Sweeper and sweeper self-cleaning method

Abstract

The embodiment of the invention provides a sweeper and a sweeper self-cleaning method. The sweeper comprises a shell, a side brush structure, a transmission assembly, a cleaning part and a sensor structure. The shell is provided with a transmission cavity, and the transmission assembly is contained in the transmission cavity. The side brush structure is connected to the transmission assembly, and the side brush structure is rotationally connected to the bottom of the shell. The cleaning part and the side brush structure are arranged at the bottom of the shell at intervals; the sensor structure is connected to the shell, at least part of the sensor structure extends to the transmission cavity, and the sensor structure is used for stopping movement of the transmission assembly in the transmission cavity so that the side brush structure can stop rotating at the preset position; the side brush structure is provided with a plurality of extending brush strips, and at least one brush strip is located on the cleaning part at the preset position so as to clean the brush strips. The position of the transmission assembly is recognized through the sensor structure, accurate positioning of the side brush structure is achieved, the brush strip of the side brush structure is located in the cleaning area of the cleaning part and keeps still, and hair and the like wound on the brush strip are cleaned through the cleaning part.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and specifically relates to a sweeping machine and a self-cleaning method for the sweeping machine. Background Art

[0002] A sweeping machine can be used to automatically complete the cleaning work of the ground, which greatly reduces people's daily cleaning work. Therefore, the sweeping machine has gradually become more and more widely used.

[0003] In the prior art, a sweeping machine is usually provided with a side brush structure for cleaning corners, edges of furniture, etc. The side brush structure rotates to sweep the ground, pushing garbage to the suction port of the sweeping machine to clean the ground.

[0004] However, in the process of studying the prior art, the inventors found that the side brush structure is prone to entanglement when cleaning hair, pet hair or ropes, etc., which affects the cleaning performance of the side brush structure and even causes the motor to stall and damage 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 overcome the above problems or at least partially solve the above problems.

[0006] In order to solve the above technical problems, this application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a sweeping machine, the sweeping machine comprising: a housing, a side brush structure, a transmission assembly, a cleaning part, and a sensor structure;

[0008] The housing is provided with a transmission cavity, and the transmission assembly is accommodated in the transmission cavity;

[0009] The side brush structure is connected to the transmission assembly, and the side brush structure is rotatably connected to the bottom of the housing;

[0010] The cleaning portion and the side brush structure are spaced apart and arranged at the bottom of the housing;

[0011] The sensor structure is connected to the housing, and at least a portion of the sensor structure extends to the transmission cavity, and the sensor structure is used to stop the movement of the transmission assembly in the transmission cavity, so that the side brush structure stops rotating at a preset position;

[0012] The side brush structure has a plurality of extended brush strips, and at least one of the brush strips is located at the cleaning portion at the preset position to clean the brush strip.

[0013] Optionally, the sensor structure includes a signal transceiver, and the transmission assembly is provided with a sensing element;

[0014] The signal transceiver is exposed outside the transmission cavity, and the sensing element is arranged opposite to the signal transceiver at the preset position;

[0015] When the signal transceiver detects the sensing element, the sensor structure stops the movement of the transmission component in the transmission cavity.

[0016] Optionally, the sensor structure is a photoelectric sensor, the signal transceiver extends into the transmission cavity, the signal transceiver can receive and emit light, and the sensing element is a light shielding element protruding toward the signal transceiver;

[0017] At the preset position, the shading member blocks the light emitted by the signal transceiver, and the signal transceiver detects the shading member to stop the movement of the transmission assembly in the transmission cavity.

[0018] Optionally, the sensor structure is a Hall sensor, and the induction element is a magnetic element protruding toward the signal transceiver;

[0019] At the preset position, the Hall sensor detects the magnetic member and sends an electrical signal to stop the movement of the transmission assembly in the transmission cavity.

[0020] Optionally, the housing is provided with a clamping portion and an opening, and the sensor structure comprises a sensor body and a signal transceiver connected to the sensor body;

[0021] The sensor body is clamped on the clamping portion, and the signal transceiver extends from the opening into the transmission cavity.

[0022] Optionally, the transmission assembly includes a first gear, the first gear is located in the transmission cavity and connected to the side brush structure, and the sensing element is arranged on the first gear.

[0023] Optionally, the sweeping machine further comprises a controller, and the controller is electrically connected to the sensor structure;

[0024] When the brush bar needs to be cleaned, the controller activates the sensor structure to stop the side brush structure from rotating at the preset position.

[0025] Optionally, the sweeper further comprises a driver, the driver is electrically connected to the controller, and the driver is connected to the transmission assembly;

[0026] The side brush structure is liftably connected to the shell. When the side brush structure is located at the preset position, the controller controls the driver to operate, and the driver drives the side brush structure to lift through the transmission assembly so that at least one of the brush strips is close to the cleaning portion.

[0027] Optionally, when the sensor structure is activated, the driver drives the side brush structure to rotate along a first direction through the transmission assembly, so that the side brush structure is located at the preset position;

[0028] When the side brush structure is located at the preset position, the driver drives the side brush structure to rotate along a second direction through the transmission assembly to lift the side brush structure; wherein the second direction is opposite to the first direction.

[0029] Optionally, the transmission assembly includes a first gear and a second gear, both of which are located in the transmission cavity, the first gear is connected to the side brush structure, the second gear is meshed with the first gear, and the second gear is connected to the output end of the driver.

[0030] Optionally, the side brush structure comprises 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, the side brush body is provided with a plurality of brush strips, and the brush strips extend out of the side brush shell;

[0031] The side brush body rotates along the second direction and abuts against the upper surface inside the side brush shell, so that the side brush structure is lifted close to the shell.

[0032] Optionally, the side brush body comprises a sleeve and a side brush curved arm connected to the sleeve, and the brush strip is connected to the side brush curved arm;

[0033] When the side brush housing rotates along the second direction, the side brush curved arm is bent and abuts against the upper surface inside the side brush housing.

[0034] Optionally, the side brush structure further comprises a side brush shaft, the sleeve is sleeved on the side brush shaft, and a bending portion is provided at one end of the side brush curved arm close to the sleeve;

[0035] When the side brush housing rotates along the second direction, the bending portion bends so that the side brush curved arm abuts against the upper surface inside the side brush housing.

