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

Abstract

This application provides a sweeping robot and a self-cleaning method for the sweeping robot. The sweeping robot includes: a housing, a side brush structure, a transmission assembly, a cleaning section, and a sensor structure. The housing has a transmission cavity, in which the transmission assembly is housed. The side brush structure is connected to the transmission assembly and rotatably connected to the bottom of the housing. The cleaning section is spaced apart from the side brush structure at the bottom of the housing. The sensor structure is connected to the housing, and at least a portion of the sensor structure extends into the transmission cavity. The sensor structure is used to stop the movement of the transmission assembly within the transmission cavity, so that the side brush structure stops rotating at a preset position. The side brush structure has multiple extended brush strips, and at the preset position, at least one brush strip is located in the cleaning section for cleaning the brush strips. By identifying the position of the transmission assembly through the sensor structure, the side brush structure is positioned more accurately, ensuring that its brush strips remain stationary within the cleaning area of ​​the cleaning section, allowing the cleaning section to clean hair and other debris entangled on the brush strips.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a sweeper and a self-cleaning method of the sweeper. BACKGROUND

[0002] The sweeper can be used to automatically complete the cleaning work of the ground, greatly reducing the daily cleaning work of people, and therefore, the sweeper has gradually been more and more widely applied.

[0003] In the prior art, the sweeper is usually provided with a side brush structure for cleaning corners, edges of furniture and the like, and the side brush structure is used to rotate to clean the ground and push garbage to the suction inlet of the sweeper, so as to realize the cleaning of the ground.

[0004] However, the inventor finds in the research on the prior art that the side brush structure is prone to winding when cleaning hair, pet hair or a rope, which affects the cleaning performance of the side brush structure, and even causes the motor to be blocked, thereby causing the damage of the device. SUMMARY

[0005] In view of the above problems, the application is proposed to provide a sweeper and a self-cleaning method of the sweeper which can overcome the above problems or at least partially solve the above problems.

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

[0007] In a first aspect, the application embodiment provides a sweeper, which comprises a shell, a side brush structure, a transmission assembly, a cleaning part and a sensor structure.

[0008] The shell 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 rotationally connected to the bottom of the shell.

[0010] The cleaning part is arranged at the bottom of the shell and spaced apart from the side brush structure.

[0011] The sensor structure is connected to the shell, and at least part of the sensor structure extends into 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 bars, and at least one of the brush bars is located at the cleaning part at the preset position, so as to clean the brush bar.

[0013] Optionally, the sensor structure comprises a signal transceiver, and the transmission assembly is provided with a sensing piece.

[0014] The signal transceiver is exposed to the transmission cavity, and the inductor is arranged opposite to the signal transceiver at the preset position.

[0015] The sensor structure stops the movement of the transmission assembly in the transmission cavity when the signal transceiver detects the inductor.

[0016] Optionally, the sensor structure is a photoelectric sensor, the signal transceiver extends into the transmission cavity, the signal transceiver can receive and transmit light, and the inductor is a light shielding member protruding towards the signal transceiver.

[0017] The light shielding member shields the light emitted by the signal transceiver at the preset position, the signal transceiver detects the light shielding member, and the movement of the transmission assembly in the transmission cavity is stopped.

[0018] Optionally, the sensor structure is a Hall sensor, and the inductor is a magnetic member protruding towards the signal transceiver.

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

[0020] Optionally, the shell is provided with a clamping portion and an opening, and the sensor structure includes a sensor body and a signal transceiver connected to the sensor body.

[0021] The sensor body is clamped to 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 brush structure, and the inductor is arranged on the first gear.

[0023] Optionally, the sweeper further includes a controller, and the controller is electrically connected to the sensor structure.

[0024] When the brush strip needs to be cleaned, the controller activates the sensor structure to stop the rotation of the brush structure at the preset position.

[0025] Optionally, the sweeper further includes 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 connected to the shell in a lifting manner. When the side brush structure is located at the preset position, the controller controls the driver to work, and the driver drives the side brush structure to lift through the transmission assembly, so that at least one brush strip is close to the cleaning part.

[0027] Optionally, when the sensor structure is activated, the driver drives the side brush structure to rotate in 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 in a second direction through the transmission assembly, so that the side brush structure is lifted; wherein the second direction is opposite to the first direction.

[0029] Optionally, the transmission assembly comprises 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 engaged 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 arranged in the side brush shell. The side brush shell is connected to the transmission assembly, and the side brush body is provided with a plurality of brush strips extending out of the side brush shell.

[0031] The side brush body rotates in the second direction and abuts against the upper surface in 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 shell rotates in the second direction, the side brush curved arm is bent and abuts against the upper surface in the side brush shell.

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

[0035] When the side brush shell rotates in the second direction, the bending part is bent so that the side brush curved arm abuts against the upper surface in the side brush shell.

