleaning unit 30 may be equipped with a roller brush to clean up easily tangled debris such as hair, pet hair, or rope on the brush bar 22. Alternatively, the cleaning unit 30 may be equipped with a suction structure to absorb and clean debris such as hair, pet hair, or rope on the brush bar 22. The specific type of the cleaning unit 30 is not limited in this embodiment.

[0081] In this embodiment, the side brush structure 20 is rotatably connected to the housing 10, and the brush strip 22 contacts the ground. The rotation of the side brush structure 20 causes the brush strip 22 to clean the ground. For example, the side brush structure 20 can be located at the edge of the bottom of the housing 10; alternatively, it can be located in the middle of the bottom of the housing 10. Similarly, the cleaning part 30 can be located in the middle of the bottom of the housing 10; alternatively, the side brush structure 20 can be located at the edge of the bottom of the housing 10, etc. The specific locations of the side brush structure 20 and the cleaning part 30 are not limited in this embodiment.

[0082] In the embodiments of this application, such as Figure 2 The diagram shows the brush strip 22 located in the cleaning section 30, where the cleaning section 30 performs self-cleaning on the brush strip 22. Figure 3 The diagram shows the brush strip 22 not located in the cleaning section 30. In this case, the cleaning section 30 does not perform self-cleaning on the brush strip 22. Figure 13 As shown, the side brush structure 20 is prone to entanglement of hair, ropes, and other debris. Figure 14 As shown, the arrows indicate the cleaning direction of the cleaning unit 30 for cleaning hair, ropes, and other debris. The cleaning unit 30 can clean hair, ropes, and other debris from the brush strip 22 in the direction of the arrows. Figure 15As shown, the arrows also indicate the cleaning direction of the cleaning unit 30 for cleaning hair, ropes, and other debris. At this time, the cleaning unit 30 cleans the hair, ropes, and other debris off the brush strip 22 in the direction of the arrows, thus achieving a better self-cleaning function for the brush strip 22.

[0083] For example, in this embodiment, the side brush structure 20 has multiple brush strips 22, such as two, three, five, or ten, etc., which can be set according to actual needs. This embodiment does not limit the specific number and setting method of the brush strips 22. The locking structure locks the side brush structure 20, which can make one of the brush strips 22 located in the cleaning section 30, or two of the brush strips 22 located in the cleaning section 30, or three of the brush strips 22 located in the cleaning section 30, etc., which can be set according to the setting range of the cleaning section 30 and cleaning needs, etc., and this embodiment does not limit this as well.

[0084] In this embodiment, for example, the number of side brush structures 20 can be one, two, or three, etc., and the number of cleaning parts 30 can be set to one. Multiple side brush structures 20 can be distributed at intervals around the cleaning parts 30 on the edge of the housing 10, so that one cleaning part 30 can simultaneously clean the brush strips 22 of multiple side brush structures 20. Furthermore, the number of cleaning parts 30 can also be set to two or three, etc., with one side brush structure 20 corresponding to one cleaning part 30, or two side brush structures 20 sharing one cleaning part 30. This embodiment does not limit the specific number and arrangement of the cleaning parts 30 and the side brush structures 20.

[0085] Optionally, in this embodiment, the sweeper includes a transmission assembly, the housing 10 has a transmission cavity 11, and the transmission assembly is disposed within the transmission cavity 11; the extension member 21 is connected to the transmission assembly, and the extension member 21 extends through the transmission cavity 11 to the top of the transmission cavity 11, and the sensor structure 40 is disposed opposite to the top of the extension member 21. Typically, the transmission assembly within the transmission cavity 11 is coated with lubricating oil for lubricating gears and rotating shafts. In this embodiment, the extension member 21 extends through the transmission cavity 11 to the top of the transmission cavity 11, preventing the top of the extension member 21 from easily getting contaminated by lubricating oil, reducing the impact on the positioning and recognition function of the sensor structure 40 at the top of the extension member 21, improving recognition accuracy, and extending the service life of the sensor structure 40.

[0086] Specifically, in this embodiment, the transmission cavity 11 of the housing 10 is used to provide space for the transmission assembly and to connect the side brush structure 20 and the cleaning part 30. For example, the material of the housing 10 can be plastic, metal, etc., and this embodiment does not limit the specific material and shape of the housing 10.

[0087] Optionally, in this embodiment, a gap is provided between the extension 21 and the top of the housing 10, and the sensor structure 40 is connected to the top of the housing 10 and exposed through the gap. This gap allows the sensor structure 40 to have a better recognition effect on the extension 21, preventing other structures within the housing 10 from obstructing the top of the extension 21 and affecting recognition accuracy.