[0036] In a second aspect, an embodiment of the present application proposes a self-cleaning method for a sweeping machine, which is applied to the sweeping machine, wherein the sweeping machine comprises: a housing, a side brush structure, a transmission assembly, a cleaning portion, and a sensor structure, wherein the housing is provided with a transmission cavity, wherein the transmission assembly is accommodated in the transmission cavity, wherein the side brush structure is connected to the transmission assembly, and wherein the side brush structure is rotatably connected to the bottom of the housing, wherein the cleaning portion and the side brush structure are spaced apart at the bottom of the housing, wherein the sensor structure is connected to the housing, and wherein at least a portion of the sensor structure extends to the transmission cavity, wherein the method comprises:

[0037] The sensor structure is activated;

[0038] The sensor structure identifies the position of the transmission assembly;

[0039] The transmission assembly stops moving, and the side brush structure stops rotating at a preset position; wherein the side brush structure has a plurality of extended brush strips, and at least one of the brush strips is located at the cleaning portion at the preset position;

[0040] The cleaning part cleans the brush bar.

[0041] Optionally, the sweeper further comprises a controller and a driver electrically connected to the controller, the output end of the driver is connected to the transmission assembly, the sensor structure is electrically connected to the controller, and the side brush structure is liftably connected to the housing;

[0042] Before the step of the cleaning unit cleaning the brush bar, the method further comprises:

[0043] The controller controls the driver to work;

[0044] The driver drives the side brush structure to rise so that the brush bar is close to the cleaning portion.

[0045] In an embodiment of the present application, the sweeper includes: a shell, a side brush structure, a transmission assembly, a cleaning part and a sensor structure; the shell is provided with a transmission cavity, and the transmission assembly is accommodated in the transmission cavity; the side brush structure is connected to the transmission assembly, and the side brush structure is rotatably connected to the bottom of the shell; the cleaning part and the side brush structure are arranged at a distance from each other at the bottom of the shell; the sensor structure is connected to the shell, and at least part of the sensor structure extends to the transmission cavity, and the sensor structure is used to stop the movement of the transmission assembly in the transmission cavity so that the side brush structure stops rotating at a preset position; the side brush structure has a plurality of extended brush strips, and at least one of the brush strips is located in the cleaning part at the preset position to clean the brush strip. In this way, when the side brush structure becomes entangled when cleaning hair, pet hair or ropes, the position of the transmission assembly can be identified through the sensor structure. The transmission assembly is connected to the side brush structure, thereby achieving more precise positioning of the rotation position of the side brush structure, so that the brush bar of the side brush structure is located within the cleaning area of ​​the cleaning part and remains stationary, so that the cleaning part can more effectively clean the hair, ropes and other garbage entangled on the brush bar, avoid affecting the cleaning performance of the side brush structure, and reduce the risk of motor jamming and device damage.

[0046] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0048] Figure 1 is a schematic cross-sectional structure diagram of a sweeping machine described in an embodiment of the present application;

[0049] Figure 2 This is one of the bottom views of a sweeping machine described in an embodiment of the present application;

[0050] Figure 3 This is a second bottom view of a sweeping machine described in an embodiment of the present application;

[0051] Figure 4 is a schematic diagram of a sensor structure of a sweeping machine described in an embodiment of the present application;

[0052] Figure 5 is a front view of a sensor structure of a sweeping machine described in an embodiment of the present application;

[0053] Figure 6 is a top view of a sensor structure of a sweeping machine described in an embodiment of the present application;

[0054] Figure 7 is a structural schematic diagram of a first gear of a sweeping machine described in an embodiment of the present application;

[0055] Figure 8 is a top view of a first gear of a sweeping machine described in an embodiment of the present application;

[0056] Fig. 9 is a bottom view of a first gear of a sweeping machine according to an embodiment of the present application;

[0057] Fig.10 is a top view of a partial structure of a sweeping machine described in an embodiment of the present application;

[0058] Fig.11 It is one of the schematic diagrams of a side brush structure of a sweeping machine described in an embodiment of the present application;

[0059] Fig.12 This is a second schematic diagram of a side brush structure of a sweeping machine described in an embodiment of the present application;

[0060] Fig.13 This is a third schematic diagram of a side brush structure of a sweeping machine described in an embodiment of the present application;

[0061] Fig.14 This is a fourth schematic diagram of a side brush structure of a sweeping machine described in an embodiment of the present application;

[0062] Fig.15 It is a schematic diagram of the exploded structure of a side brush structure of a sweeping machine described in an embodiment of the present application;

[0063] Fig.16 It is a structural schematic diagram of a side brush body of a side brush structure of a sweeping machine described in an embodiment of the present application;

[0064] Fig.17 It is a step flow chart of a self-cleaning method for a sweeping machine described in an embodiment of the present application.

[0065] Figure numerals: 10 - shell; 20 - side brush structure; 30 - cleaning part; 40 - sensor structure; 11 - transmission chamber; 21 - brush bar; 41 - signal transceiver; 51 - induction member; 12 - clamping part; 13 - opening; 42 - sensor body; 52 - first gear; 60 - driver; 53 - second gear; 22 - side brush shell; 23 - side brush body; 24 - sleeve; 25 - side brush curved arm; 26 - side brush shaft. DETAILED DESCRIPTION

[0066] Embodiments of the present invention will be described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. 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. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0067] The term "first" or "second" in the specification and claims of the present application may include one or more of the features explicitly or implicitly. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the objects connected before and after are in an "or" relationship.

[0068] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0069] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0070] Reference Figures 1 to 16 , shows a schematic structural diagram of a sweeping machine according to an embodiment of the present application, wherein 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;

[0071] The housing 10 is provided with a transmission cavity 11, and the transmission assembly is accommodated in the transmission cavity 11;

[0072] 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;

[0073] The cleaning portion 30 and the side brush structure 20 are spaced apart and arranged at the bottom of the housing 10;

[0074] The sensor structure 40 is connected to the housing 10, and at least a portion of the sensor structure 40 extends to the transmission cavity 11. The sensor structure 40 is used to stop the movement of the transmission assembly in the transmission cavity 11, so that the side brush structure 20 stops rotating at a preset position;

[0075] The side brush structure 20 has a plurality of extended brush strips 21 . At least one of the brush strips 21 is located at the cleaning portion 30 at the preset position to clean the brush strip 21 .

[0076] In an embodiment of the present application, when the side brush structure 20 becomes entangled when cleaning hair, pet hair, or ropes, the position of the transmission assembly can be identified by the sensor structure 40. The transmission assembly is connected to the side brush structure 20, thereby achieving more precise positioning of the rotation position of the side brush structure 20, so that the brush bar 21 of the side brush structure 20 is located in the cleaning area of ​​the cleaning part 30 and remains stationary, so that the cleaning part 30 can more effectively clean the hair, ropes and other garbage entangled on the brush bar 21, avoid affecting the cleaning performance of the side brush structure 20, and reduce the risk of damage to the device due to motor jamming.

