Cleaning equipment and control method of cleaning equipment

Abstract

The invention discloses cleaning equipment and a control method of the cleaning equipment, and belongs to the technical field of cleaning. The cleaning equipment comprises an equipment body, a cleaning assembly and a first driving assembly, the cleaning assembly is movably arranged on the equipment body and can be switched between a first position and a second position, and under the condition that the cleaning assembly is located at the first position, a first part of the cleaning assembly is folded in the equipment body; under the condition that the cleaning assembly is located at the second position, the first part of the cleaning assembly protrudes out of the equipment body in the direction parallel to the bottom face of the equipment body; the first driving assembly is connected with the equipment body and the cleaning assembly. The first driving assembly is used for driving the cleaning assembly to be switched between the first position and the second position. According to the scheme, the first part of the cleaning assembly can protrude out of the equipment body so that the periphery of the obstacle can be cleaned, and therefore sanitation dead corners can be prevented from being formed on the periphery of the obstacle.

Description

Technical Field

[0001] The present application belongs to the field of cleaning technology, and specifically relates to a cleaning device and a control method for the cleaning device. Background Art

[0002] Cleaning equipment, such as cleaning robots, are a type of smart home appliance that can automatically complete floor cleaning tasks in the room with a certain degree of artificial intelligence.

[0003] In the related art, in order to prevent the cleaning equipment from colliding with obstacles or being restricted by the shape of the cleaning equipment, the cleaning equipment cannot contact the obstacles, and thus it is difficult to clean the surroundings of the obstacles, such as the lower area of ​​the wall or the corners, which can easily lead to the formation of sanitary dead corners around the obstacles.

[0004] Therefore, there is a defect in the related art that the cleaning equipment is not easy to clean the periphery of the obstacle, which easily leads to the formation of sanitary dead corners around the obstacle. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a cleaning device and a control method for the cleaning device, which can solve the problem in the related art that the cleaning device is not easy to clean the periphery of the obstacle and easily causes a sanitary dead corner to form around the obstacle.

[0006] In a first aspect, an embodiment of the present application provides a cleaning device, comprising: Equipment body; A cleaning assembly is movably disposed on the device body, and the cleaning assembly can be switched between a first position and a second position. When the cleaning assembly is in the first position, the first part of the cleaning assembly is retracted into the device body, and when the cleaning assembly is in the second position, the first part of the cleaning assembly protrudes from the device body in a direction parallel to the bottom surface of the device body. The first driving component is connected to the device body and the cleaning component respectively, and the first driving component is used to drive the cleaning component to switch between the first position and the second position.

[0007] In a second aspect, an embodiment of the present application further provides a control method for a cleaning device, which is applied to the above-mentioned cleaning device, and the control method includes: Acquire a first distance between the cleaning device and a first obstacle; When the first distance is less than or equal to a first preset distance, controlling the cleaning component to switch to a second position so that the side of the cleaning component contacts the first obstacle; The cleaning device is controlled to move along the first obstacle.

[0008] In the embodiment of the present application, the cleaning component can be movably arranged on the device body, and the first driving component can drive the cleaning component to switch between the first position and the second position to realize the outward swing and inward retraction of the cleaning component. When it is necessary to clean the periphery of the obstacle, the first driving component can drive the cleaning component to switch to the second position, so that the first part of the cleaning component protrudes from the device body, so as to be able to clean the periphery of the obstacle. For example, the cleaning component can extend into the lower area or the corner of the wall, and then clean the lower area or the corner of the wall, thereby preventing the formation of sanitary dead corners around the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is one of the structural schematic diagrams of the cleaning device disclosed in the embodiment of the present application (when the cleaning component is in the first position); Figure 2 This is the second structural schematic diagram of the cleaning device disclosed in the embodiment of the present application (when the cleaning component is in the second position); Figure 3 is a position relationship diagram of the lifting bracket disclosed in the embodiment of the present application and the active connecting rod, the first driven connecting rod, the second driven connecting rod and the vibration connecting rod; Figure 4 It is one of the connection relationship diagrams between the lifting bracket and the cleaning component disclosed in the embodiment of the present application; Figure 5 It is one of the connection relationship diagrams of the first driving assembly and the vibration driving assembly and the lifting bracket in a three-dimensional perspective disclosed in the embodiment of the present application; Figure 6 is a cross-sectional view of a first drive assembly disclosed in an embodiment of the present application; Figure 7 is a diagram of the connection relationship between the first drive assembly and the vibration drive assembly disclosed in the embodiment of the present application and the lifting bracket in a top view; Figure 8 This is the second connection relationship diagram of the first drive assembly and the vibration drive assembly and the lifting bracket in a three-dimensional perspective disclosed in the embodiment of the present application (hiding the outer swing motor and the driven wheel); Fig. 9 This is the third diagram of the connection relationship between the first drive assembly and the vibration drive assembly and the lifting bracket in a three-dimensional perspective disclosed in the embodiment of the present application (hiding the external swing motor); Fig.10 is a partial schematic diagram of a first driving assembly disclosed in an embodiment of the present application; Fig.11 This is the second connection relationship diagram between the lifting bracket and the cleaning component disclosed in the embodiment of the present application; Fig.12 This is the third diagram of the connection relationship between the lifting bracket and the cleaning component disclosed in the embodiment of the present application; Fig.13This is the fourth diagram of the connection relationship between the lifting bracket and the cleaning component disclosed in the embodiment of the present application; Fig.14 is a bottom view of the cleaning device disclosed in the embodiment of the present application; Fig.15 is a side view of a cleaning device disclosed in an embodiment of the present application; Fig.16 It is one of the top views of the cleaning device disclosed in the embodiment of the present application (when the cleaning component is in the first position); Fig.17 This is the second top view of the cleaning device disclosed in the embodiment of the present application (when the cleaning component is in the second position); Fig.18 is a three-dimensional diagram of the cleaning device disclosed in the embodiment of the present application (when the cleaning component is in the second position); Fig.19 is a schematic diagram of a cleaning component of a cleaning device disclosed in an embodiment of the present application in contact with a first obstacle from a top view; Fig. 20 is a schematic diagram of a cleaning component of a cleaning device disclosed in an embodiment of the present application in contact with a first obstacle in a three-dimensional perspective; Fig.21 is a flow chart of inner corner cleaning performed by the cleaning device disclosed in the embodiment of the present application; Fig. 22 is a flow chart of cleaning an outer corner by a cleaning device disclosed in an embodiment of the present application; Fig.23 It is a flow chart of the cleaning device disclosed in the embodiment of the present application performing pile-circling cleaning; Fig.24 It is one of the three-dimensional diagrams of the adapter disclosed in the embodiment of the present application; Fig.25 This is the second stereoscopic diagram of the adapter disclosed in the embodiment of the present application; Fig.26 is a position relationship diagram of the second protrusion, the first limit stopper, and the second limit stopper disclosed in the embodiment of the present application; Fig. 27 yes Fig.26 Magnified view of part A in FIG.