[0036] In a second aspect, the embodiments of the present application provide a self-cleaning method of a sweeping robot, applied to the sweeping robot, the sweeping robot comprising a housing, a side brush structure, a transmission assembly, a cleaning part, and a sensor structure, the housing being provided with a transmission cavity, the transmission assembly being accommodated in the transmission cavity, the side brush structure being connected to the transmission assembly, and the side brush structure being rotationally connected to the bottom of the housing, the cleaning part being arranged at the bottom of the housing in a spaced manner with the side brush structure, the sensor structure being connected to the housing, and at least part of the sensor structure extending into the transmission cavity, the method comprising:

[0037] activating the sensor structure;

[0038] identifying the position of the transmission assembly by the sensor structure;

[0039] stopping the movement of the transmission assembly, and stopping the rotation of the side brush structure 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 part at the preset position;

[0040] cleaning the brush strips by the cleaning part.

[0041] Optionally, the sweeping robot further comprises a controller and a driver electrically connected to the controller, an output end of the driver being connected to the transmission assembly, the sensor structure being electrically connected to the controller, and the side brush structure being liftably connected to the housing.

[0042] Before the step of cleaning the brush strips by the cleaning part, the method further comprises:

[0043] controlling the driver to work by the controller;

[0044] driving the side brush structure to lift by the driver, so that the brush strips are close to the cleaning part.

[0045] In the embodiment of the present application, the sweeping machine comprises a shell, an edge 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 edge brush structure is connected to the transmission assembly, and the edge brush structure is rotationally connected to the bottom of the shell; the cleaning part is arranged on the bottom of the shell in a spaced manner with the edge brush structure; the sensor structure is connected to the shell, and at least part of the sensor structure extends into the transmission cavity, the sensor structure is used to stop the movement of the transmission assembly in the transmission cavity, so that the edge brush structure stops rotating at a preset position; the edge brush structure has a plurality of extended brush strips, and at least one of the brush strips is located at the cleaning part at the preset position to clean the brush strip. In this way, when the edge brush structure sweeps hair, pet hair or rope and the like and is entangled, the position of the transmission assembly connected to the edge brush structure can be identified by the sensor structure, and the rotational position of the edge brush structure is more accurately positioned, so that the brush strip of the edge brush structure remains stationary in the cleaning area of the cleaning part, thereby effectively cleaning the hair, rope and the like entangled on the brush strip by the cleaning part, avoiding affecting the cleaning performance of the edge brush structure and reducing the risk of causing motor stall to damage the device.

[0046] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0047] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings.

[0048] Figure 1 is a cross-sectional structure schematic view of a sweeping machine according to an embodiment of the present application;

[0049] Figure 2 is one of the bottom views of a sweeping machine according to an embodiment of the present application;

[0050] Figure 3 is the second bottom view of a sweeping machine according to an embodiment of the present application;

[0051] Figure 4 is a schematic view of a sensor structure of a sweeping machine according to an embodiment of the present application;

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

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

[0054] Figure 7 is a structural schematic view of a first gear of a sweeping machine according to an embodiment of the present application;

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

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

[0057] Figure 10 is a top view of a partial structure of a sweeping machine according to an embodiment of the present application;

[0058] Figure 11 is a schematic view of an edge brush structure of a sweeping machine according to an embodiment of the present application;

[0059] Figure 12 is a schematic view of an edge brush structure of a sweeping machine according to an embodiment of the present application;

[0060] Figure 13 is a schematic view of an edge brush structure of a sweeping machine according to an embodiment of the present application;

[0061] Figure 14 is a schematic view of an edge brush structure of a sweeping machine according to an embodiment of the present application;

[0062] Figure 15 is an exploded structural schematic view of an edge brush structure of a sweeping machine according to an embodiment of the present application;

[0063] Figure 16 is a structural schematic view of an edge brush body of an edge brush structure of a sweeping machine according to an embodiment of the present application;

[0064] Figure 17 is a step flowchart of a self-cleaning method of a sweeping machine according to an embodiment of the present application.

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

[0066] Embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, for the purpose of explanation, and are not to be understood as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work under the premise that they fall within the scope of protection of the present application.

[0067] The terms "first", "second" in the description and claims of the present application can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in a "or" relationship.

[0068] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0069] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0070] Referring to Figures 1 to 16 , a structural schematic diagram of a sweeping machine is shown, which can specifically include: a shell 10, a side brush structure 20, a transmission assembly, a cleaning part 30 and a sensor structure 40;

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

[0072] The bristle structure 20 is connected to the transmission assembly, and the bristle structure 20 is rotationally connected to the bottom of the shell 10.

[0073] The cleaning part 30 is arranged at the bottom of the shell 10 and spaced from the bristle structure 20.

[0074] The sensor structure 40 is connected to the shell 10, and at least part of the sensor structure 40 extends into 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 bristle structure 20 stops rotating at a preset position.

[0075] The bristle structure 20 has a plurality of extended bristles 21. At the preset position, at least one of the bristles 21 is located at the cleaning part 30 to clean the bristles 21.