[0088] Optionally, in this embodiment, the sensor structure 40 includes a transceiver 41, and a sensor 23 is provided at the top of the extension 21. The transceiver 41 is exposed in the gap, and the sensor 23 is positioned opposite to the transceiver 41 at a preset position. When the transceiver 41 detects the sensor 23, the sensor structure 40 stops the movement of the transmission assembly and the extension 21. This exposure of the transceiver 41 in the gap allows for better recognition and sensing of the sensor 23 on the extension 21, improving recognition accuracy.

[0089] Optionally, in this embodiment, the sensor structure 40 is a photoelectric sensor, the transceiver 41 extends into the gap, the transceiver 41 can receive and transmit light, and the sensing element 23 is a light-shielding element protruding towards the transceiver 41. At the preset position, the light-shielding element blocks the light emitted by the transceiver 41, and the transceiver 41 detects the light-shielding element and stops the movement of the transmission assembly and the extension 21. Using a photoelectric sensor as the sensor structure 40 has advantages such as non-contact detection, fast response speed, and wide detection distance, and has wide applications, is easy to implement, and is simple to operate.

[0090] For example, in this embodiment, the photoelectric sensor can be a common slotted sensor, which has advantages such as small size, fast response speed, and high sensitivity. Furthermore, the photoelectric sensor can also be of other types; this embodiment does not limit the specific type of photoelectric sensor. The signal transceiver 41 can be a receiver with a light source, capable of emitting and receiving light.

[0091] In this embodiment, the light-shielding element can be a light-shielding sheet or a light-shielding plate. The number of light-shielding elements can be one, two, or three, etc., and one light-shielding element can correspond to one or more positions of brush strips 22. The shape of the light-shielding element can be rectangular, fan-shaped, cylindrical, or trapezoidal, etc. This embodiment does not limit the specific type, number, or shape of the light-shielding elements and can be set according to actual needs.

[0092] In the embodiments of this application, for example, such as Figure 10 As shown, the arrows represent the transmission path and direction of the light emitted by the transceiver 41. When the light-shielding member is in the transmission path of the light, it blocks the light emitted by the transceiver 41. At this time, the transceiver 41 detects the light-shielding member, and the photoelectric sensor can stop driving the transmission component through the controller, thereby causing the side brush structure 20 to be located at the preset position, and positioning the brush strip 22. Figure 11 As shown, the arrows represent the transmission path and direction of the light emitted by the transceiver 41. When the light-shielding member is not on the transmission path of the light, the transceiver 41 does not detect the light-shielding member, and the transmission component can drive the side brush structure 20 to rotate.

[0093] Optionally, in this embodiment, the sensor structure 40 is a Hall sensor, and the sensing element 23 is a magnetic element protruding towards the signal transceiver 41; at the preset position, the Hall sensor detects the magnetic element and emits an electrical signal to stop the movement of the transmission assembly within the transmission cavity 11. Using a Hall sensor as the sensor structure 40 has advantages such as high sensitivity, fast response, simple structure, and ease of calibration, and also has wide applications, is easy to implement, and is simple to operate.

[0094] For example, in this embodiment, the Hall sensor may include a control circuit and a Hall element. When a magnetic component is near the Hall element, the Hall element generates a Hall voltage under the influence of the magnetic field of the magnetic component. The Hall voltage signal can be amplified and processed by the control circuit, and an electrical signal linearly related to the magnetic field strength of the magnetic component is output. Then, the controller stops driving the transmission assembly based on the electrical signal emitted by the Hall sensor, causing the side brush structure 20 to be positioned at the preset position, thus positioning the brush strip 22.

[0095] Optionally, in this embodiment, the housing 10 is provided with a snap-fit ​​portion 12 and an opening 13. The sensor structure 40 includes a sensor body 42 and a signal transceiver 41 connected to the sensor body 42. The sensor body 42 is snapped into the snap-fit ​​portion 12, and the signal transceiver 41 is exposed in the opening 13. In this way, the snap-fit ​​portion 12 makes the sensor structure 40 more securely and reliably connected to the housing 10, and the opening 13 allows the signal transceiver 41 to have a better alignment effect with the extension member 21 within the gap. The structure is simple, the operation is convenient, and the assembly efficiency is improved.

[0096] For example, in this embodiment, a protruding snap-fit ​​portion 12 can be provided on the housing 10, and a snap-fit ​​interface can be provided on the sensor body 42. The snap-fit ​​portion 12 is snapped into the snap-fit ​​interface, so that the sensor structure 40 is stably and reliably connected to the housing 10. For example, two snap-fit ​​interfaces can be provided at each end of the sensor body 42, and two matching snap-fit ​​portions 12 can be provided on the housing 10 accordingly. In addition, the number of snap-fit ​​portions 12 can also be three or four, etc., which can be set according to actual needs. In this embodiment, the specific number of snap-fit ​​portions 12 is not limited.