[0010] Description of reference numerals: 100-equipment body; 110-body; 120-lifting bracket; 121-first limit stopper; 122-second limit stopper; 200-cleaning assembly; 210-edge roller; 220-first part; 300-first driving assembly; 310-active connecting rod; 320-outward swing motor; 330-active wheel; 340-driven wheel; 341-first limiting portion; 342-second limiting portion; 343-first stopper; 344-slideway; 350-adapter; 351-first convex portion; 352-second stopper; 353-second convex portion; 360-elastic part; 370-bearing; 380-torsion spring sleeve; 400-vibration drive assembly; 410-vibration connecting rod; 420-vibration motor; 430-arc support member; 500-first driven connecting rod; 600-second driven connecting rod; 700-position detection element; 710-photoelectric sensor; 720-photoelectric sensor; 800-driving wheel; 900-first obstacle; 1000-second obstacle; 1100-the third obstacle; 1200-columnar obstacle. DETAILED DESCRIPTION

[0011] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0012] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0013] The cleaning device and the control method of the cleaning device provided in the embodiments of the present application are described in detail below through specific embodiments and their application scenarios in combination with the accompanying drawings.

[0014] refer to Figure 1-Figure 27 A cleaning device provided in an embodiment of the present application may include a device body 100, a cleaning component 200 and a first driving component 300.

[0015] Among them, the cleaning component 200 can be movably arranged on the device body 100, and the cleaning component 200 can be switched between a first position and a second position. When the cleaning component 200 is in the first position, the first part 220 of the cleaning component 200 is retracted into the device body 100 so that the cleaning device can perform normal cleaning work; when the cleaning component 200 is in the second position, the first part 220 of the cleaning component 200 protrudes from the device body 100 in a direction parallel to the bottom surface of the device body 100, so that the cleaning device can clean the periphery of the obstacle.

[0016] It should be noted that the first part 220 is not specifically limited here, as long as the part is located within the vertical projection of the device body 100 when the cleaning component 200 is in the first position, and is outside the vertical projection of the device body 100 when the cleaning component 200 is in the second position, the first part 220 can be mentioned.

[0017] The first driving assembly 300 can be connected to the device body 100 and the cleaning assembly 200 respectively. The first driving assembly 300 can be used to drive the cleaning assembly 200 to switch between the first position and the second position to achieve the inward and outward swing of the cleaning assembly 200.

[0018] In an embodiment of the present application, when it is necessary to clean the vicinity of an obstacle, the first drive component 300 can drive the cleaning component 200 to switch to the second position, so that the first part 220 of the cleaning component 200 protrudes from the device body 100, so as to be able to clean the vicinity of the obstacle. For example, the cleaning component 200 can extend into the lower area or corner of the wall, and then clean the lower area or corner of the wall, thereby preventing the formation of sanitary dead corners around the obstacle.

[0019] In this embodiment, the cleaning component 200 can be movably disposed at the bottom of the device body 100 so that the cleaning component 200 can clean the floor.

[0020] In an optional embodiment of the present application, the first driving assembly 300 may include an active connecting rod 310 and an outward swing motor 320, the active connecting rod 310 may be parallel to the bottom surface of the device body 100, the first end of the active connecting rod 310 may be rotatably connected to the cleaning assembly 200, the outward swing motor 320 may be arranged on the device body 100, the outward swing motor 320 may be connected to the second end of the active connecting rod 310, and may be used to drive the active connecting rod 310 to swing. In this way, on the one hand, the position switching of the cleaning assembly 200 can be realized, and on the other hand, the cleaning range of the cleaning assembly 200 can be increased. Specifically, the outward swing motor 320 drives the cleaning assembly 200 to swing through the active connecting rod 310, which can expand the motion trajectory of the cleaning assembly 200 to a wider area, so that the cleaning assembly 200 can reach different positions and angles, which is more conducive to cleaning corners or gaps that are difficult to directly reach, thereby improving the comprehensiveness of cleaning.

[0021] In addition, the method of driving the cleaning component 200 to switch positions by the outward swing motor 320 and the active connecting rod 310 is more conducive to adjusting the position and angle of the cleaning component 200 than the method of driving the cleaning component 200 to switch positions by the telescopic driving component, and occupies less space, so as to better adapt to the installation position requirements of the cleaning component 200.

[0022] In other embodiments, the first driving assembly 300 may also only include the outward swing motor 320, the cleaning assembly 200 may be connected to the output shaft of the outward swing motor 320, and the outward swing motor 320 may drive the cleaning assembly 200 to rotate.