[0076] In the embodiments of the present application, when the bristle structure 20 is entangled during cleaning hair, pet hair or rope, etc., the sensor structure 40 can identify the position of the transmission assembly connected to the bristle structure 20, thereby achieving more accurate positioning of the rotating position of the bristle structure 20. The bristle 21 of the bristle structure 20 is kept stationary in the cleaning area of the cleaning part 30, so that the cleaning part 30 can effectively clean the hair, rope, etc. entangled on the bristle 21, thereby avoiding affecting the cleaning performance of the bristle structure 20 and reducing the risk of causing motor stall to damage the device.

[0077] Specifically, in the embodiments of the present application, the sensor structure 40 has the characteristics of non-contact detection, fast response speed, wide detection distance, etc., so that the sensor structure 40 can achieve more accurate positioning and control of the transmission assembly and the bristle structure 20.

[0078] For example, in the embodiments of the present application, the cleaning part 30 can be provided with a rolling brush to wind and clean the hair, pet hair or rope, etc. easily entangled on the bristle 21. In addition, the cleaning part 30 can also be provided with a dust suction structure to adsorb and clean the hair, pet hair or rope, etc. on the bristle 21. The specific type of the cleaning part 30 is not limited in the embodiments of the present application.

[0079] In the embodiments of the present application, the side brush structure 20 is rotatably connected to the shell 10, the brush strip 21 is in contact with the ground, and the rotation of the side brush structure 20 enables the brush strip 21 to clean the ground. For example, the side brush structure 20 can be arranged at the edge of the bottom of the shell 10, or the side brush structure 20 can also be arranged at the middle position of the bottom of the shell 10. Similarly, the cleaning part 30 can be arranged at the middle position of the bottom of the shell 10, or the side brush structure 20 can also be arranged at the edge of the bottom of the shell 10, and the like. The specific arrangement position of the side brush structure 20 and the cleaning part 30 in the embodiments of the present application can not be limited.

[0080] In the embodiments of the present application, as shown in Figure 2 , it is a schematic view of the brush strip 21 located in the cleaning part 30, at this time, the cleaning part 30 self-cleans the brush strip 21. As shown in Figure 3 , it is a schematic view of the brush strip 21 not located in the cleaning part 30, at this time, the cleaning part 30 does not self-clean the brush strip 21. As shown in Figure 11 , the side brush structure 20 is easy to entangle with hair, ropes and other sundries. As shown in Figure 12 , the arrow indicates the cleaning direction of the cleaning part 30 to the hair, ropes and other sundries, and the cleaning part 30 can clean the hair, ropes and other sundries along the arrow direction to the brush strip 21. As shown in Figure 13 , the arrow also indicates the cleaning direction of the cleaning part 30 to the hair, ropes and other sundries, at this time, the cleaning part 30 cleans the hair, ropes and other sundries along the arrow direction from the brush strip 21, achieving better self-cleaning function of the brush strip 21.

[0081] For example, in the embodiments of the present application, the side brush structure 20 has a plurality of brush strips 21, for example, two, three, five or ten, and the like, which can be arranged according to actual needs. The specific arrangement number and arrangement mode of the brush strip 21 in the embodiments of the present application can not be limited. The locking structure locks the side brush structure 20, which can enable one of the brush strips 21 to be located in the cleaning part 30, or two of the brush strips 21 to be located in the cleaning part 30, or three of the brush strips 21 to be located in the cleaning part 30, and the like, which can be arranged according to the arrangement range and cleaning demand of the cleaning part 30, and the like. The embodiments of the present application can also not be limited in this regard.

[0082] In the embodiments of the present application, the number of the brush structures 20 can be one, two, three or the like, and the number of the cleaning parts 30 can be one. The plurality of brush structures 20 can be distributed at the edge of the shell 10 with the cleaning part 30 as the center, so that one cleaning part 30 can clean the brush bars 21 of the plurality of brush structures 20 at the same time. In addition, the number of the cleaning parts 30 can also be two or three or the like, one brush structure 20 can be provided corresponding to one cleaning part 30, or two brush structures 20 share one cleaning part 30. The specific number and arrangement of the cleaning part 30 and the brush structure 20 are not limited in the embodiments of the present application.

[0083] Specifically, in the embodiments of the present application, the transmission cavity 11 of the shell 10 is used to provide a setting space for the transmission assembly, and to connect the brush structure 20 and the cleaning part 30. For example, the material of the shell 10 can be plastic, metal or the like, and the specific material and shape of the shell 10 are not limited in the embodiments of the present application.

[0084] Optionally, in the embodiments of the present application, the sensor structure 40 includes a signal transceiver 41, and the transmission assembly is provided with a sensing part 51. The signal transceiver 41 is exposed to the transmission cavity 11, and the sensing part 51 is arranged opposite to the signal transceiver 41 at the preset position. When the signal transceiver 41 detects the sensing part 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 to the transmission cavity 11, so that the signal transceiver 41 has a better recognition effect on the sensing part 51 on the transmission assembly in the transmission cavity 11, and the recognition accuracy is improved.