[0097] Optionally, in this embodiment, the sweeper further includes a controller electrically connected to the sensor structure 40. When cleaning of the brush strips 22 is required, the controller activates the sensor structure 40 to stop the side brush structure 20 from rotating at a preset position. Thus, by activating the sensor structure 40 through the controller, the side brush structure 20 is stopped only when self-cleaning of its brush strips 22 is needed, achieving more precise control and avoiding interference with the normal floor cleaning operation of the side brush structure 20. For example, the sensor structure 40 may include a control circuit electrically connected to the controller.

[0098] Optionally, in this embodiment, the sweeper further includes a driver 50, which is electrically connected to the controller and connected to the transmission assembly. The side brush structure 20 is vertically connected to the housing 10. When the side brush structure 20 is in the preset position, the controller controls the driver 50 to operate. The driver 50 drives the side brush structure 20 to rise through the transmission assembly, so that at least one brush strip 22 approaches the cleaning section 30. Thus, by providing a relatively stable and reliable driving force, the driver 50 can drive the transmission assembly to move, causing the side brush structure 20 to rotate and clean the floor. When it is necessary to activate the sensor structure 40 to enable the side brush structure 20 to self-clean its brush strips 22, the controller can control the driver 50 to drive the transmission assembly to lift the side brush structure 20 away from the ground, preventing secondary contamination of dirt on the side brush structure 20 and allowing the cleaning section 30 to effectively clean the brush strips 22 of the side brush structure 20.

[0099] For example, in this embodiment, the sweeper can perform self-cleaning upon returning to the base station. When the side brush structure 20 is in a raised state, it is far from the ground, preventing secondary contamination from contact with dirt. This allows the cleaning unit 30 to effectively clean the brush strips 22 of the side brush structure 20. Furthermore, when the sweeper is cleaning liquid dirt or in single-mopping mode, even when the side brush structure 20 is not in use, it can be raised to clean its brush strips 22, improving cleaning efficiency.

[0100] In this embodiment of the application, for example, the driver 50 can be a motor or motor, etc. The output end of the driver 50 is connected to the transmission component and is used to drive the transmission component to rotate. In this embodiment of the application, the specific type of driver 50 is not limited.

[0101] Optionally, in this embodiment, when the sensor structure 40 is activated, the driver 50 drives the side brush structure 20 to rotate in a first direction via the transmission assembly, so that the side brush structure 20 is located at the preset position; when the side brush structure 20 is located at the preset position, the driver 50 drives the side brush structure 20 to rotate in a second direction via the transmission assembly, so that the side brush structure 20 is lifted; wherein, the second direction is opposite to the first direction. Thus, when the side brush structure 20 is performing normal floor cleaning operations, the controller can control the driver 50 to output a driving force to rotate in the first direction, driving the transmission assembly to move and causing the side brush structure 20 to rotate in the first direction until the sensor structure 40 detects the sensing element 23, causing the side brush structure 20 to stop at the preset position. Then, the controller can control the driver 50 to output a driving force to rotate in the second direction, driving the transmission assembly to rotate in the second direction, causing the side brush structure 20 to rotate in the second direction, lifting the side brush structure 20 away from the ground, so that the brush strip 22 is closer to the cleaning part 30, resulting in a better cleaning effect.

[0102] For example, in this embodiment, the first direction can be a clockwise rotation direction, and the second direction can be a counterclockwise rotation direction. Alternatively, the first direction can also be a counterclockwise rotation direction, and the second direction can be a clockwise rotation direction; this embodiment does not limit the first and second directions.

[0103] Optionally, in this embodiment, the transmission assembly includes a first gear 14 and a second gear 15. Both the first gear 14 and the second gear 15 are located within the transmission cavity 11. The first gear 14 is connected to the side brush structure 20, and the second gear 15 meshes with the first gear 14. The second gear 15 is also connected to the output end of the driver 50. Thus, the transmission assembly is connected to the driver 50 via the second gear 15, and to the side brush structure 20 via the first gear 14. The meshing transmission of the first gear 14 and the second gear 15 provides good transmission efficiency and reliability, and facilitates the design of the force transmission path based on the spatial layout within the housing 10.

[0104] Optionally, in this embodiment, the housing 10 includes a transmission assembly. The side brush structure 20 includes a side brush shell 24 and a side brush body 25 disposed within the side brush shell 24. The side brush shell 24 is connected to the transmission assembly. The side brush body 25 has a plurality of brush strips 22 extending out of the side brush shell 24. The side brush body 25 rotates in a second direction and abuts against the upper surface inside the side brush shell 24, causing the side brush structure 20 to rise closer to the housing 10. Thus, the side brush structure 20 is connected to the transmission assembly via the side brush shell 24. The rotation of the side brush shell 24 drives the side brush body 25 to rotate synchronously. The reverse rotation of the side brush body 25 in the second direction causes it to abut against the upper surface inside the side brush shell 24, causing the side brush structure 20 to rise closer to the housing 10 and away from the ground.