[0023] Of course, the first drive component 300 can also be a telescopic drive component, for example, a telescopic cylinder, a linear motor, or other telescopic structures driven by a power source are all within the protection range of the telescopic drive component. The telescopic end of the telescopic cylinder is connected to the cleaning component 200, and the cleaning component 200 is driven to switch between the first position and the second position by the telescopic cylinder.

[0024] In an optional embodiment, if Figure 3As shown, the cleaning device may further include a first driven link 500, which may be arranged in parallel with the active link 310, and a first end of the first driven link 500 may be rotatably connected to the cleaning assembly 200, and a second end of the first driven link 500 may be rotatably connected to the device body 100. This arrangement can improve the stability of the connection between the cleaning assembly 200 and the device body 100, and at the same time, the first driven link 500 can also disperse the force applied to the cleaning assembly 200, thereby preventing the force applied to the cleaning assembly 200 from being transmitted to the active link 310, thereby preventing the active link 310 from being damaged or loosened due to excessive force, and through the support and force dispersion of the first driven link 500 and the active link 310, the cleaning assembly 200 is not easily deformed when subjected to external force.

[0025] In other embodiments, the cleaning device may not include the first driven link 500 .

[0026] Alternatively, if Figure 3 As shown, the cleaning device may further include a second driven link 600, which may be arranged in parallel with the active link 310, and a first end of the second driven link 600 may be rotatably connected to the cleaning assembly 200, and a second end of the second driven link 600 may be rotatably connected to the device body 100. This arrangement may further improve the stability of the connection between the cleaning assembly 200 and the device body 100, and may further disperse the forces acting on the cleaning assembly 200.

[0027] Of course, the cleaning device may not include the second driven link 600 .

[0028] In addition, if Fig.13 As shown, the first end of the active connecting rod 310, the first end of the first driven connecting rod 500 and the first end of the second driven connecting rod 600 can respectively coincide with the three vertices of the same triangle, that is, the first end of the active connecting rod 310, the first end of the first driven connecting rod 500 and the first end of the second driven connecting rod 600 can be connected to form a triangle. This arrangement can further improve the stability of the connection between the cleaning component 200 and the device body 100, and can provide a stable support and guide foundation for the movement of the cleaning component 200. During operation, the cleaning component 200 can perform a smooth linear motion or arc motion along the trajectory determined by the triangular plane, reducing the shaking and bumping caused by the instability of the structure.

[0029] Of course, the first end of the active link 310 , the first end of the first driven link 500 , and the first end of the second driven link 600 may not coincide with the three vertices of the same triangle.

[0030] In an optional embodiment of the present application, Figure 5 and Figure 6 As shown, the first drive component 300 may also include an adapter 350, a driven wheel 340 and an elastic member 360, wherein the adapter 350 may be rotatably connected to the device body 100, and may be connected to the second end of the active connecting rod 310 so as to drive the active connecting rod 310 to swing; the driven wheel 340 may be transmission-connected to the outward swing motor 320, the driven wheel 340 may be coaxially arranged with the adapter 350, and the driven wheel 340 and the adapter 350 may rotate relative to each other within a preset angle; the elastic member 360 may be respectively connected to the driven wheel 340 and the adapter 350, and the elastic member 360 may be used to drive the adapter 350 to rotate along the first direction so that the cleaning component 200 returns to the second position. Here, since the elastic member 360 is connected to the driven wheel 340 and the adapter 350 respectively, the driven wheel 340 can drive the adapter 350 to rotate along the first direction through the elastic member 360, so that the cleaning component 200 can be switched to the second position, that is, the cleaning component 200 is switched to the outward swing state, so that the cleaning component 200 can perform edge cleaning. When the cleaning component 200 is squeezed by an external force and moves in the opposite direction of the first direction, the elastic member 360 is deformed. When the external force on the cleaning component 200 disappears, the elastic member 360 recovers the deformation and drives the cleaning component 200 to rotate along the first direction, so that the cleaning component 200 returns to the second position.

[0031] In this embodiment, during the process of cleaning corners, the elastic member 360 will deform when the cleaning component 200 is squeezed by an external force, and apply elastic force to the adapter 350, so that the cleaning component 200 always keeps in contact with the obstacle, thereby realizing the function of cleaning along the edge. For example, when cleaning corners or edge areas, the cleaning component 200 can adaptively fit the obstacle through the elastic force of the elastic member 360 to ensure cleaning without dead ends; at the same time, in a home environment, damage to furniture due to the rigid connection of the cleaning component 200 can be avoided, and when the cleaning component 200 is squeezed inward by the force of an obstacle, the adapter 350 and the driven wheel 340 can rotate relative to each other within a preset angle, so that the adapter 350 will not directly apply force to the driven wheel 340, thereby effectively avoiding damage to the driven wheel 340 and the outward swing motor 320 connected thereto due to accidental force.

[0032] In other embodiments, the first driving assembly 300 may not include the adapter 350 and the elastic member 360 , and the second end of the active connecting rod 310 may be directly connected to the driven wheel 340 .

[0033] Optionally, the first drive assembly 300 may further include a rotating shaft, which may be rotatably connected to the device body 100, the second end of the active connecting rod 310 and the adapter 350 may both be connected to the rotating shaft, and the driven wheel 340 may be connected to the rotating shaft via a bearing 370. With this arrangement, relative rotation of the driven wheel 340 and the adapter 350 may be achieved.