[0085] In the embodiments of the present application, the sensor structure 40 is an optical sensor, the signal transceiver 41 extends into the transmission cavity 11, the signal transceiver 41 can receive and transmit light, and the sensing part 51 is a light shielding part protruding towards the signal transceiver 41. At the preset position, the light shielding part shields the light emitted by the signal transceiver 41, and the signal transceiver 41 detects the light shielding part and stops the movement of the transmission assembly in the transmission cavity 11. The optical sensor is used as the sensor structure 40, which has the advantages of non-contact detection, fast response, wide detection distance, and is widely used, easy to implement and easy 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 of other types, and the specific type of the photoelectric sensor in the embodiment of the present application can not be limited. 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 light shielding member can be a light shielding sheet or a light shielding plate, and the number of the light shielding member can be one, two, three or the like, and one light shielding member can correspond to the position of one or more brush strips 21. The shape of the light shielding member can be rectangular, fan-shaped, cylindrical or trapezoidal, etc., and the specific type, number and shape of the light shielding member in the embodiment of the present application can not be limited, and can be set according to actual needs.

[0088] In the embodiment of the present application, for example, when the light shielding member is not on the transmission path of the light, the signal transceiver 41 does not detect the light shielding member, and the transmission assembly can drive the edge brush structure 20 to rotate. When the light shielding member is on the transmission path of the light, the light shielding member blocks the light emitted by the signal transceiver 41, at this time, the signal transceiver 41 detects the light shielding member, and then the photoelectric sensor can stop driving the transmission assembly through the controller, so that the edge brush structure 20 is located at the preset position, and the position of the brush strip 21 is positioned.

[0089] Optionally, in the embodiment of the present application, the sensor structure 40 is a Hall sensor, and the inductive member 51 is a magnetic member protruding towards the signal transceiver 41; in the preset position, the Hall sensor detects the magnetic member and emits an electric signal to stop the movement of the transmission assembly in the transmission cavity 11. The Hall sensor used as the sensor structure 40 has the advantages of high sensitivity, fast response, simple structure, easy calibration and wide application, and is easy to implement and operate.

[0090] For example, in the embodiment of the present application, the Hall sensor can include a control circuit and a Hall element, in the case that the magnetic member is close to the Hall element, the Hall element generates a Hall voltage under the magnetic field of the magnetic member, the Hall voltage signal can be amplified and processed by the control circuit, and an electric signal linearly related to the magnetic field strength of the magnetic member is output. Then, the controller stops driving the transmission assembly based on the electric signal emitted by the Hall sensor, so that the edge 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 shell 10 is provided with a clamping portion 12 and an opening 13, the sensor structure 40 comprises 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 into the transmission cavity 11. In this way, the sensor structure 40 is more stable and reliable in connection with the shell 10 through the clamping portion 12, and the signal transceiver 41 can extend into the transmission cavity 11 of the shell 10 through the opening 13, which is simple in structure, easy to operate and improves assembly efficiency.

[0092] For example, in the embodiment of the present application, a protruding clamping portion 12 can be arranged on the shell 10, and a clamping interface can be arranged on the sensor body 42, so that the sensor structure 40 is more stable and reliable in connection with the shell 10 by clamping the clamping portion 12 to the clamping interface. For example, two clamping interfaces can be arranged at both ends of the sensor body 42, respectively, and two matching clamping portions 12 can be arranged on the shell 10. In addition, the number of clamping portions 12 can also be three or four, etc., which can be arranged according to actual needs, and the specific number of clamping portions 12 in the embodiment of the present application can not be limited.

[0093] Optionally, in the embodiment of the present application, the transmission assembly comprises a first gear 52, the first gear 52 is located in the transmission cavity 11 and connected to the brush structure 20, and the inductor 51 is arranged on the first gear 52. Specifically, the first gear 52 can be connected to the brush shell 22 of the brush structure 20, so that the brush structure 20 is more efficiently transmitted through the first gear 52, the power loss is reduced, and the inductor 51 is arranged on the first gear 52 to realize more accurate positioning of the brush structure 20.

[0094] In the embodiment of the present application, the control device is electrically connected to the sensor structure 40; in the case of needing to clean the brush strip 21, the control device activates the sensor structure 40 to stop the rotation of the brush structure 20 at the preset position. In this way, the sensor structure 40 is activated by the control device to stop the rotation of the brush structure 20 when the brush strip 21 of the brush structure 20 needs to be self-cleaned, which realizes more accurate control effect and avoids affecting the normal cleaning of the ground by the brush structure 20. For example, the sensor structure 40 can comprise a control circuit, and the control circuit is electrically connected to the control device.

[0095] Optionally, in the embodiment of the present application, the sweeper further comprises a driver 60 electrically connected to the controller, and the driver 60 is connected to the transmission assembly; the side brush structure 20 is liftably connected to the shell 10, 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 up through the transmission assembly, so that at least one brush bar 21 is close to the cleaning part 30. In this way, the driver 60 provides a more stable and reliable driving force, and the driver 60 can drive the transmission assembly to move and drive the side brush structure 20 to rotate to clean the ground. When it is necessary to activate the sensor structure 40 to make the side brush structure 20 self-clean the brush bar 21, the controller can control the driver 60 to drive the transmission assembly to drive the side brush structure 20 to lift up away from the ground, so that the side brush structure 20 is prevented from contacting the dirt on the ground and being contaminated again, and the cleaning part 30 can effectively clean the brush bar 21 of the side brush structure 20.