[0077] Specifically, in the embodiment of the present application, the sensor structure 40 has the characteristics of realizing non-contact detection, fast response speed, and wide detection distance, so that the sensor structure 40 can realize relatively accurate positioning and control of the transmission assembly and the side brush structure 20.

[0078] For example, in the embodiment of the present application, the cleaning part 30 may be provided with a roller brush, and the hair, pet hair, ropes and other easily entangled garbage on the brush bar 21 may be rolled up and cleaned by the roller brush. In addition, the cleaning part 30 may also be provided with a dust suction structure, and the hair, pet hair, ropes and other garbage on the brush bar 21 may be sucked and cleaned by the dust suction structure. The specific type of the cleaning part 30 may not be limited in the embodiment of the present application.

[0079] In the embodiment of the present application, the side brush structure 20 is rotatably connected to the housing 10, and the brush strip 21 is in contact with the ground. The brush strip 21 cleans the ground through the rotation of the side brush structure 20. For example, the side brush structure 20 can be set at the edge of the bottom of the housing 10. In addition, the side brush structure 20 can also be set at the middle position of the bottom of the housing 10. Similarly, the cleaning part 30 can be set at the middle position of the bottom of the housing 10. In addition, the side brush structure 20 can also be set at the edge of the bottom of the housing 10, etc. The embodiment of the present application does not limit the specific setting positions of the side brush structure 20 and the cleaning part 30.

[0080] In the embodiments of the present application, Figure 2 As shown in FIG. 1 , it is a schematic diagram of the brush strip 21 being located in the cleaning portion 30. At this time, the cleaning portion 30 performs self-cleaning on the brush strip 21. Figure 3 As shown in FIG. 1 , it is a schematic diagram of the brush strip 21 not being located in the cleaning portion 30. At this time, the cleaning portion 30 does not perform self-cleaning on the brush strip 21. Fig.11 As shown, hair, ropes and other debris are easily entangled on the side brush structure 20. Fig.12 As shown, the arrow indicates the cleaning direction of the cleaning part 30 for hair, rope and other debris. The cleaning part 30 can clean the hair, rope and other debris along the direction of the arrow on the brush bar 21. Fig.13 As shown, the arrow also indicates the cleaning direction of the cleaning part 30 for hair, rope and other debris. At this time, the cleaning part 30 cleans the hair, rope and other debris from the brush bar 21 along the direction of the arrow, thereby achieving a better self-cleaning function for the brush bar 21.

[0081] For example, in the embodiment of the present application, the side brush structure 20 has a plurality of brush strips 21, such as two, three, five or ten, etc., which can be set according to actual needs, and the embodiment of the present application may not limit the specific number and setting method of the brush strips 21. The locking structure locks the side brush structure 20, so that one of the brush strips 21 can be located in the cleaning part 30, two of the brush strips 21 can be located in the cleaning part 30, three of the brush strips 21 can be located in the cleaning part 30, etc., and can be set according to the setting range and cleaning requirements of the cleaning part 30, etc., and the embodiment of the present application may not limit this.

[0082] In the embodiment of the present application, for example, the number of the side brush structures 20 can be one, two, or three, etc., the number of the cleaning parts 30 can be set to one, and multiple side brush structures 20 can be distributed at intervals on the edge of the housing 10 with the cleaning part 30 as the center, so that one cleaning part 30 can clean the brush strips 21 of multiple side brush structures 20 at the same time. In addition, the number of cleaning parts 30 can also be set to two or three, etc., one side brush structure 20 can be set corresponding to one cleaning part 30, or two side brush structures 20 share one cleaning part 30. The embodiment of the present application does not limit the specific number and setting method of the cleaning part 30 and the side brush structure 20.

[0083] Specifically, in the embodiment of the present application, the transmission cavity 11 of the housing 10 is used to provide a space for the transmission assembly, and to connect the side brush structure 20 and set the cleaning part 30. For example, the material of the housing 10 can be plastic, or metal, etc. The embodiment of the present application does not limit the specific material and shape of the housing 10.

[0084] Optionally, in the embodiment of the present application, the sensor structure 40 includes a signal transceiver 41, and the transmission assembly is provided with a sensing element 51; the signal transceiver 41 is exposed in the transmission cavity 11, and in the preset position, the sensing element 51 is arranged opposite to the signal transceiver 41; when the signal transceiver 41 detects the sensing element 51, the sensor structure 40 stops the movement of the transmission assembly in the transmission cavity 11. In this way, the signal transceiver 41 is exposed in the transmission cavity 11, so that the signal transceiver 41 has a better recognition and sensing effect on the sensing element 51 on the transmission assembly in the transmission cavity 11, thereby improving the recognition accuracy.

[0085] In the embodiment of the present application, optionally, the sensor structure 40 is a photoelectric sensor, the signal transceiver 41 extends into the transmission cavity 11, the signal transceiver 41 can receive and transmit light, and the sensing member 51 is a shading member protruding toward the signal transceiver 41; at the preset position, the shading member shields the light emitted by the signal transceiver 41, and the signal transceiver 41 detects the shading member and stops the movement of the transmission assembly in the transmission cavity 11. Using a photoelectric sensor as the sensor structure 40 has the advantages of realizing non-contact detection, fast response speed, and wide detection distance, and has a wide range of applications, is easy to implement, and is simple to operate.

[0086] For example, in the embodiment of the present application, the photoelectric sensor can be a common slot sensor, which has the advantages of small size, fast response speed, high sensitivity, etc. In addition, the photoelectric sensor can also be other types, and the embodiment of the present application does not limit the specific type of the photoelectric sensor. The signal transceiver 41 can be a receiver with a light source, which can emit and receive light.

[0087] In the embodiment of the present application, for example, the shading member may be a shading sheet or a shading plate, the number of shading members may be one, two, three, etc., and one shading member may correspond to the position of one or more brush strips 21. The shape of the shading member may be rectangular, fan-shaped, cylindrical, or trapezoidal, etc. The embodiment of the present application does not limit the specific type, number, and shape of the shading member, and may be set according to actual needs.

[0088] In the embodiment of the present application, for example, when the shading member is not in the transmission path of the light, the signal transceiver 41 does not detect the shading member, and the transmission assembly can drive the side brush structure 20 to rotate. When the shading member is in the transmission path of the light, the shading member blocks the light emitted by the signal transceiver 41. At this time, the signal transceiver 41 detects the shading member, and the photoelectric sensor can stop driving the transmission assembly through the controller, thereby making the side brush structure 20 located at the preset position and positioning the brush strip 21.