[0105] For example, in this embodiment, the side brush housing 24 has an opening 13 on its side, and the side brush arm 27 of the side brush body 25 extends out of the side brush housing 24 from the opening 13. For example, the side brush housing 24 may include an upper shell and a lower shell, which together form a receiving cavity. The central portion of the side brush body 25 is located within the receiving cavity, which facilitates assembly and improves assembly efficiency. Furthermore, the side brush housing 24 may be a one-piece structure or multiple separate structures; the specific type of the side brush housing 24 is not limited in this embodiment.

[0106] Optionally, in this embodiment, the side brush body 25 includes a sleeve 26 and a side brush curved arm 27 connected to the sleeve 26, with the brush strip 22 connected to the side brush curved arm 27. When the side brush housing 24 rotates in the second direction, the side brush curved arm 27 bends and abuts against the upper surface inside the side brush housing 24. Thus, by rotating the side brush curved arm 27 in the opposite direction in the second direction to abut against the upper surface inside the side brush housing 24, the side brush structure 20 is lifted away from the ground.

[0107] For example, in the embodiments of this application, when the side brush structure 20 is performing a floor cleaning operation, the side brush arm 27 can extend downward toward the ground. When the side brush structure 20 is switched to the raised state, the side brush arm 27 is bent and folded to extend toward an approximately horizontal direction and abuts against the upper surface inside the side brush housing 24 to maintain the raised state.

[0108] Optionally, in this embodiment, the side brush structure 20 further includes a side brush shaft, the sleeve 26 is sleeved on the side brush shaft, and the side brush curved arm 27 has a bent portion at one end near the sleeve 26. When the side brush shell 24 rotates in the second direction, the bent portion bends so that the side brush curved arm 27 abuts against the upper surface inside the side brush shell 24. The sleeve 26 is connected by the side brush shaft, and the bent portion is provided at one end of the side brush curved arm 27 near the sleeve 26, so that the side brush curved arm 27 bends and flips at the end near the sleeve 26, giving the side brush curved arm 27 a higher lifting height.

[0109] For example, in the embodiments of this application, the bending part can be a hollow structure, and the shape of the hollow structure can be semi-circular, elliptical, rectangular, etc., which can be set according to the stress conditions. The specific shape of the bending part is not limited in the embodiments of this application.

[0110] Optionally, in this embodiment, the upper surface of the side brush housing 24 is provided with a protruding abutment portion, and the side brush curved arm 27 is bent and abuts against the abutment portion. In this way, the side brush curved arm 27 has a more stable and reliable abutment effect with the side brush housing 24 through the abutment portion, thereby improving the structural stability of the side brush structure 20 when it is in the raised state.

[0111] In this embodiment, the side brush arm 27 is exemplarily described as having a certain bending angle. When the side brush structure 20 is in a lowered state, the side brush arm 27 is bent downwards. When the sleeve 26 and the side brush shell 24 move relative to each other, the abutting portion on the side brush shell 24 presses down against the sleeve 26. For example, the abutting portion on the side brush shell 24 abuts downwards against the side brush arm 27, thereby causing the side brush arm 27 to fold downwards, and the bending direction of the side brush arm 27 changes. For example, the bending direction of the side brush arm 27 changes from downward bending to horizontal bending, thereby raising the height of the side brush arm 27. When the side brush arm 27 is in the raised state, the side brush structure 20 can be away from the ground. Therefore, when the cleaning robot is cleaning liquid dirt or performing single mopping mode, the side brush structure 20 can be kept away from the ground by folding, avoiding contact with dirt and improving the cleanliness of the side brush structure 20 to avoid secondary pollution during the cleaning process.

[0112] Optionally, in this embodiment, the abutting portion may include a first abutting inclined surface and a second abutting surface connected to the first abutting inclined surface. When the side brush housing 24 rotates, the first abutting inclined surface abuts against the bent portion of the side brush arm 27, causing the side brush arm 27 to rotate, thereby enabling the side brush structure 20 to clean the floor. When the side brush housing 24 moves relative to the sleeve 26, the first abutting inclined surface forms an abutting guide against the bent portion of the side brush arm 27, causing the bent portion of the side brush arm 27 to fold downwards, raising the height of the side brush structure 20. When the side brush structure 20 is raised to its highest point, the second abutting surface abuts against the bent portion of the side brush arm 27.

[0113] In this embodiment, the second abutting surface connects with the first abutting inclined surface, or the second abutting surface can smoothly transition with the first abutting inclined surface. For example, when the side brush shell 24 rotates, the first abutting inclined surface of the abutting part abuts against the bent part of the side brush arm 27, thereby driving the side brush structure 20 and the sleeve 26 to rotate synchronously through the abutting force applied by the abutting part to the bent part of the side brush arm 27, so that the side brush structure 20 keeps in contact with the ground and cleans the ground. During the cleaning process of the side brush structure 20, when encountering some large particles or garbage with a certain thickness, due to the above-mentioned abutting force, the side brush structure 20 remains pressed down and will not be turned up with the garbage, which can further improve the cleaning effect of the side brush structure 20.