[0096] For example, in the embodiment of the present application, the sweeper can be made to return to the base station for self-cleaning, and when the side brush structure 20 is in the lifted state, it is far away from the ground, so that the side brush structure 20 is prevented from contacting the dirt and being contaminated again, and the cleaning part 30 can effectively clean the brush bar 21 of the side brush structure 20. In addition, when the sweeper sweeps liquid dirt or performs single-drag mode, the side brush structure 20 is not used, and the side brush structure 20 can be lifted to clean the brush bar 21, thereby improving the cleaning efficiency.

[0097] In the embodiment of the present application, for example, the driver 60 can be a motor or a motor, etc., and the output end of the driver 60 is connected to the transmission assembly for driving the transmission assembly to rotate, and the specific type of the driver 60 is not limited in the embodiment of the present application.

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

[0099] For example, in the embodiment of the present application, the first direction can be the clockwise rotation direction, and the second direction can be the counterclockwise rotation direction. In addition, the first direction can also be the counterclockwise rotation direction, and the second direction can be the clockwise rotation direction, and the embodiment of the present application does 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 located in the transmission cavity 11, the first gear 52 is connected to the brush structure 20, the second gear 53 is engaged 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 brush structure 20 through the first gear 52, the first gear 52 and the second gear 53 are engaged and transmitted, have good transmission efficiency and transmission reliability, and are convenient for designing the force transmission path according to the space layout in the housing 10.

[0101] In the embodiment of the present application, the brush structure 20 can optionally include a brush shell 22 and a brush body 23 arranged in the brush shell 22, the brush shell 22 is connected to the transmission assembly, the brush body 23 is provided with a plurality of brush strips 21, and the brush strips 21 extend out of the brush shell 22; the brush body 23 rotates along the second direction and abuts against the upper surface in the brush shell 22, so that the brush structure 20 is lifted close to the shell 10. In this way, the brush shell 22 is used to connect the brush structure 20 and the transmission assembly, and the rotation of the brush shell 22 can drive the brush body 23 to rotate synchronously, and the reverse rotation of the brush body 23 along the second direction makes it abut against the upper surface in the brush shell 22, so that the brush structure 20 is lifted away from the ground.

[0102] For example, in the embodiment of the present application, the side surface of the brush shell 22 is provided with an opening 13, and the brush curved arm 25 of the brush body 23 extends out of the brush shell 22 from the opening 13. For example, the brush shell 22 can include an upper shell and a lower shell, which enclose a containing cavity, and the central part of the brush body 23 is located in the containing cavity, so as to facilitate assembly and improve assembly efficiency. In addition, the brush shell 22 can also be a one-piece structure or a plurality of split structures, and the specific type of the brush shell 22 is not limited in the embodiment of the present application.

[0103] Optionally, in the embodiment of the present application, the brush body 23 includes a sleeve 24 and a brush curved arm 25 connected to the sleeve 24, and the brush strip 21 is connected to the brush curved arm 25; in the case that the brush shell 22 rotates along the second direction, the brush curved arm 25 is bent and abuts against the upper surface in the brush shell 22. In this way, the reverse rotation of the brush curved arm 25 along the second direction makes it abut against the upper surface in the brush shell 22, so as to realize the lifting of the brush structure 20 away from the ground.

[0104] For example, in the embodiment of the present application, when the brush structure 20 performs ground cleaning operation, the brush curved arm 25 can extend downward toward the ground, and in the case that the brush structure 20 is switched to the lifting state, the brush curved arm 25 extends in the approximately horizontal direction after being bent and folded, and abuts against the upper surface in the inner side of the brush shell 22 to maintain the lifting state.

[0105] Optionally, in the embodiment of the present application, the bristle structure 20 further comprises a bristle shaft 26, the sleeve 24 is sleeved on the bristle shaft 26, and the bristle curved arm 25 is provided with a bending part at one end close to the sleeve 24; in the case that the bristle shell 22 rotates in the second direction, the bending part is bent to make the bristle curved arm 25 abut against the upper surface in the bristle shell 22. The sleeve 24 is connected through the bristle shaft 26, and the bending part is arranged at one end of the bristle curved arm 25 close to the sleeve 24, so that one end of the bristle curved arm 25 close to the sleeve 24 is bent and turned over, so that the bristle curved arm 25 has a higher lifting height.

[0106] For example, in the embodiment of the present application, the bending part can be a hollow structure, and the shape of the hollow structure can be semicircular, elliptical, rectangular or the like, which can be set according to the stress condition, and the specific shape of the bending part is not limited in the embodiment of the present application.

[0107] Optionally, in the embodiment of the present application, the upper surface in the bristle shell 22 is provided with a protruding abutting part, and the bristle curved arm 25 is bent and abuts against the abutting part. In this way, the bristle curved arm 25 has a more stable and reliable abutting effect with the bristle shell 22 through the abutting part, and the structural stability of the bristle structure 20 in the lifting state is improved.