[0034] Further optionally, if Fig.10 As shown, a first stopper 343 may be provided on the driven wheel 340, the elastic member 360 may be a torsion spring, and a second stopper 352 may be provided on the adapter 350. The first stopper 343 and the second stopper 352 may be spaced apart in the circumferential direction of the driven wheel 340, the torsion spring may be sleeved outside the rotating shaft, and the two elastic arms of the torsion spring may respectively abut against the first stopper 343 and the second stopper 352. In this arrangement, the driven wheel 340 rotates in the first direction, and the first stopper 343 on the driven wheel 340 can apply a force to one elastic arm of the torsion spring, so that the torsion spring is deformed and applies a force to the second stopper 352 on the adapter 350 through the other elastic arm, thereby driving the adapter 350 to rotate in the first direction, so that the cleaning assembly 200 can be switched to the second position. In addition, the two elastic arms of the torsion spring abut against the first stopper 343 and the second stopper 352, so that the torsion spring can provide a stable elastic driving force for the adapter 350 during the rotation of the adapter 350, and the elastic member 360 is a torsion spring, which is more convenient to drive the adapter 350 to rotate than the elastic member 360 is a spring, and thus it is more convenient for the cleaning assembly 200 to return to the second position. Of course, the elastic member 360 can also be a spring.

[0035] Here, the torsion spring may be mounted on the rotating shaft via a torsion spring sleeve 380 to prevent the torsion spring from falling off the rotating shaft.

[0036] Optionally, the first driving assembly 300 may further include a driving wheel 330, which may be coaxially connected to the output shaft of the outer swing motor 320, and the driving wheel 330 may mesh with a driven wheel 340 to drive the driven wheel 340 to rotate. Here, the driving wheel 330 and the driven wheel 340 may both be gears.

[0037] In an optional embodiment, if Fig. 9As shown, one of the adapter 350 and the driven wheel 340 may be provided with a first convex portion 351, and the other may be provided with a first limiting portion 341 and a second limiting portion 342. The angle between the line connecting the first limiting portion 341 and the center of the driven wheel 340 and the line connecting the second limiting portion 342 and the center of the driven wheel 340 may be a preset angle, and the first convex portion 351 may be located between the first limiting portion 341 and the second limiting portion 342. In this way, the movable angle of the adapter 350 can be limited by the first limiting portion 341 and the second limiting portion 342, so as to prevent the adapter 350 from excessive movement, and enable the driven wheel 340 to accurately drive the adapter 350 to rotate, so as to control the cleaning assembly 200 to switch between different positions.

[0038] Furthermore, the first convex portion 351 can cooperate with the first limiting portion 341 in limiting the position in the first direction. In this way, the first limiting portion 341 can limit the position of the first convex portion 351, so as to limit the adaptive stroke of the cleaning component 200, so as to prevent the cleaning component 200 from being overly retracted due to external force and thus failing to clean corners.

[0039] The second limiting portion 342 can cooperate with the first convex portion 351 to limit the position in the opposite direction of the first direction, so that the driven wheel 340 can drive the adapter 350 to rotate. In particular, when the second limiting portion 342 cooperates with the first convex portion 351 to limit the position in the opposite direction of the first direction, the driven wheel 340 can drive the adapter 350 to rotate in the opposite direction of the first direction, so that the cleaning component 200 is switched to the first position, and the cleaning component 200 is retracted.

[0040] Optionally, a slide groove 344 can be provided on the driven wheel 340, where the slide groove 344 can be an arc-shaped groove, the center of the arc-shaped groove can coincide with the axis of the driven wheel 340, the first limit portion 341 and the second limit portion 342 are respectively located at the two ends of the slide groove 344, the first protrusion 351 can be located in the slide groove 344 and can slide relative to the slide groove 344, and the first protrusion 351 and the groove wall of the slide groove 344 can cooperate in the radial upper limit of the driven wheel 340. With this arrangement, during the operation of the cleaning equipment, even if it is subjected to external vibrations, collisions, etc., the first protrusion 351 is not easy to fall out of the slide groove 344, thereby preventing the adapter 350 from being misaligned with the driven wheel 340, which causes the driven wheel 340 to be unable to drive the adapter 350 to rotate.

[0041] In other embodiments, the first protrusion 351 , the first limiting portion 341 and the second limiting portion 342 may not be provided on the adapter 350 and the driven wheel 340 , and the adapter 350 and the driven wheel 340 are only connected via the elastic member 360 .

[0042] In an optional embodiment, if Fig.24 and Fig.25 As shown, the adapter 350 may be provided with a second protrusion 353, such as Fig.26 and Fig. 27 As shown, the device body 100 may be provided with a first limit stopper 121 and a second limit stopper 122, and the second convex portion 353 may be located between the first limit stopper 121 and the second limit stopper 122, and the second convex portion 353 may cooperate with the first limit stopper 121 in the upper limit position in the first direction, and the second convex portion 353 may cooperate with the second limit stopper 122 in the upper limit position in the opposite direction of the first direction. In this way, the rotation angle of the adapter 350 can be accurately controlled to ensure that the cleaning component 200 can accurately swing to the set range when working, so as to achieve accurate coverage of the cleaning area. For example, when cleaning narrow edges or angles, accurate control of the outer swing range can make the cleaning component 200 completely fit these areas for cleaning, so as to avoid the occurrence of cleaning blind spots. At the same time, the first limit stopper 121 and the second limit stopper 122 can effectively limit the rotation angle of the adapter 350, so as to avoid the cleaning component 200 from swinging too much, causing the cleaning device to be unstable or even damaged.

[0043] Of course, the second protrusion 353 may not be provided on the adapter 350 , and the first limit stopper 121 and the second limit stopper 122 may not be provided on the device body 100 .

[0044] In an optional embodiment of the present application, the cleaning device may further include a vibration drive assembly 400, which may include a vibration motor 420 and a vibration connecting rod 410, wherein the vibration motor 420 may be connected to the device body 100, the vibration connecting rod 410 may be parallel to the active connecting rod 310, the first end of the vibration connecting rod 410 may be rotatably connected to the cleaning assembly 200, and the second end of the vibration connecting rod 410 may be rotatably connected to the vibration motor 420. In this arrangement, the vibration generated by the vibration motor 420 is transmitted to the cleaning assembly 200 through the vibration connecting rod 410, so that the cleaning assembly 200 generates high-frequency vibration when it contacts the surface to be cleaned, so as to enhance the friction between the cleaning assembly 200 and the dirt, thereby making it easier to remove the dirt, thereby effectively improving the cleaning effect of the cleaning assembly 200.