[0114] For example, in this embodiment of the application, when the side brush shell 24 and the sleeve 26 move relative to each other, the first abutting slope on the abutting part forms an abutting guide for the bent portion of the side brush arm 27. This abutting guide can be understood as the abutting part and the bent portion of the side brush arm 27 maintaining contact while the bent portion moves along the first abutting slope under the action of the abutting force. Thus, during the relative movement, the abutting force on the bent portion of the side brush arm 27 gradually increases, causing the bent portion to be pressed down and fold downwards, thereby changing the bending direction of the side brush arm 27. The bending direction of the side brush arm 27 changes from downward bending to horizontal bending, thereby raising the height of the side brush arm 27 off the ground. Furthermore, when the side brush structure 20 is raised to its highest position, the bent portion of the side brush arm 27 abuts against the second abutting surface. The second contact surface is provided with a chamfer at a position away from the first contact slope, and the chamfer is used to avoid the side brush structure 20.

[0115] In some alternative embodiments, the second abutting surface on the abutting portion can be extended along the circumferential length of the sleeve 26, thereby further increasing the relative rotation range between the side brush shell 24 and the sleeve 26, which facilitates the lifting or lowering control of the side brush structure 20.

[0116] For example, in some embodiments, the thickness of the bent portion of the side brush arm 27 in the radial direction of the sleeve 26, away from the center of the sleeve 26, is greater than the thickness near the center of the sleeve 26. In this embodiment, the thickness of the bent portion of the side brush arm 27 refers to the thickness of the bent portion of the side brush arm 27 in the axial direction of the sleeve 26. The center thickness of the bent portion of the side brush arm 27 in the radial direction of the sleeve 26 is relatively thin. This facilitates the abutting portion applying abutting force to the bent portion of the side brush arm 27, allowing the thinner area of ​​the bent portion of the side brush arm 27 to bend downwards, forming a foldable feature on the side brush arm 27. Furthermore, the side brush arm 27 can change its bending direction under the folding of its bent portion, thereby achieving a height increase of the side brush arm 27.

[0117] In some embodiments, the thickness of the bent portion of the side brush arm 27 near the center of the sleeve 26 is less than the thickness away from the center of the sleeve 26 along the radial direction. This allows the bent portion of the side brush arm 27 to form an arc-shaped groove or a V-shaped groove, etc., along the radial direction of the sleeve 26. The bent portion of the side brush arm 27 abuts against the abutting portion. This makes it easier for the bent portion of the side brush arm 27 to be pressed down, and causes deformation at the thinner center of the bent portion, causing the bent portion of the side brush arm 27 to fold downwards, thereby changing the bending direction of the side brush arm 27.

[0118] In one optional embodiment, the bending portion of the side brush arm 27 can be made of rubber material. In this embodiment, the side brush arm 27 can be made of rubber material with good deformation properties, thereby enabling the bending portion of the side brush arm 27 to have good deformation performance. This allows the bending portion to maintain structural stability during repeated deformation, thus improving the service life of the bending portion of the side brush arm 27.

[0119] The inner circumference of the side brush body 25 may be provided with a side brush limiting part, and the sleeve 26 is provided with a transmission limiting part. The side brush limiting part cooperates with the transmission limiting part to limit the side brush body 25 along the radial direction of the sleeve 26.

[0120] In this embodiment, a side brush limiting portion is provided on the inner circumference of the side brush body 25, and a corresponding transmission limiting portion is provided on the sleeve 26. In some embodiments, the side brush limiting portion can be a limiting groove, and the transmission limiting portion can be a limiting protrusion that matches the shape of the limiting groove. In other embodiments, the side brush limiting portion can be a limiting protrusion, and the transmission limiting portion can be a limiting groove that matches the shape of the limiting protrusion. Thus, when the side brush body 25 is sleeved on the sleeve 26, the side brush limiting portion and the transmission limiting portion cooperate to limit the side brush body 25 radially along the sleeve 26.

[0121] For example, in this embodiment of the application, the sleeve 26 can be a plastic part. After the side brush body 25 is sleeved on the sleeve 26, the sleeve 26 is then injection molded a second time, so that the side brush body 25 can be limited along the axial direction of the sleeve 26.

[0122] In some optional embodiments, the number of side brush arms 27 can be at least two, and the at least two side brush arms 27 are distributed at equal angles about the central axis of the side brush body 25 in the horizontal circumferential direction. Those skilled in the art can determine the number of side brush arms 27 according to actual design requirements, and no further limitations are made here. As a preferred embodiment, the number of side brush arms 27 can be three.