[0089] Optionally, in the embodiment of the present application, the sensor structure 40 is a Hall sensor, and the induction member 51 is a magnetic member protruding toward the signal transceiver 41; at the preset position, the Hall sensor detects the magnetic member and sends an electrical signal to stop the movement of the transmission assembly in the transmission cavity 11. Using a Hall sensor as the sensor structure 40 has the advantages of high sensitivity, fast response, simple structure, and easy calibration, and also has a wide range of applications, is easy to implement, and is simple to operate.

[0090] For example, in the embodiment of the present application, the Hall sensor may include a control circuit and a Hall element. When the magnetic part is close to the Hall element, the Hall element generates a Hall voltage under the magnetic field of the magnetic part. The Hall voltage signal can be amplified and processed by the control circuit, and output an electrical signal that is linearly related to the magnetic field strength of the magnetic part. Then, the controller stops driving the transmission component based on the electrical signal sent by the Hall sensor, so that the side brush structure 20 is located at the preset position, and the position of the brush strip 21 is positioned.

[0091] Optionally, in the embodiment of the present application, the housing 10 is provided with a clamping portion 12 and an opening 13, and 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 clamped to the clamping portion 12, and the signal transceiver 41 extends from the opening 13 to the transmission cavity 11. In this way, the sensor structure 40 is more stably and reliably connected to the housing 10 through the clamping portion 12, and the signal transceiver 41 can extend into the transmission cavity 11 of the housing 10 through the opening 13, which has a simple structure, is easy to operate, and improves assembly efficiency.

[0092] For example, in the embodiment of the present application, a protruding snap-in portion 12 may be provided on the housing 10, a snap-in interface may be provided on the sensor body 42, and the snap-in portion 12 may be snap-into the snap-in interface, so that the sensor structure 40 is stably and reliably connected to the housing 10. For example, two snap-in interfaces may be provided at both ends of the sensor body 42, and two matching snap-in portions 12 may be provided on the housing 10 accordingly. In addition, the number of the snap-in portions 12 may also be three or four, etc., and may be provided according to actual needs. The embodiment of the present application may not limit the specific number of the snap-in portions 12.

[0093] Optionally, in the embodiment of the present application, the transmission assembly includes a first gear 52, the first gear 52 is located in the transmission cavity 11 and connected to the side brush structure 20, and the sensor 51 is arranged on the first gear 52. Specifically, the first gear 52 can be connected to the side brush housing 22 of the side brush structure 20, so that the first gear 52 can realize a more efficient transmission of the side brush structure 20, reduce the transmission loss, and the sensor 51 is arranged on the first gear 52 to realize a more accurate positioning of the side brush structure 20.

[0094] In the embodiment of the present application, optionally, the sweeper further includes a controller, which is electrically connected to the sensor structure 40; when the brush bar 21 needs to be cleaned, the controller activates the sensor structure 40 to stop the side brush structure 20 from rotating at the preset position. In this way, the sensor structure 40 is activated by the controller, so that when the brush bar 21 of the side brush structure 20 needs to be self-cleaned, the sensor structure 40 is restarted to stop the side brush structure 20 from rotating, thereby achieving a more precise control effect and avoiding affecting the normal cleaning operation of the side brush structure 20. For example, the sensor structure 40 may include a control circuit, which is electrically connected to the controller.

[0095] Optionally, in the embodiment of the present application, the sweeper further comprises a driver 60, the driver 60 is electrically connected to the controller, and the driver 60 is connected to the transmission assembly; the side brush structure 20 is connected to the housing 10 in a liftable manner, and when the side brush structure 20 is located at the preset position, the controller controls the driver 60 to work, and the driver 60 drives the side brush structure 20 to lift through the transmission assembly, so that at least one of the brush strips 21 is close to the cleaning part 30. In this way, the driver 60 provides a relatively stable and reliable driving force, and the driver 60 can drive the transmission assembly to move, driving the side brush structure 20 to rotate and clean the ground. When it is necessary to activate the sensor structure 40 to make the side brush structure 20 self-clean its brush strips 21, the controller can control the driver 60, so that the driver 60 drives the transmission assembly to drive the side brush structure 20 to lift away from the ground, so as to avoid secondary contamination of the dirt on the ground contacted by the side brush structure 20, so that the cleaning part 30 can effectively clean the brush strips 21 of the side brush structure 20.

[0096] For example, in the embodiment of the present application, the sweeper can be made to perform self-cleaning when returning to the base station. When the side brush structure 20 is in the lifted state, because it is far from the ground, the side brush structure 20 is prevented from contacting dirt and being contaminated again, so that the cleaning unit 30 can effectively clean the brush strip 21 of the side brush structure 20. In addition, when the sweeper is cleaning liquid dirt or performing single mopping mode, the side brush structure 20 is not used, and the side brush structure 20 can also be lifted to clean its brush strip 21 to improve cleaning efficiency.

[0097] In the embodiment of the present application, for example, the driver 60 can be an electric motor or the like, and the output end of the driver 60 is connected to the transmission component to drive the transmission component to rotate. The embodiment of the present application may not limit the specific type of the driver 60.

[0098] Optionally, in the embodiment of the present application, when the sensor structure 40 is activated, the driver 60 drives the side brush structure 20 to rotate along the first direction through 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 60 drives the side brush structure 20 to rotate along the second direction through the transmission assembly, so that the side brush structure 20 is lifted; wherein the second direction is opposite to the first direction. In this way, when the side brush structure 20 is normally performing floor cleaning operations, the controller can control the driver 60 to output a driving force to rotate along the first direction, drive the transmission assembly to move, and drive the side brush structure 20 to rotate along the first direction until the sensor structure 40 recognizes the sensing element 51, so that the side brush structure 20 stops at the preset position. Then, the controller can control the driver 60 to output a driving force to rotate along the second direction, drive the transmission assembly to rotate along the second direction, and the transmission assembly drives the side brush structure 20 to rotate along the second direction, so that the side brush structure 20 is lifted away from the ground, so that the brush bar 21 is close to the cleaning part 30, and has a better cleaning effect.

[0099] For example, in the embodiment of the present application, the first direction may be a clockwise rotation direction, and the second direction may be a counterclockwise rotation direction. In addition, the first direction may also be a counterclockwise rotation direction, and the second direction may be a clockwise rotation direction. The embodiment of the present application may not limit the first direction and the second direction.

[0100] Optionally, in the embodiment of the present application, the transmission assembly includes a first gear 52 and a second gear 53, the first gear 52 and the second gear 53 are both located in the transmission cavity 11, the first gear 52 is connected to the side brush structure 20, the second gear 53 is meshed with the first gear 52, and the second gear 53 is connected to the output end of the driver 60. In this way, the transmission assembly is connected to the driver 60 through the second gear 53, and the transmission assembly is connected to the side brush structure 20 through the first gear 52. The first gear 52 and the second gear 53 are meshed for transmission, which has good transmission efficiency and transmission reliability, and is convenient for designing a force transmission path according to the spatial layout in the housing 10.