[0045] In other embodiments, the cleaning device may not include the vibration drive assembly 400 .

[0046] In an optional embodiment, the cleaning device may further include an arc-shaped support member 430, which may be located below the vibration link 410 and may be connected to the bottom of the device body 100, and the center of the arc-shaped support member 430 may coincide with the rotation axis of the vibration link 410. In this arrangement, the arc-shaped support member 430 may support the vibration link 410 to withstand the vertical force of the vibration link 410, thereby reducing the burden of the vibration link 410, thereby effectively preventing the vibration link 410 from deforming due to long-term uneven force; at the same time, the arc-shaped support member 430 can effectively limit the vibration amplitude of the vibration link 410, so as to prevent the vibration link 410 from causing damage to the device body 100 or the cleaning component 200 or affecting the stability of the cleaning operation due to excessive vibration amplitude.

[0047] Of course, the cleaning device may not include the arc-shaped support member 430 .

[0048] In an optional embodiment, the cleaning device may further include a position detection element 700, which may be connected to the first driving assembly 300 for communication, and the position detection element 700 may be used to detect the position of the cleaning assembly 200. In this way, the position of the cleaning assembly 200 may be monitored in real time through the position detection element 700, so that the cleaning device can accurately know the specific position of the cleaning assembly 200 during operation, thereby facilitating adjustment of the position of the cleaning assembly 200.

[0049] Of course, the cleaning device may not include the position detection element 700 .

[0050] Alternatively, if Figure 7 As shown, the position detection element 700 may include a photoelectric sensor 710 and a photoelectric sensing sheet 720. The photoelectric sensing sheet 720 may be disposed on the adapter 350, and the photoelectric sensor 710 may be disposed on the device body 100. Specifically, the photoelectric sensor 710 may be disposed on the lifting bracket 120 described below. The photoelectric sensor 710 may be used to sense the position of the photoelectric sensing sheet 720, so as to detect the position of the adapter 350 according to the position of the photoelectric sensing sheet 720, and further detect the position of the cleaning component 200. Specifically, when the cleaning component 200 is located at the first position, the photoelectric sensing sheet 720 is opposite to the photoelectric sensor 710.

[0051] Here, photoelectric sensor 710 and photoelectric sensing sheet 720 are used to detect the position of adapter 350. Compared with the method of using a micro switch to detect the position of adapter 350, there is no need for direct physical contact between photoelectric sensor 710 and adapter 350, which can avoid damage to photoelectric sensor 710 due to friction between the sensor and the adapter, and will not generate additional resistance or interference to the movement of adapter 350.

[0052] Of course, the position detection element 700 can also be a micro switch, which is arranged on the device body 100, and a protrusion is arranged on the adapter 350. When the cleaning component 200 is located in the first position, the protrusion touches the micro switch, triggering the micro switch, and then detecting the position of the adapter 350.

[0053] Alternatively, the position detection element 700 may also be an angle sensor, and the angle sensor may be used to detect the rotation angle of the adapter 350 , so as to detect the position of the cleaning assembly 200 by detecting the rotation angle of the adapter 350 .

[0054] In an optional embodiment, if Figure 2 As shown, the cleaning assembly 200 may be provided with an edge roller 210, which may be used to contact the obstacle. In this way, when the cleaning assembly 200 cleans the periphery of the obstacle, the friction between the cleaning assembly 200 and the obstacle can be reduced, thereby enabling the cleaning assembly 200 to move smoothly along the obstacle.

[0055] Of course, the edge roller 210 may not be provided on the cleaning component 200 .

[0056] In an optional embodiment, if Fig.14 As shown, when the cleaning assembly 200 is located at the first position, in the arrangement direction of the two driving wheels 800 of the cleaning device, the length of the cleaning assembly 200 can be greater than or equal to the distance between the two opposite sides of the two driving wheels 800. In this way, the cleaning assembly 200 can cover the moving track of the driving wheel 800, and then can clean the mark left by the driving wheel 800 on the ground, which is conducive to improving the cleaning effect of the cleaning device.

[0057] Of course, when the cleaning assembly 200 is located at the first position, in the arrangement direction of the two driving wheels 800 of the cleaning device, the length of the cleaning assembly 200 may also be smaller than the distance between the two opposite sides of the two driving wheels 800 .

[0058] Optionally, the cleaning component 200 can be a flatbed mop component, which can include a flatbed and a mop cloth. The flatbed can be movably connected to the device body 100, and the mop cloth can be set on the side of the flatbed away from the device body 100. Since the length of the cleaning component 200 is greater than or equal to the distance between the two opposite sides of the two driving wheels 800, the flatbed mop component can completely cover the area between the two driving wheels 800, and it is not easy to miss cleaning during cleaning, thereby effectively improving the cleaning effect of the cleaning device. In addition, compared with the double-disc mop method, the cleaning component 200 has a small cleaning dead angle, a high mopping coverage rate, small water stains, and mopping does not need to be achieved by drawing circles.

[0059] Of course, the cleaning component 200 may also be a roller brush component, or other cleaning structures.

[0060] In an optional embodiment of the present application, the device body 100 may include a body 110 and a lifting bracket 120, the lifting bracket 120 may be lifted and arranged at the bottom of the body 110, the cleaning component 200 may be movably arranged at a side of the lifting bracket 120 away from the body 110, and the first driving component 300 may be arranged on the lifting bracket 120. In this way, by lifting and lowering the lifting bracket 120, the height of the cleaning component 200 may be flexibly adjusted according to different cleaning scenes, and the cleaning component 200 may be switched with other cleaning structures through the lifting bracket 120, so that the cleaning device may achieve different cleaning functions.