[0123] In some optional embodiments, the side brush structure 20 further includes an elastic element sleeved on the sleeve 26. A first end of the elastic element is fixed to the side brush shell 24, and a second end of the elastic element is fixed to the sleeve 26, so that the side brush arm 27 can be folded back to its original position through the deformation recovery of the elastic element. When the side brush shell 24 rotates the side brush structure 20, the elastic element provides a torsional force to keep the abutting portion in contact with the side brush structure 20. When the side brush shell 24 and the side brush structure 20 move relative to each other, the torsional force of the elastic element increases, and the side brush structure 20 is folded back to its original position through the torsional recovery of the elastic element.

[0124] In this embodiment, the elastic element is sleeved on the sleeve 26, and its two ends are fixed to the sleeve 26 and the side brush shell 24, respectively. For example, the elastic element may include a torsion spring, with its first end fixed to the upper half of the side brush shell 24 and its second end fixed to the sleeve 26. Thus, an elastic connection is formed between the sleeve 26 and the side brush shell 24 along the circumference of the sleeve 26 through the elastic element.

[0125] In other embodiments, the first end of the elastic element can be fixed to the lower half of the side brush housing 24, and the second end of the elastic element can be fixed to the sleeve 26. This allows an elastic connection to be formed between the sleeve 26 and the lower half of the side brush housing 24 along the circumference of the side brush drive member via the elastic element. When the abutting portion abuts against the side brush arm 27, causing the side brush arm 27 to rotate synchronously, and the side brush structure 20 is in a lowered state, the deformation torsional force of the elastic element maintains the abutting portion against the side brush arm 27. This allows the side brush structure 20 to remain in contact with the ground, and the rotation of the side brush structure 20 performs ground cleaning.

[0126] When the side brush shell 24 is subjected to an external force and rotates relative to the sleeve 26, the elastic potential energy (also known as the deformation torsional force) of the elastic element increases, thereby increasing the abutting force of the abutting part on the side brush curved arm 27. The abutting part presses down on the side brush curved arm 27, causing the side brush curved arm 27 to fold downward.

[0127] When the side brush housing 24 drives the sleeve 26 to rotate synchronously again, under the torsional recovery action of the elastic element, the bent portion of the side brush arm 27 moves along the abutment portion, and the abutment force of the abutment portion on the bent portion of the side brush arm 27 gradually decreases, thereby restoring the deformation of the bent portion of the side brush arm 27. The bending direction of the side brush arm 27 is restored to a horizontal downward state. And through the deformation torsional force of the elastic element, the abutment portion and the side brush arm 27 are kept in contact, thereby allowing the side brush structure 20 to maintain contact with the ground, and the ground is cleaned by the rotation of the side brush structure 20.

[0128] In summary, the sweeping machine described in the embodiments of this application may include at least the following advantages:

[0129] In this embodiment, the sweeping machine includes: a housing, a side brush structure, a cleaning section, and a sensor structure. The side brush structure is rotatably connected to the bottom of the housing, and the cleaning section is spaced apart from the side brush structure at the bottom of the housing. The side brush structure has an extension extending towards the top of the housing. The sensor structure is connected to the top of the housing and is positioned opposite to the extension. The sensor structure is used to stop the movement of the extension, so that the side brush structure stops rotating at a preset position. The side brush structure has multiple extended brush strips, and at least one brush strip is located in the cleaning section at the preset position for cleaning the brush strips. Thus, when the side brush structure becomes entangled with hair, pet fur, or rope, the sensor structure can identify the position of the extension, and the extension can be used to accurately position the rotation of the side brush structure, keeping the brush strips stationary within the cleaning area of ​​the cleaning section. This allows the cleaning section to effectively clean the hair, rope, and other debris entangled on the brush strips, avoiding affecting the cleaning performance of the side brush structure and reducing the risk of motor stalling and damage to components. Furthermore, the extension extends toward the top of the housing, and the sensor structure is connected to the top of the housing, which avoids impurities such as lubricating oil inside the housing from affecting the positioning and identification between the sensor structure and the extension, thus having a good oil-proof effect and making the sensor structure have good accuracy.

[0130] Reference Figure 19 This document illustrates a flowchart of a self-cleaning method for a sweeping machine according to an embodiment of this application. The sweeping machine includes a housing 10, a side brush structure 20, a cleaning unit 30, and a sensor structure 40. The side brush structure 20 is rotatably connected to the bottom of the housing 10, and the cleaning unit 30 is spaced apart from the side brush structure 20 at the bottom of the housing 10. The side brush structure 20 has an extension 21 extending towards the top of the housing 10. The sensor structure 40 is connected to the top of the housing 10 and is disposed opposite to the extension 21. The method includes:

[0131] Step 101: The sensor structure 40 is activated.

[0132] For example, in this embodiment, when the robot vacuum returns to the base station for self-cleaning, the sensor structure 40 can be activated by the controller. Alternatively, if hair becomes entangled in the brush strip 22 during the robot vacuum's cleaning process, the sensor structure 40 can also be activated by the controller; this embodiment does not limit this specific action.