[0101] In the embodiment of the present application, optionally, the side brush structure 20 includes a side brush shell 22 and a side brush body 23 disposed in the side brush shell 22, the side brush shell 22 is connected to the transmission assembly, the side brush body 23 is provided with a plurality of brush strips 21, and the brush strips 21 extend out of the side brush shell 22; the side brush body 23 rotates along the second direction and abuts against the upper surface in the side brush shell 22, so that the side brush structure 20 is lifted close to the housing 10. In this way, the connection between the side brush structure 20 and the transmission assembly is realized through the side brush shell 22, the rotation of the side brush shell 22 can drive the side brush body 23 to rotate synchronously, and the side brush body 23 is reversely rotated along the second direction to abut against the upper surface in the side brush shell 22, so that the side brush structure 20 is lifted close to the housing 10 and away from the ground.

[0102] For example, in the embodiment of the present application, the side of the side brush housing 22 is provided with an opening 13, and the side brush curved arm 25 of the side brush body 23 extends out of the side brush housing 22 from the opening 13. For example, the side brush housing 22 may include an upper housing and a lower housing, and the upper housing and the lower housing are enclosed to form a receiving cavity, and the central part of the side brush body 23 is located in the receiving cavity, which facilitates assembly and improves assembly efficiency. In addition, the side brush housing 22 may also be an integrally formed structure or a plurality of split structures, and the embodiment of the present application may not limit the specific type of the side brush housing 22.

[0103] Optionally, in the embodiment of the present application, the side brush body 23 includes a sleeve 24 and a side brush curved arm 25 connected to the sleeve 24, and the brush strip 21 is connected to the side brush curved arm 25; when the side brush housing 22 rotates in the second direction, the side brush curved arm 25 is bent and abuts against the upper surface inside the side brush housing 22. In this way, the side brush structure 20 is lifted away from the ground by the reverse rotation of the side brush curved arm 25 in the second direction so that it abuts against the upper surface inside the side brush housing 22.

[0104] For example, in an embodiment of the present application, when the side brush structure 20 is performing a floor cleaning operation, the side brush curved arm 25 can extend downward toward the ground. When the side brush structure 20 is switched to a raised state, the side brush curved arm 25 is bent and folded to extend toward an approximately horizontal direction, and is abutted against the upper surface of the inner side of the side brush shell 22 to remain in a raised state.

[0105] In the embodiment of the present application, the side brush structure 20 may further include a side brush shaft 26, the sleeve 24 is sleeved on the side brush shaft 26, and the side brush curved arm 25 is provided with a bent portion at one end close to the sleeve 24; when the side brush housing 22 rotates along the second direction, the bent portion bends so that the side brush curved arm 25 abuts against the upper surface inside the side brush housing 22. The sleeve 24 is connected by the side brush shaft 26, and the bent portion is provided at one end of the side brush curved arm 25 close to the sleeve 24, so that the end of the side brush curved arm 25 close to the sleeve 24 is bent and flipped, so that the side brush curved arm 25 has a higher lifting height.

[0106] For example, in an embodiment of the present application, the bending portion can be a hollow structure, and the shape of the hollow structure can be semicircular, elliptical, rectangular, etc., which can be set according to the force conditions. The embodiment of the present application may not limit the specific shape of the bending portion.

[0107] Optionally, in the embodiment of the present application, a protruding abutment portion is provided on the upper surface of the side brush housing 22, and the side brush curved arm 25 is bent and abutted against the abutment portion. In this way, the side brush curved arm 25 has a relatively stable and reliable abutment effect with the side brush housing 22 through the abutment portion, thereby improving the structural stability of the side brush structure 20 when it is in a raised state.

[0108] In the embodiment of the present application, for example, the side brush curved arm 25 has a certain bending angle. When the side brush structure 20 is in a descending state, the bending direction of the side brush curved arm 25 is set to bend downward. When the sleeve 24 and the side brush shell 22 move relative to each other, the abutment portion on the side brush shell 22 abuts and presses down the sleeve 24. For example, after the abutment portion on the side brush shell 22 abuts downward against the side brush curved arm 25, thereby driving the side brush curved arm 25 to fold downward, the bending direction of the side brush curved arm 25 changes. For example, the bending direction of the side brush curved arm 25 changes from bending downward to bending horizontally, thereby raising the height of the side brush curved arm 25. When the side brush curved arm 25 is in a raised state, the side brush structure 20 can be kept away from the ground, so that when the cleaning robot is cleaning liquid dirt or performing a single mopping mode, the side brush structure 20 can be folded to keep the side brush structure 20 away from the ground, thereby preventing the side brush structure 20 from contacting dirt, improving the cleanliness of the side brush structure 20, and avoiding secondary pollution during the floor cleaning process.

[0109] Optionally, in the embodiment of the present application, the abutting portion may include a first abutting inclined surface and a second abutting surface connected to the first abutting inclined surface, wherein when the side brush housing 22 rotates, the first abutting inclined surface abuts against the bent portion of the side brush curved arm 25, driving the side brush curved arm 25 to rotate, so that the side brush structure 20 cleans the floor. When the side brush housing 22 and the sleeve 24 move relative to each other, the first abutting inclined surface forms an abutting guide for the bent portion of the side brush curved arm 25, so that the bent portion of the side brush curved arm 25 is folded downward, raising the height of the side brush structure 20, wherein when the side brush structure 20 is raised to the highest point, the second abutting surface abuts against the bent portion of the side brush curved arm 25.

[0110] In the embodiment of the present application, the second abutting surface is connected with the first abutting inclined surface, or the second abutting surface can also smoothly transition with the first abutting inclined surface. For example, when the side brush housing 22 rotates, the first abutting inclined surface of the abutting portion abuts with the bent portion of the side brush curved arm 25, so that the abutting force applied by the abutting portion to the bent portion of the side brush curved arm 25 drives the side brush structure 20 and the sleeve 24 to rotate synchronously, 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 garbage with large particles or a certain thickness, due to the existence of the above-mentioned abutting force, the side brush structure 20 is kept pressed down and will not flip up with the garbage, which can further improve the cleaning effect of the side brush structure 20.