[0108] In the embodiment of the present application, for example, the bristle curved arm 25 has a certain bending angle. In the case that the bristle structure 20 is in the lowered state, the bending direction of the bristle curved arm 25 is downwardly bent. When the sleeve 24 and the bristle shell 22 move relatively, the abutting part on the bristle shell 22 abuts and presses downwardly on the sleeve 24. For example, the abutting part on the bristle shell 22 abuts downwardly on the bristle curved arm 25, thereby driving the bristle curved arm 25 to fold downwardly, and the bending direction of the bristle curved arm 25 changes. For example, the bending direction of the bristle curved arm 25 changes from downward bending to horizontal bending, thereby lifting the height of the bristle curved arm 25. In the case that the bristle curved arm 25 is in the lifted state, the bristle structure 20 can be away from the ground, so that when the cleaning robot cleans liquid dirt or performs single-drag mode, the bristle structure 20 can be away from the ground through the folding mode of the bristle structure 20, so as to avoid the bristle structure 20 contacting the dirt, and improve the cleanliness of the bristle structure 20 to avoid secondary pollution in the process of cleaning the ground.

[0109] Optionally, in the embodiment of the present application, the abutting portion can include a first abutting inclined surface and a second abutting surface connected with the first abutting inclined surface, wherein when the brush shell 22 rotates, the first abutting inclined surface abuts against the bent portion of the brush curved arm 25, and drives the brush curved arm 25 to rotate, so that the brush structure 20 performs ground cleaning. When the brush shell 22 moves relative to the sleeve 24, the first abutting inclined surface forms an abutting guide to the bent portion of the brush curved arm 25, so that the bent portion of the brush curved arm 25 is folded downward, and the height of the brush structure 20 is lifted, wherein when the brush structure 20 is lifted to the highest position, the second abutting surface abuts against the bent portion of the 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 be smoothly connected with the first abutting inclined surface. For example, when the brush shell 22 rotates, the first abutting inclined surface of the abutting portion abuts against the bent portion of the brush curved arm 25, so that the abutting force applied to the bent portion of the brush curved arm 25 by the abutting portion drives the brush structure 20 and the sleeve 24 to rotate synchronously, so that the brush structure 20 keeps in contact with the ground and performs ground cleaning. During the cleaning process of the brush structure 20, when some garbage with large particles or a certain thickness is encountered, the brush structure 20 keeps being pressed downward due to the abutting force, and will not be lifted with the garbage, which can further improve the cleaning effect of the brush structure 20.

[0111] For example, in the embodiment of the present application, when the brush shell 22 moves relative to the sleeve 24, the first abutting inclined surface on the abutting portion forms an abutting guide to the bent portion of the brush curved arm 25. The abutting guide can be understood as that the abutting portion and the bent portion of the brush curved arm 25 keep abutting, and the bent portion of the brush curved arm 25 moves along the first abutting inclined surface under the action of the abutting force. Therefore, the abutting force applied to the bent portion of the brush curved arm 25 by the abutting portion can be gradually increased during the relative movement, so that the bent portion of the brush curved arm 25 is pressed downward and is folded downward, thereby changing the bending direction of the brush curved arm 25. The bending direction of the brush curved arm 25 is changed from downward bending to horizontal bending, so that the ground clearance of the brush curved arm 25 is lifted. Moreover, when the brush structure 20 is lifted to the highest position, the bent portion of the brush curved arm 25 abuts against the second abutting surface. The position of the second abutting surface away from the first abutting inclined surface is also provided with a chamfer, which is used for avoiding the brush structure 20.

[0112] In some alternative embodiments, the second abutting surface on the abutting portion can also be extended along the circumferential length of the sleeve 24, so as to further increase the relative rotation range between the bristle shell 22 and the sleeve 24, facilitating the lifting or lowering control of the bristle structure 20.

[0113] For example, in some embodiments, the thickness of the bending portion of the bristle arm 25 away from the center of the sleeve 24 in the radial direction of the sleeve 24 is greater than the thickness of the bending portion of the bristle arm 25 close to the center of the sleeve 24. In the embodiments of the present application, the thickness of the bending portion of the bristle arm 25 refers to the thickness of the bending portion of the bristle arm 25 in the axial direction of the sleeve 24. The center of the bending portion of the bristle arm 25 in the radial direction of the sleeve 24 is provided to be thin. Thus, the abutting portion can facilitate the abutting force applied to the bending portion of the bristle arm 25, so that the area of the bending portion of the bristle arm 25 with thin thickness can be bent downward to form a foldable feature on the bristle arm 25. And the bristle arm 25 can change the bending direction of the bristle arm 25 under the folding of the bending portion of the bristle arm 25, so as to realize the height lifting of the bristle arm 25.

[0114] In some embodiments, the thickness of the bending portion of the bristle arm 25 close to the center of the sleeve 24 in the radial direction of the sleeve 24 is less than the thickness of the bending portion of the bristle arm 25 away from the center of the sleeve 24, so as to form an arc-shaped groove or a V-shaped groove, etc. on the bending portion of the bristle arm 25 in the radial direction of the sleeve 24. The bending portion of the bristle arm 25 forms abutment with the abutting portion. Thus, the bending portion of the bristle arm 25 can be more easily pressed down by the abutting portion, and the center of the bending portion of the bristle arm 25 with thin thickness can be deformed to drive the bending portion of the bristle arm 25 to fold downward, thereby changing the bending direction of the bristle arm 25.