[0133] Step 102: The sensor structure 40 identifies the position of the extension 21.

[0134] For example, in this embodiment of the application, the sensor structure 40 may be provided with a signal transceiver 41, and the extension 21 may be provided with a sensor 23. When the signal transceiver 41 senses the sensor 23, the sensor structure 40 realizes the identification of the position of the extension 21.

[0135] In this embodiment of the application, for example, the sensor structure 40 can be a photoelectric sensor or a Hall sensor, etc., and its specific structure and working principle are as described above, and will not be repeated here as it is an embodiment of the application.

[0136] Step 103: The extension member 21 stops moving, and the side brush structure 20 stops rotating at a preset position; wherein, the side brush structure 20 has a plurality of extended brush strips 22, and at least one of the brush strips 22 is located in the cleaning part 30 at the preset position.

[0137] In this embodiment, when the side brush assembly stops rotating and is in a preset position, at least one of the brush strips 22 is in the cleaning area of ​​the cleaning section 30, so that the cleaning section 30 can clean the brush strips 22 more efficiently.

[0138] Step 104: The cleaning unit 30 cleans the brush strip 22.

[0139] For example, in this embodiment, the cleaning unit 30 may be equipped with a roller brush to clean easily tangled debris such as hair, pet fur, or rope from the brush strip 22. Alternatively, the cleaning unit 30 may be equipped with a suction structure to absorb and clean debris such as hair, pet fur, or rope from the brush strip 22. This embodiment does not limit the specific type of the cleaning unit 30 or its cleaning method.

[0140] Optionally, in this embodiment, the sweeper further includes a controller and a driver 50 electrically connected to the controller. The output end of the driver 50 is connected to the extension member 21. The sensor structure 40 is electrically connected to the controller, and the side brush structure 20 is vertically and elliptably connected to the housing 10. Before the step of the cleaning unit 30 cleaning the brush strip 22, the method may further include: the controller controlling the driver 50 to operate; the driver 50 driving the side brush structure 20 to rise, so that the brush strip 22 is closer to the cleaning unit 30. That is, before the cleaning unit 30 cleans the brush strip 22, the controller controls the driver 50 to start, so that the driver 50 drives the side brush structure 20 away from the ground through the transmission component, avoiding secondary contamination of the side brush structure 20 by dirt on the ground, achieving more effective cleaning of the brush strip 22, and the controller achieves more precise control of the driver 50.

[0141] In summary, the self-cleaning method for sweeping machines described in the embodiments of this application can include at least the following advantages:

[0142] In this embodiment, the self-cleaning method for a sweeping machine is applied to the sweeping machine, which includes: a housing, a side brush structure, a cleaning section, and a sensor structure; the side brush structure is rotatably connected to the bottom of the housing, and the cleaning section is spaced apart from the side brush structure at the bottom of the housing; the side brush structure has an extension extending toward the top of the housing; the sensor structure is connected to the top of the housing and is disposed opposite to the extension; the method includes: the sensor structure being activated; the sensor structure detecting the position of the extension; the extension stopping its movement; and the side brush structure stopping its rotation at a preset position; wherein the side brush structure has multiple extended brush strips, and at the preset position, at least one brush strip is located in the cleaning section; and the cleaning section cleans the brush strip. In this way, when the side brush structure becomes entangled with hair, pet fur, or rope, the sensor structure can identify the position of the extension, enabling precise positioning of the side brush structure's rotation. This ensures the brush strips remain stationary within the cleaning area of ​​the cleaning unit, allowing for more effective removal of tangled hair, rope, and other debris. This prevents interference with the side brush structure's cleaning performance and reduces the risk of motor stalling and damage. Furthermore, the extension extends towards the top of the housing, and the sensor structure is connected to the top of the housing. This prevents impurities such as lubricating oil inside the housing from affecting the positioning and identification between the sensor structure and the extension, providing good oil resistance and enhancing the accuracy of the sensor structure.

[0143] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0144] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot vacuum cleaner, characterized in that, The sweeper comprises a housing, an edge brush structure, a cleaning part and a sensor structure; The edge brush structure is rotationally connected to the bottom of the housing, and the cleaning part is arranged on the bottom of the housing in a spaced manner from the edge brush structure, and the cleaning part comprises at least one of a rolling brush and a dust suction structure; The edge brush structure is provided with an extension piece, which extends towards the top of the housing; The sensor structure is connected to the top of the housing, and the sensor structure is arranged opposite to the extension piece, and the sensor structure is used to stop the movement of the extension piece, so that the edge brush structure stops rotating at a preset position; The edge brush structure has a plurality of extended brush strips, and at least one of the brush strips is located at the cleaning part at the preset position to clean the brush strips.