[0061] In other embodiments, the device body 100 may also only include the body 110 , the cleaning component 200 may be movably disposed at the bottom of the body 110 , and the first driving component 300 is disposed on the body 110 .

[0062] Based on the cleaning device provided in the embodiment of the present application, the embodiment of the present application further provides a control method for the cleaning device. The control method for the cleaning device can be applied to the cleaning device described in any of the above embodiments. Specifically, the control method may include: S110, obtaining a first distance between the cleaning device and the first obstacle 900; S130, when the first distance is less than or equal to the first preset distance, controlling the cleaning assembly 200 to switch to the second position so that the side of the cleaning assembly 200 contacts the first obstacle 900; S150 , controlling the cleaning device to move along the first obstacle 900 .

[0063] This arrangement can automatically and precisely clean the edge of the first obstacle 900. For example, when cleaning a corner or the edge of furniture, the cleaning component 200 can fit the edge tightly and clean the dirt hidden at the base of the wall or in the corner.

[0064] Here, the first distance between the cleaning device and the first obstacle can be detected by a laser radar and / or a camera of the cleaning device.

[0065] In this embodiment, the first obstacle 900 may be a wall.

[0066] Optionally, before controlling the cleaning assembly 200 to switch to the second position, the control method may further include: S120, controlling the cleaning assembly 200 to rise to a raised position.

[0067] This arrangement can prevent the cleaning component 200 from pushing garbage and the like to the outside when it is swung out.

[0068] In addition, after controlling the cleaning assembly 200 to switch to the second position so that the side of the cleaning assembly 200 contacts the first obstacle 900, the control method may further include: S140, controlling the cleaning assembly 200 to descend so that the cleaning assembly 200 contacts the surface to be cleaned.

[0069] In an optional embodiment, the control method may further include: S210, obtaining a second distance between the cleaning device and the second obstacle 1000; S230, when the second distance is less than or equal to the second preset distance, controlling the cleaning assembly 200 to switch to the first position, and controlling the cleaning device to rotate by a first preset angle; S240, controlling the cleaning assembly 200 to switch to the second position, so that the side of the cleaning assembly 200 contacts the second obstacle 1000; S270 , controlling the cleaning device to move along the second obstacle 1000 .

[0070] Here, the second obstacle 1000 may intersect with the first obstacle 900 , and the second obstacle 1000 is located on a moving path when the cleaning device moves along the first obstacle 900 . Optionally, the second obstacle 1000 may be perpendicular to the first obstacle 900 .

[0071] This arrangement allows the cleaning device to automatically clean inner corners.

[0072] In other embodiments, the control method may not include the above steps S210, S230, S240 and S270.

[0073] Optionally, before controlling the cleaning device to move along the second obstacle 1000, the control method may further include: S260 , controlling the cleaning device to move backward so that the cleaning assembly 200 contacts the first obstacle 900 .

[0074] This configuration can increase the cleaning range of the cleaning device and avoid missing the edge area of ​​the first obstacle 900 close to the second obstacle 1000.

[0075] Of course, the control method may not include step S260.

[0076] Optionally, before controlling the cleaning assembly 200 to switch to the first position, the control method may further include: S220, controlling the cleaning assembly 200 to rise to a raised position.

[0077] This arrangement can prevent the cleaning component 200 from pushing garbage and the like to the outside when it is swung outward, and can prevent the cleaned surface (such as the bottom surface) from hindering the retraction of the cleaning component 200.

[0078] Further optionally, after controlling the cleaning assembly 200 to switch to the second position so that the side of the cleaning assembly 200 contacts the second obstacle 1000, the control method may further include: S250 , controlling the cleaning assembly 200 to descend so that the cleaning assembly 200 contacts the surface to be cleaned.

[0079] Specifically, Fig.21 As shown, the control method for the cleaning device to perform inner right-angle cleaning may include: Controlling the cleaning device to move along the first obstacle 900, when the cleaning assembly 200 is located at the second position; Obtaining a second distance between the front end of the cleaning device and the second obstacle 1000; When the second distance is less than or equal to the second preset distance, the cleaning assembly 200 is controlled to rise to the raised position and switch to the first position; Control the cleaning device to rotate counterclockwise by 90 degrees so that the cleaning assembly 200 is away from the driving wheel 800 of the cleaning device and faces the first obstacle 900; Controlling the cleaning assembly 200 to switch to the second position so that the edge roller 210 of the cleaning assembly 200 contacts the second obstacle 1000; Control the cleaning device to move backward so that the cleaning assembly 200 is away from the driving wheel 800 of the cleaning device and contacts the first obstacle 900, and control the cleaning assembly 200 to descend, and control the vibration motor 420 to start, so that the cleaning assembly 200 performs vibration cleaning; The cleaning device is controlled to move along the second obstacle 1000 in a direction away from the first obstacle 900 to complete the inner right-angle cleaning.

[0080] It should be noted that the second distance between the front end of the cleaning device and the second obstacle 1000 can be detected by a laser radar and / or a camera at the front end of the cleaning device.

[0081] In an optional embodiment, the control method may further include: S310, after the cleaning device is separated from the first obstacle 900, obtaining a vertical distance between the cleaning device and the third obstacle 1100; S320 , when the vertical distance is greater than or equal to the third preset distance, control the cleaning device to rotate by a second preset angle, and control the cleaning device to move along the third obstacle 1100 .

[0082] Here, the third obstacle 1100 intersects with the first obstacle 900 , and the third obstacle 1100 is located outside the moving path of the cleaning device when it moves along the first obstacle 900 .

[0083] This arrangement allows the cleaning device to automatically clean the outer corners.

[0084] In other embodiments, the control method may not include steps S310 and S320.

[0085] In this embodiment, the second obstacle 1000 and the third obstacle 1100 may both be walls.