[0111] For example, in the embodiment of the present application, when the side brush housing 22 and the sleeve 24 move relative to each other, the first abutting inclined surface on the abutting portion forms an abutting guide for the bent portion of the side brush curved arm 25. The abutting guide can be understood as that while the abutting portion and the bent portion of the side brush curved arm 25 are in abutment, the bent portion of the side brush curved arm 25 moves along the first abutting inclined surface under the action of the abutting force. Thus, the abutting portion can gradually increase the abutting force on the bent portion of the side brush curved arm 25 during the relative movement, so that the bent portion of the side brush curved arm 25 is pressed down and folded downward, thereby changing the bending direction of the side brush curved arm 25. The bending direction of the side brush curved arm 25 changes from bending downward to bending horizontally, so that the height of the side brush curved arm 25 from the ground can be raised. In addition, when the side brush structure 20 is lifted to the highest point, the bent portion of the side brush curved arm 25 abuts against the second abutting surface. Wherein, a chamfer is further provided at a position of the second abutting surface away from the first abutting inclined surface, and the chamfer is used to avoid the side brush structure 20 .

[0112] In some optional embodiments, the second abutting surface on the abutting portion may be extended along the circumferential length of the sleeve 24, thereby further increasing the relative rotation range between the side brush shell 22 and the sleeve 24, thereby facilitating the lifting or lowering control of the side brush structure 20.

[0113] For example, in some embodiments, the thickness of the bent portion of the side brush curved arm 25 away from the center of the sleeve 24 in the radial direction of the sleeve 24 is greater than the thickness close to the center of the sleeve 24. In the embodiment of the present application, the thickness of the bent portion of the side brush curved arm 25 refers to the thickness of the bent portion of the side brush curved arm 25 along the axial direction of the sleeve 24. The central thickness of the bent portion of the side brush curved arm 25 along the radial direction of the sleeve 24 is set to be thinner. This makes it easier for the abutment portion to apply an abutment force to the bent portion of the side brush curved arm 25, so that the thinner area of ​​the bent portion of the side brush curved arm 25 can bend downward, forming a foldable feature on the side brush curved arm 25. And the side brush curved arm 25 can change the bending direction of the side brush curved arm 25 under the folding of the bent portion of the side brush curved arm 25, thereby realizing the height lifting of the side brush curved arm 25.

[0114] In some embodiments, the thickness of the bent portion of the side brush curved arm 25 near the center of the sleeve 24 along the radial direction of the sleeve 24 is smaller than the thickness away from the center of the sleeve 24, so that the bent portion of the side brush curved arm 25 can form an arc groove or a V-shaped groove along the radial direction of the sleeve 24. The bent portion of the side brush curved arm 25 abuts against the abutting portion. Thereby, the bent portion of the side brush curved arm 25 can be more easily abutted and pressed down, and the thinner center of the bent portion of the side brush curved arm 25 can be deformed, driving the bent portion of the side brush curved arm 25 to bend downward, thereby changing the bending direction of the side brush curved arm 25.

[0115] In an optional application embodiment, the bent portion of the side brush curved arm 25 can be made of a rubber material. In the embodiment of the present application, the side brush curved arm 25 can be made of a rubber material with good deformation performance, so that the bent portion of the side brush curved arm 25 has good deformation performance, and the structural stability of the bent portion of the side brush curved arm 25 can be maintained during repeated deformation, thereby increasing the service life of the bent portion of the side brush curved arm 25.

[0116] The inner circumference of the side brush body 23 may be provided with a side brush limiting portion, and the sleeve 24 may be provided with a transmission limiting portion, wherein the side brush limiting portion cooperates with the transmission limiting portion to limit the side brush body 23 along the radial direction of the sleeve 24 .

[0117] In the embodiment of the present application, a side brush limiting portion is provided on the inner circumference of the side brush body 23, and a transmission limiting portion is correspondingly provided on the sleeve 24. In some embodiments, the side brush limiting portion may be a limiting groove, and the transmission limiting portion may be a limiting protrusion that matches the shape of the limiting groove. In other embodiments, the side brush limiting portion may be a limiting protrusion, and the transmission limiting portion may be a limiting groove that matches the shape of the limiting protrusion. Thus, when the side brush body 23 is sleeved on the sleeve 24, the side brush limiting portion cooperates with the transmission limiting portion to limit the side brush body 23 in the radial direction of the sleeve 24.

[0118] For example, in the embodiment of the present application, the sleeve 24 can be a plastic part. After the side brush body 23 is sleeved on the sleeve 24, the sleeve 24 is injection molded for the second time, so that the side brush body 23 can be limited along the axial direction of the sleeve 24.

[0119] In some optional embodiments, the number of the side brush curved arms 25 may be at least two, and the at least two side brush curved arms 25 are distributed at equal angles about the central axis of the side brush body 23 in the horizontal circumferential direction of the side brush body 23. Those skilled in the art may determine the number of the side brush curved arms 25 according to actual design requirements, and no further limitation is made here. As a preferred embodiment, the number of the side brush curved arms 25 may be three.

[0120] In some optional application embodiments, the side brush structure 20 further includes an elastic member sleeved on the sleeve 24, the first end of the elastic member is fixed to the side brush shell 22, and the second end of the elastic member is fixed to the sleeve 24, so as to drive the side brush curved arm 25 to fold and reset through the deformation recovery of the elastic member. When the side brush shell 22 drives the side brush structure 20 to rotate, the elastic member provides a torsional force to keep the abutting portion in abutment with the side brush structure 20. When the side brush shell 22 and the side brush structure 20 move relative to each other, the torsional force of the elastic member increases, and the torsional recovery of the elastic member drives the side brush structure 20 to fold and reset.

[0121] In the embodiment of the present application, the elastic member is sleeved on the sleeve 24, and its two ends are respectively fixed to the sleeve 24 and the side brush housing 22. For example, the elastic member may include a torsion spring, the first end of the elastic member is fixed to the upper half of the side brush housing 22, and the second end of the elastic member is fixed to the sleeve 24. Thus, the sleeve 24 and the side brush housing 22 can be elastically connected along the circumference of the sleeve 24 through the elastic member.

[0122] In other embodiments, the first end of the elastic member can be fixed to the lower half of the side brush housing 22, and the second end of the elastic member can be fixed to the sleeve 24, so that the elastic member can form an elastic connection between the sleeve 24 and the lower half of the side brush housing 22 along the circumference of the side brush transmission member. When the abutting portion abuts against the side brush curved arm 25 and drives the side brush curved arm 25 to rotate synchronously, when the side brush structure 20 is in a descending state, the deformation torsional force of the elastic member maintains the abutment between the abutting portion and the side brush curved arm 25, thereby keeping the side brush structure 20 in contact with the ground, and the ground is cleaned by the rotation of the side brush structure 20.