2. The robot of claim 1, wherein, The sweeper comprises a transmission assembly, and the housing is provided with a transmission cavity, and the transmission assembly is arranged in the transmission cavity; The extension piece is connected to the transmission assembly, and the extension piece extends through the transmission cavity to the top of the transmission cavity, and the sensor structure is arranged opposite to the top of the extension piece.

3. The robot of claim 2, wherein, A gap is arranged between the extension piece and the top of the housing, and the sensor structure is connected to the top of the housing and exposed to the gap.

4. The robot of claim 3, wherein, The sensor structure comprises a signal transceiver, and the top end of the extension piece is provided with a sensing piece; The signal transceiver is exposed to the gap, and the sensing piece is arranged opposite to the signal transceiver at the preset position; In the case that the signal transceiver detects the sensing piece, the sensor structure stops the movement of the transmission assembly and the extension piece.

5. The robot of claim 4, wherein, The sensor structure is an optical sensor, the signal transceiver extends into the gap, the signal transceiver can transmit and receive light, and the sensing piece is a light shielding piece protruding towards the signal transceiver; At the preset position, the light shielding piece shields the light emitted by the signal transceiver, and the signal transceiver detects the light shielding piece and stops the movement of the transmission assembly and the extension piece.

6. The robot of claim 4, wherein, The sensor structure is a Hall sensor, and the sensing piece is a magnetic piece protruding towards the signal transceiver; At the preset position, the Hall sensor detects the magnetic piece and emits an electric signal to stop the movement of the transmission assembly and the extension piece.

7. The robot of claim 1, wherein, The housing is provided with a clamping part and an opening, and the sensor structure comprises a sensor body and a signal transceiver connected to the sensor body; The sensor body is clamped to the clamping part, and the signal transceiver is exposed to the opening.

8. The robot of claim 2, wherein, The sweeper further comprises a controller, and the controller is electrically connected to the sensor structure; In the case that the brush strips need to be cleaned, the controller activates the sensor structure to stop the edge brush structure from rotating at the preset position.

9. The robot of claim 8, wherein, The sweeper further comprises a driver, and the driver is electrically connected to the controller and connected to the transmission assembly; The bristle structure is connected to the shell in a lifting manner, and the controller controls the driver to work when the bristle structure is in the preset position, and the driver drives the bristle structure to lift through the transmission assembly so that at least one of the brush strips is close to the cleaning part.

10. The robot of claim 9, wherein, When the sensor structure is activated, the driver drives the bristle structure to rotate in a first direction through the transmission assembly so that the bristle structure is in the preset position. When the bristle structure is in the preset position, the driver drives the bristle structure to rotate in a second direction through the transmission assembly so that the bristle structure is lifted; wherein the second direction is opposite to the first direction.

11. The robot of claim 9, wherein, The transmission assembly comprises a first gear and a second gear, the first gear and the second gear are located in the transmission cavity, the first gear is connected to the bristle structure, the second gear is engaged with the first gear, and the second gear is connected to the output end of the driver.

12. The machine of any one of claims 1-11, wherein, The shell is provided with a transmission assembly, the bristle structure comprises a bristle shell and a bristle body arranged in the bristle shell, the bristle shell is connected to the transmission assembly, and the bristle body is provided with a plurality of brush strips extending out of the bristle shell. The bristle body rotates in a second direction and abuts against the upper surface in the bristle shell so that the bristle structure is lifted close to the shell.

13. The robot of claim 12, wherein, The bristle body comprises a sleeve and a bristle curved arm connected to the sleeve, and the brush strip is connected to the bristle curved arm. When the bristle shell rotates in the second direction, the bristle curved arm is bent and abuts against the upper surface in the bristle shell.

14. A method for self-cleaning of a robot vacuum cleaner, applied to a robot vacuum cleaner according to any one of claims 1-13, the robot vacuum cleaner comprising: The shell, the bristle structure, the cleaning part and the sensor structure; the bristle structure is rotationally connected to the bottom of the shell, the cleaning part is arranged at the bottom of the shell in a spaced manner with the bristle structure; the bristle structure is provided with an extension piece extending towards the top of the shell; The sensor structure is connected to the top of the shell, and the sensor structure is arranged opposite to the extension piece, and the method comprises: The sensor structure is activated; The sensor structure identifies the position of the extension piece; The extension piece stops moving, and the bristle structure stops rotating in a preset position; wherein the bristle structure has a plurality of extended brush strips, and at least one of the brush strips is located in the cleaning part in the preset position; The cleaning part cleans the brush strip.

15. The self-cleaning method of claim 14, wherein, The sweeping machine further comprises a controller and a driver, the output end of the driver is connected to the extension piece, the sensor structure is electrically connected to the controller, and the bristle structure is connected to the shell in a lifting manner; Before the step of cleaning the brush strip by the cleaning part, the method further comprises: The controller controls the driver to work; The driver drives the bristle structure to lift so that the brush strip is close to the cleaning part.

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