[0086] Specifically, Fig. 22 As shown, the control method for the cleaning device to perform external right-angle cleaning may include: Controlling the cleaning assembly 200 to switch to the second position so that the edge roller 210 of the cleaning assembly 200 contacts the first obstacle 900, and controlling the cleaning device to move along the first obstacle 900; After the cleaning device is separated from the first obstacle 900, a vertical distance between the rear end of the cleaning device and the third obstacle 1100 is obtained; When the vertical distance is greater than or equal to a third preset distance, controlling the cleaning device to stop moving; Control the cleaning equipment to rotate 90 degrees clockwise; The cleaning device is controlled to move along the third obstacle 1100 to complete the outer right-angle cleaning.

[0087] It should be noted that the vertical distance between the rear end of the cleaning device and the third obstacle 1100 can be detected by a laser radar and / or a camera at the rear end of the cleaning device.

[0088] In an optional embodiment, the control method may further include: S410, controlling the cleaning assembly 200 to switch to the second position, and controlling the cleaning device to move to the side of the cleaning assembly 200 to contact the side wall of the columnar obstacle 1200; S420 , controlling the cleaning device to move along a plurality of straight lines in sequence, so that the cleaning device moves around the columnar obstacle 1200 , wherein the plurality of straight lines are connected end to end in sequence to form a ring around the columnar obstacle 1200 .

[0089] This arrangement allows the cleaning device to automatically perform cleaning around the pile.

[0090] Here, relying on the expansion force of the torsion spring of the cleaning device, that is, relying on the elastic force of the torsion spring, the side of the cleaning assembly 200 is always in contact with the columnar obstacle 1200 during the movement of the cleaning device.

[0091] In other embodiments, the control method may not include steps S410 and S420.

[0092] It should be noted that the number and direction of the straight lines can be set according to a high-precision algorithm so that multiple straight lines can be connected to form a ring. In addition, when the columnar obstacle 1200 is a cylindrical obstacle, the more straight lines there are, the closer the ring is to a circular ring, and the smoother the moving path of the cleaning device is, which is more conducive to eliminating cleaning dead corners. The number and direction of the straight lines are not specifically limited here and can be set as needed.

[0093] Specifically, Fig.23 As shown, the columnar obstacle 1200 may be a round pile, and the control method for the cleaning device to perform cleaning around the pile may include: Control cleaning equipment close to the round pile; Controlling the cleaning assembly 200 to be close to the round pile so that the side of the cleaning assembly 200 contacts the round pile; The cleaning device is controlled to move in sequence along a plurality of straight lines so that the cleaning device moves around the round pile until the pile is completely circled.

[0094] It should be noted that, when the cleaning device moves around the round pile, the cleaning assembly 200 always stays close to the round pile due to the elastic force of the elastic member 360 .

[0095] It should be noted that when the cleaning assembly 200 contacts the round pile, the sensor of the cleaning device is triggered, and at this time the controller of the cleaning device controls the cleaning device to start circling the pile.

[0096] In an optional embodiment, the control method may further include: S500: When the cleaning device is in a suspended state, the cleaning device is controlled to stop so that the cleaning component 200 stops moving.

[0097] With this arrangement, when the cleaning device is picked up, the cleaning assembly 200 can stop moving to prevent hands from being pinched.

[0098] Of course, the control method may not include step S500.

[0099] In an optional embodiment, the control method may further include: The cleaning assembly 200 is controlled to switch to the first position, and the cleaning device is controlled to move.

[0100] In this way, the cleaning assembly 200 can be put into a retracted state to perform normal cleaning operations.

[0101] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A cleaning device, characterized in that: include: Device body (100); A cleaning component (200) is movably arranged on the device body (100), and the cleaning component (200) can be switched between a first position and a second position. When the cleaning component (200) is located at the first position, the first part (220) of the cleaning component (200) is retracted into the device body (100); when the cleaning component (200) is located at the second position, the first part (220) of the cleaning component (200) protrudes from the device body (100) in a direction parallel to the bottom surface of the device body (100); A first driving component (300) is connected to the device body (100) and the cleaning component (200) respectively, and the first driving component (300) is used to drive the cleaning component (200) to switch between the first position and the second position.

2. The cleaning device according to claim 1, characterized in that The first driving assembly (300) comprises: An active connecting rod (310) is parallel to the bottom surface of the device body (100), and a first end of the active connecting rod (310) is rotatably connected to the cleaning assembly (200); The outward swing motor (320) is arranged on the device body (100); the outward swing motor (320) is connected to the second end of the active connecting rod (310) and is used to drive the active connecting rod (310) to swing.

3. The cleaning device according to claim 2, characterized in that: The cleaning device further comprises a first driven connecting rod (500), the first driven connecting rod (500) being arranged in parallel with the active connecting rod (310), and a first end of the first driven connecting rod (500) being rotatably connected to the cleaning assembly (200), and a second end of the first driven connecting rod (500) being rotatably connected to the device body (100).

4. The cleaning device according to claim 3, characterized in that: The cleaning device further comprises a second driven connecting rod (600), the second driven connecting rod (600) being arranged in parallel with the active connecting rod (310), and a first end of the second driven connecting rod (600) being rotatably connected to the cleaning assembly (200), and a second end of the second driven connecting rod (600) being rotatably connected to the device body (100); The first end of the active connecting rod (310), the first end of the first driven connecting rod (500) and the first end of the second driven connecting rod (600) respectively coincide with three vertices of the same triangle.

5. The cleaning device according to claim 2, characterized in that: The first driving assembly (300) further comprises: An adapter (350) rotatably connected to the device body (100) and connected to the second end of the active connecting rod (310); A driven wheel (340) is drivingly connected to the outward swing motor (320), the driven wheel (340) and the adapter (350) are coaxially arranged, and the driven wheel (340) and the adapter (350) can rotate relative to each other within a preset angle; An elastic member (360), the elastic member (360) being connected to the driven wheel (340) and the adapter (350) respectively, and the elastic member (360) being used to drive the adapter (350) to rotate along a first direction so as to return the cleaning assembly (200) to the second position.