[0123] When the side brush shell 22 is subjected to external force and rotates relative to the sleeve 24, the elastic potential energy (also called deformation torsional force) of the elastic member increases, thereby increasing the abutment force of the abutment portion on the side brush curved arm 25. The abutment portion presses down the side brush curved arm 25, causing the side brush curved arm 25 to fold downward.

[0124] When the side brush housing 22 drives the sleeve 24 to rotate synchronously again, under the torsional recovery action of the elastic member, the bent portion of the side brush curved arm 25 moves along the abutting portion, and the abutting force of the abutting portion on the bent portion of the side brush curved arm 25 gradually decreases, thereby restoring the deformation of the bent portion of the side brush curved arm 25. The bending direction of the side brush curved arm 25 is reset to a horizontal downward state. The abutment between the abutment portion and the side brush curved arm 25 is maintained by the deformation torsional force of the elastic member, thereby keeping the side brush structure 20 in contact with the ground, and cleaning the ground by rotating the side brush structure 20.

[0125] In summary, the sweeping machine described in the embodiment of the present application can at least include the following advantages:

[0126] In an embodiment of the present application, the sweeper includes: a shell, a side brush structure, a transmission assembly, a cleaning part and a sensor structure; the shell is provided with a transmission cavity, and the transmission assembly is accommodated in the transmission cavity; the side brush structure is connected to the transmission assembly, and the side brush structure is rotatably connected to the bottom of the shell; the cleaning part and the side brush structure are arranged at a distance from each other at the bottom of the shell; the sensor structure is connected to the shell, and at least part of the sensor structure extends to the transmission cavity, and the sensor structure is used to stop the movement of the transmission assembly in the transmission cavity so that the side brush structure stops rotating at a preset position; the side brush structure has a plurality of extended brush strips, and at least one of the brush strips is located in the cleaning part at the preset position to clean the brush strip. In this way, when the side brush structure becomes entangled when cleaning hair, pet hair or ropes, the position of the transmission assembly can be identified through the sensor structure. The transmission assembly is connected to the side brush structure, thereby achieving more precise positioning of the rotation position of the side brush structure, so that the brush bar of the side brush structure is located within the cleaning area of ​​the cleaning part and remains stationary, so that the cleaning part can more effectively clean the hair, ropes and other garbage entangled on the brush bar, avoid affecting the cleaning performance of the side brush structure, and reduce the risk of motor jamming and device damage.

[0127] Reference Fig.17 , shows a flow chart of steps of a self-cleaning method for a sweeping machine proposed in an embodiment of the present application, which is applied to the sweeping machine, the sweeping machine comprising: a housing 10, a side brush structure 20, a transmission assembly, a cleaning portion 30 and a sensor structure 40, the housing 10 is provided with a transmission cavity 11, the transmission assembly is accommodated in the transmission cavity 11, 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, the cleaning portion 30 and the side brush structure 20 are spaced apart and arranged at the bottom of the housing 10, the sensor structure 40 is connected to the housing 10, and at least part of the sensor structure 40 extends to the transmission cavity 11, the method comprises:

[0128] Step 101: The sensor structure 40 is activated.

[0129] For example, in the embodiment of the present application, when the sweeping machine returns to the base station for self-cleaning, the sensor structure 40 can be activated by the controller. In addition, when the sweeping machine is cleaning the floor, if the brush bar 21 is entangled with hair, the sensor structure 40 can also be activated by the controller, and the embodiment of the present application is not limited to this.

[0130] Step 102: The sensor structure 40 identifies the position of the transmission component.

[0131] For example, in an embodiment of the present application, a signal transceiver 41 may be provided on the sensor structure 40, and a sensing element 51 may be provided on the transmission assembly. When the signal transceiver 41 senses the sensing element 51, the sensor structure 40 recognizes the position of the transmission assembly.

[0132] In the embodiment of the present application, for example, the sensor structure 40 may be a photoelectric sensor or a Hall sensor, etc., and its specific structure and working principle are as described above, which will not be repeated here for the embodiment of the present application.

[0133] Step 103 : the transmission assembly 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 21 , and at least one of the brush strips 21 is located at the cleaning portion 30 at the preset position.

[0134] In the embodiment of the present application, when the side brush assembly stops rotating and is in a preset position, at least one of the brush strips 21 is in the cleaning area of ​​the cleaning portion 30 , so that the cleaning portion 30 can clean the brush strip 21 more efficiently.

[0135] Step 104 : the cleaning unit 30 cleans the brush bar 21 .

[0136] For example, in the embodiment of the present application, the cleaning part 30 may be provided with a roller brush, and the hair, pet hair, ropes and other easily entangled garbage on the brush bar 21 may be rolled up and cleaned by the roller brush. In addition, the cleaning part 30 may also be provided with a dust suction structure, and the hair, pet hair, ropes and other garbage on the brush bar 21 may be sucked and cleaned by the dust suction structure. The specific type of the cleaning part 30 and its cleaning method may not be limited in the embodiment of the present application.

[0137] Optionally, in the embodiment of the present application, the sweeper further includes a controller and a driver 60 electrically connected to the controller, the output end of the driver 60 is connected to the transmission assembly, the sensor structure 40 is electrically connected to the controller, and the side brush structure 20 is connected to the housing 10 in a liftable manner. Before the step of the cleaning unit 30 cleaning the brush bar 21, the method may further include: the controller controls the driver 60 to work; the driver 60 drives the side brush structure 20 to lift so that the brush bar 21 is close to the cleaning unit 30. That is, before the cleaning unit 30 cleans the brush bar 21, the controller controls the driver 60 to start, so that the driver 60 drives the side brush structure 20 to lift away from the ground through the transmission assembly, so as to avoid secondary contamination of the side brush structure 20 by dirt on the ground, thereby achieving more effective cleaning of the brush bar 21, and more accurate control of the driver 60 is achieved through the controller.