[0115] In an alternative embodiment of the present application, the bending portion of the bristle arm 25 can be made of rubber material. In the embodiments of the present application, the bristle arm 25 can be made of rubber material with good deformation performance, so as to make the bending portion of the bristle arm 25 have good deformation performance, maintain the structural stability of the bending portion of the bristle arm 25 in the repeated deformation process, and thus improve the service life of the bending portion of the bristle arm 25.

[0116] The inner circumferential side of the bristle body 23 can be provided with a bristle limiting portion, and the sleeve 24 is provided with a transmission limiting portion, wherein the bristle limiting portion cooperates with the transmission limiting portion to limit the bristle body 23 in the radial direction of the sleeve 24.

[0117] In the embodiment of the present application, the inner circumferential side of the bristle body 23 is provided with a bristle limiting portion, and the sleeve 24 is correspondingly provided with a transmission limiting portion. In some embodiments, the bristle limiting portion can be a limiting groove, and the transmission limiting portion can be a limiting protrusion matched with the limiting groove. In other embodiments, the bristle limiting portion can be a limiting protrusion, and the transmission limiting portion can be a limiting groove matched with the limiting protrusion. Thus, when the bristle body 23 is sleeved on the sleeve 24, the bristle body 23 is limited in the radial direction of the sleeve 24 by the cooperation of the bristle limiting portion and the transmission limiting portion.

[0118] For example, in the embodiment of the present application, the sleeve 24 can be a plastic part, and the bristle body 23 is sleeved on the sleeve 24, and then the sleeve 24 is subjected to a second injection molding, so as to limit the bristle body 23 in the axial direction of the sleeve 24.

[0119] In some optional embodiments, the number of the bristle curved arms 25 can be at least two, and the at least two bristle curved arms 25 are distributed at equal angles about the central axis of the bristle body 23 in the horizontal circumferential direction of the bristle body 23. The number of the bristle curved arms 25 can be determined by the actual design requirements, and is not limited herein. As a preferred embodiment, the number of the bristle curved arms 25 can be three.

[0120] In some optional embodiments of the present application, the bristle structure 20 further comprises an elastic member sleeved on the sleeve 24, a first end of the elastic member is fixed with the bristle shell 22, and a second end of the elastic member is fixed with the sleeve 24, so as to drive the folding reset of the bristle curved arm 25 by the deformation recovery of the elastic member. When the bristle shell 22 drives the rotation of the bristle structure 20, the elastic member provides a torsional force to make the abutting portion abut against the bristle structure 20. When the bristle shell 22 moves relative to the bristle structure 20, the torsional force of the elastic member increases, and the bristle structure 20 is driven to fold and reset by the torsional recovery of the elastic member.

[0121] In the embodiment of the present application, the elastic member is sleeved on the sleeve 24, and both ends of the elastic member are fixed with the sleeve 24 and the bristle shell 22, respectively. For example, the elastic member can include a torsional spring, a first end of the elastic member is fixed with the upper half of the bristle shell 22, and a second end of the elastic member is fixed with the sleeve 24. Thus, the elastic connection between the sleeve 24 and the bristle shell 22 can be formed in the circumferential direction of the sleeve 24 by the elastic member.

[0122] In some embodiments, the first end of the elastic member can be fixed to the lower half of the brush shell 22, and the second end of the elastic member can be fixed to the sleeve 24, so that the elastic connection between the sleeve 24 and the lower half of the brush shell 22 can be formed along the circumference of the brush driving member through the elastic member. When the abutting portion abuts against the brush arm 25 to drive the brush arm 25 to rotate synchronously, the abutting portion can be kept abutting against the brush arm 25 through the deformation torsion of the elastic member when the brush structure 20 is in the lowered state, so that the brush structure 20 can be kept in contact with the ground and the ground cleaning can be performed through the rotation of the brush structure 20.

[0123] When the brush shell 22 is subjected to an external force to rotate relative to the sleeve 24, the elastic potential energy (which can also be referred to as deformation torsion) of the elastic member increases, so that the abutting force of the abutting portion against the brush arm 25 increases, and the abutting portion presses down the brush arm 25 to make the brush arm 25 fold downward.

[0124] When the brush shell 22 drives the sleeve 24 to rotate synchronously again, the bending portion of the brush arm 25 moves along the abutting portion under the torsion recovery of the elastic member, and the abutting force of the abutting portion against the bending portion of the brush arm 25 gradually decreases, so that the bending portion of the brush arm 25 recovers from the deformation. The bending direction of the brush arm 25 is reset to the state of horizontally downward, and the abutting portion can be kept abutting against the brush arm 25 through the deformation torsion of the elastic member, so that the brush structure 20 can be kept in contact with the ground and the ground cleaning can be performed through the rotation of the brush structure 20.