6. The cleaning device according to claim 5, characterized in that A first convex portion (351) is provided on one of the adapter (350) and the driven wheel (340), and a first limiting portion (341) and a second limiting portion (342) are provided on the other; an angle between a line connecting the first limiting portion (341) and the center of the driven wheel (340) and a line connecting the second limiting portion (342) and the center of the driven wheel (340) is the preset angle; the first convex portion (351) is located between the first limiting portion (341) and the second limiting portion (342), and the first convex portion (351) can cooperate with the first limiting portion (341) to limit the position in the first direction, and the second limiting portion (342) can cooperate with the first convex portion (351) to limit the position in the opposite direction of the first direction; Wherein, when the second limiting portion (342) cooperates with the first convex portion (351) in a limiting position in the direction opposite to the first direction, the driven wheel (340) can drive the adapter (350) to rotate in the direction opposite to the first direction, so that the cleaning component (200) switches to the first position.

7. The cleaning device according to claim 5, characterized in that The adapter (350) is provided with a second protrusion (353), and the device body (100) is provided with a first limit stopper (121) and a second limit stopper (122); the second protrusion (353) is located between the first limit stopper (121) and the second limit stopper (122), and the second protrusion (353) can cooperate with the first limit stopper (121) to limit the position in the first direction, and the second protrusion (353) can cooperate with the second limit stopper (122) to limit the position in the opposite direction of the first direction.

8. The cleaning device according to claim 2, characterized in that: The cleaning device further comprises a vibration drive component (400), wherein the vibration drive component (400) comprises: A vibration motor (420) connected to the device body (100); The vibration connecting rod (410) is parallel to the active connecting rod (310), the first end of the vibration connecting rod (410) is rotatably connected to the cleaning assembly (200), and the second end of the vibration connecting rod (410) is rotatably connected to the vibration motor (420).

9. The cleaning device according to claim 8, characterized in that The cleaning device further comprises an arc-shaped support member (430), wherein the arc-shaped support member (430) is located below the vibration connecting rod (410) and is connected to the bottom of the device body (100), and the center of the arc-shaped support member (430) coincides with the rotation axis of the vibration connecting rod (410).

10. The cleaning device according to claim 1, characterized in that The cleaning device further comprises a position detection element (700), wherein the position detection element (700) is communicatively connected to the first driving assembly (300), and the position detection element (700) is used to detect the position of the cleaning assembly (200).

11. The cleaning device according to claim 1, characterized in that The cleaning component (200) is provided with an edge roller (210), and the edge roller (210) is used to contact an obstacle.

12. The cleaning device according to claim 1, characterized in that When the cleaning assembly (200) is located at the first position, in the arrangement direction of the two driving wheels (800) of the cleaning device, the length of the cleaning assembly (200) is greater than or equal to the distance between two opposite sides of the two driving wheels (800).

13. The cleaning device according to claim 1, characterized in that The device body (100) comprises: Body (110); The lifting bracket (120) is liftably arranged at the bottom of the body (110), the cleaning component (200) is movably arranged on a side of the lifting bracket (120) away from the body (110), and the first driving component (300) is arranged on the lifting bracket (120).

14. A method for controlling a cleaning device, characterized in that: Applied to the cleaning device according to any one of claims 1 to 13, the control method comprises: Acquiring a first distance between the cleaning device and a first obstacle (900); When the first distance is less than or equal to a first preset distance, controlling the cleaning component (200) to switch to a second position so that the side of the cleaning component (200) contacts the first obstacle (900); The cleaning device is controlled to move along the first obstacle (900).

15. The control method of the cleaning equipment according to claim 14, characterized in that: The control method further comprises: Acquiring a second distance between the cleaning device and a second obstacle (1000), wherein the second obstacle (1000) intersects with the first obstacle (900), and the second obstacle (1000) is located on a moving path of the cleaning device when it moves along the first obstacle (900); When the second distance is less than or equal to a second preset distance, controlling the cleaning component (200) to switch to a first position, and controlling the cleaning device to rotate to a first preset angle; Controlling the cleaning component (200) to switch to the second position, so that the side of the cleaning component (200) contacts the second obstacle (1000); The cleaning device is controlled to move along the second obstacle (1000).

16. The control method of the cleaning equipment according to claim 15, characterized in that: Before controlling the cleaning device to move along the second obstacle (1000), the control method further comprises: The cleaning device is controlled to move backward so that the cleaning component (200) contacts the first obstacle (900).

17. The control method of the cleaning equipment according to claim 14, characterized in that: The control method further comprises: After the cleaning device is separated from the first obstacle (900), a vertical distance between the cleaning device and a third obstacle (1100) is obtained, wherein the third obstacle (1100) intersects with the first obstacle (900), and the third obstacle (1100) is located outside a moving path of the cleaning device when it moves along the first obstacle (900); When the vertical distance is greater than or equal to a third preset distance, the cleaning device is controlled to rotate to a second preset angle, and the cleaning device is controlled to move along the third obstacle (1100).

18. The control method of the cleaning equipment according to claim 14, characterized in that: The control method further comprises: Controlling the cleaning component (200) to switch to the second position, and controlling the cleaning device to move to a side portion of the cleaning component (200) to contact a side wall of the columnar obstacle (1200); The cleaning device is controlled to move in sequence along a plurality of straight lines so that the cleaning device moves around the columnar obstacle (1200), wherein the plurality of straight lines are connected end to end in sequence to form a ring shape surrounding the columnar obstacle (1200).

19. The control method of the cleaning equipment according to claim 14, characterized in that: The control method further comprises: When the cleaning device is in a suspended state, the cleaning device is controlled to stop, so that the cleaning component (200) stops moving.

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