[0138] In summary, the self-cleaning method for a sweeping machine described in the embodiment of the present application can at least include the following advantages:

[0139] In an embodiment of the present application, a self-cleaning method for a sweeping machine is applied to the sweeping machine, which comprises: a shell, a side brush structure, a transmission assembly, a cleaning part and a sensor structure, the shell is provided with a transmission cavity, the transmission assembly is accommodated in the transmission cavity, the side brush structure is connected to the transmission assembly, and the side brush structure is rotatably connected to the bottom of the shell, the cleaning part and the side brush structure are arranged at the bottom of the shell with an interval, the sensor structure is connected to the shell, and at least part of the sensor structure extends to the transmission cavity, the method comprises: the sensor structure is activated; the sensor structure recognizes the position of the transmission assembly; the transmission assembly stops moving, and the side brush structure stops rotating at a preset position; wherein the side brush structure has a plurality of extended brush strips, at least one of the brush strips is located in the cleaning part at the preset position; the cleaning part cleans the brush strips. In this way, when the side brush structure becomes entangled when cleaning hair, pet hair or ropes, the position of the transmission assembly can be identified through the sensor structure. The transmission assembly is connected to the side brush structure, thereby achieving more precise positioning of the rotation position of the side brush structure, so that the brush bar of the side brush structure is located within the cleaning area of ​​the cleaning part and remains stationary, so that the cleaning part can more effectively clean the hair, ropes and other garbage entangled on the brush bar, avoid affecting the cleaning performance of the side brush structure, and reduce the risk of motor jamming and device damage.

[0140] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0141] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A sweeping machine, characterized in that: The sweeper comprises: a housing, a side brush structure, a transmission assembly, a cleaning part and a sensor structure; The housing is provided with a transmission cavity, and the transmission assembly is accommodated in the transmission cavity; The side brush structure is connected to the transmission assembly, and the side brush structure is rotatably connected to the bottom of the housing; The cleaning portion and the side brush structure are spaced apart and arranged at the bottom of the housing; The sensor structure is connected to the housing, and at least a portion of the sensor structure extends to the transmission cavity, and the sensor structure is used to stop the movement of the transmission assembly in the transmission cavity, so that the side brush structure stops rotating at a preset position; The side brush structure has a plurality of extended brush strips, and at least one of the brush strips is located at the cleaning portion at the preset position to clean the brush strip.

2. The sweeping machine according to claim 1, characterized in that: The sensor structure includes a signal transceiver, and the transmission assembly is provided with a sensing element; The signal transceiver is exposed outside the transmission cavity, and the sensing element is arranged opposite to the signal transceiver at the preset position; When the signal transceiver detects the sensing element, the sensor structure stops the movement of the transmission component in the transmission cavity.

3. The sweeping machine according to claim 2, characterized in that: The sensor structure is a photoelectric sensor, the signal transceiver extends into the transmission cavity, the signal transceiver can receive and receive light, and the induction element is a light shielding element protruding toward the signal transceiver; At the preset position, the shading member blocks the light emitted by the signal transceiver, and the signal transceiver detects the shading member to stop the movement of the transmission assembly in the transmission cavity.

4. The sweeping machine according to claim 2, characterized in that: The sensor structure is a Hall sensor, and the induction element is a magnetic element protruding toward the signal transceiver; At the preset position, the Hall sensor detects the magnetic member and sends an electrical signal to stop the movement of the transmission assembly in the transmission cavity.

5. The sweeping machine according to claim 2, characterized in that: The housing is provided with a clamping portion 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 on the clamping portion, and the signal transceiver is exposed at the opening.

6. The sweeping machine according to claim 2, characterized in that: The transmission assembly comprises a first gear, the first gear is located in the transmission cavity and connected to the side brush structure, and the induction element is arranged on the first gear.

7. The sweeping machine according to any one of claims 1 to 6, characterized in that: The sweeping machine further includes a controller, wherein the controller is electrically connected to the sensor structure; When the brush bar needs to be cleaned, the controller activates the sensor structure to stop the side brush structure from rotating at the preset position.

8. The sweeping machine according to claim 7, characterized in that: The sweeper further comprises a driver, the driver is electrically connected to the controller, and the driver is connected to the transmission assembly; The side brush structure is liftably connected to the shell. When the side brush structure is located at the preset position, the controller controls the driver to operate, and the driver drives the side brush structure to lift through the transmission assembly so that at least one of the brush strips is close to the cleaning portion.

9. The sweeping machine according to claim 8, characterized in that: When the sensor structure is activated, the driver drives the side brush structure to rotate along a first direction through the transmission assembly, so that the side brush structure is located at the preset position; When the side brush structure is located at the preset position, the driver drives the side brush structure to rotate along a second direction through the transmission assembly to lift the side brush structure; wherein the second direction is opposite to the first direction.

10. The sweeping machine according to claim 8, characterized in that: The transmission assembly includes a first gear and a second gear, both of which are located in the transmission cavity, the first gear is connected to the side brush structure, the second gear is meshed with the first gear, and the second gear is connected to the output end of the driver.

11. The sweeping machine according to any one of claims 1 to 6, characterized in that: The side brush structure comprises 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, the side brush body is provided with a plurality of brush strips, and the brush strips extend out of the side brush shell; The side brush body rotates along the second direction and abuts against the upper surface inside the side brush shell, so that the side brush structure is lifted close to the shell.

12. The sweeping machine according to claim 11, characterized in that: The side brush body comprises a sleeve and a side brush curved arm connected to the sleeve, and the brush strip is connected to the side brush curved arm; When the side brush housing rotates along the second direction, the side brush curved arm is bent and abuts against the upper surface inside the side brush housing.

13. The sweeping machine according to claim 12, characterized in that: The side brush structure further comprises a side brush shaft, the sleeve is sleeved on the side brush shaft, and a bending portion is provided at one end of the side brush curved arm close to the sleeve; When the side brush housing rotates along the second direction, the bending portion bends so that the side brush curved arm abuts against the upper surface inside the side brush housing.

14. A self-cleaning method for a sweeping machine, applied to the sweeping machine according to any one of claims 1 to 13, characterized in that: The sweeper comprises: a housing, a side brush structure, a transmission assembly, a cleaning part and a sensor structure, the housing is provided with a transmission cavity, the transmission assembly is accommodated in the transmission cavity, the side brush structure is connected to the transmission assembly, and the side brush structure is rotatably connected to the bottom of the housing, the cleaning part and the side brush structure are arranged at a distance from each other at the bottom of the housing, the sensor structure is connected to the housing, and at least a part of the sensor structure extends to the transmission cavity, and the method comprises: The sensor structure is activated; The sensor structure identifies the position of the transmission assembly; The transmission assembly stops moving, and the side brush structure stops rotating at a preset position; wherein the side brush structure has a plurality of extended brush strips, and at least one of the brush strips is located at the cleaning portion at the preset position; The cleaning part cleans the brush bar.

15. The self-cleaning method for a sweeping machine according to claim 14, characterized in that: The sweeper further comprises a controller and a driver electrically connected to the controller, the output end of the driver is connected to the transmission assembly, the sensor structure is electrically connected to the controller, and the side brush structure is liftably connected to the housing; Before the step of the cleaning unit cleaning the brush bar, the method further comprises: The controller controls the driver to work; The driver drives the side brush structure to rise so that the brush bar is close to the cleaning portion.

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