[0125] In summary, the sweeping robot according to the embodiments of the present application can have at least the following advantages:

[0126] In the embodiment of the present application, the sweeping machine comprises a shell, an edge 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 edge brush structure is connected to the transmission assembly, and the edge brush structure is rotationally connected to the bottom of the shell; the cleaning part is arranged at the bottom of the shell in a spaced manner from the edge brush structure; the sensor structure is connected to the shell, and at least part of the sensor structure extends into the transmission cavity; the sensor structure is used to stop the movement of the transmission assembly in the transmission cavity, so that the edge brush structure stops rotating at a preset position; the edge brush structure has a plurality of extended brush strips, and at least one of the brush strips is located at the cleaning part at the preset position to clean the brush strip. In this way, when the edge brush structure is entangled with hair, pet hair or rope, etc., the sensor structure can identify the position of the transmission assembly, the transmission assembly is connected to the edge brush structure, and the rotational position of the edge brush structure can be accurately positioned, so that the brush strip of the edge brush structure is kept stationary in the cleaning area of the cleaning part, thereby effectively cleaning the hair, rope, etc. entangled on the brush strip, avoiding affecting the cleaning performance of the edge brush structure, and reducing the risk of causing motor stall to damage the device.

[0127] Referring to Figure 17 , a step flow chart of a self-cleaning method of a sweeping machine is shown, which is applied to the sweeping machine, the sweeping machine comprises a shell 10, an edge brush structure 20, a transmission assembly, a cleaning part 30 and a sensor structure 40, the shell 10 is provided with a transmission cavity 11, the transmission assembly is accommodated in the transmission cavity 11, the edge brush structure 20 is connected to the transmission assembly, and the edge brush structure 20 is rotationally connected to the bottom of the shell 10, the cleaning part 30 is arranged at the bottom of the shell 10 in a spaced manner from the edge brush structure 20, the sensor structure 40 is connected to the shell 10, and at least part of the sensor structure 40 extends into 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, during the process of the sweeping machine cleaning the ground, if the brush strip 21 is entangled with hair, the sensor structure 40 can also be activated by the controller, and the present application embodiment can not be limited in this regard.

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

[0131] For example, in the embodiment of the present application, the sensor structure 40 can be provided with a signal transceiver 41, and the transmission assembly can be provided with an inductor 51. When the signal transceiver 41 senses the inductor 51, the sensor structure 40 can identify the position of the transmission assembly.

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

[0133] Step 103: The transmission assembly stops moving, and the side brush structure 20 stops rotating at a preset position. The side brush structure 20 has a plurality of extended brush strips 21, and at least one of the brush strips 21 is located in the cleaning part 30 at the preset position.

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

[0135] Step 104: The cleaning part 30 cleans the brush strip 21.

[0136] For example, in the embodiment of the present application, the cleaning part 30 can be provided with a rolling brush to wind and clean the hair, pet hair or rope and other easily entangled garbage on the brush strip 21. In addition, the cleaning part 30 can also be provided with a dust suction structure to adsorb and clean the hair, pet hair or rope and other garbage on the brush strip 21. The specific type of the cleaning part 30 and the cleaning method thereof can not be limited in the embodiment of the present application.

[0137] Optionally, in the embodiment of the present application, the sweeping robot further comprises 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 liftable connected to the shell 10. Before the step of cleaning the brush strip 21 by the cleaning part 30, the method can further comprise: the controller controls the driver 60 to work; and the driver 60 drives the side brush structure 20 to lift, so that the brush strip 21 is close to the cleaning part 30. That is, before the cleaning part 30 cleans the brush strip 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, to avoid the ground dirt from polluting the side brush structure 20 again, to realize more efficient cleaning of the brush strip 21, and to realize more accurate control of the driver 60 by the controller.

[0138] In summary, the self-cleaning method of the robot vacuum cleaner has at least the following advantages:

[0139] In the embodiment of the present application, the self-cleaning method of the robot vacuum cleaner is applied to the robot vacuum cleaner, which 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 rotationally connected to the bottom of the housing. The cleaning part is arranged at the bottom of the housing in a spaced manner with the side brush structure. The sensor structure is connected to the housing, and at least part of the sensor structure extends into the transmission cavity. 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 in the cleaning part at the preset position; and the cleaning part cleans the brush strips. In this way, when the side brush structure is entangled with hair, pet hair, or a rope, etc. during cleaning, the position of the transmission assembly can be identified by the sensor structure, the transmission assembly is connected to the side brush structure, and the rotational position of the side brush structure is accurately positioned, so that the brush strips of the side brush structure remain stationary in the cleaning area of the cleaning part, thereby effectively cleaning the hair, rope, etc. entangled on the brush strips, avoiding affecting the cleaning performance of the side brush structure, and reducing the risk of causing motor stall to damage the device.

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

[0141] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A sweeping machine, characterized in that, The sweeper includes: a housing, a side brush structure, a transmission assembly, a cleaning unit, and a sensor structure; The housing is provided with a transmission cavity, and the transmission assembly is housed 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 section is disposed at a distance from the side brush structure at the bottom of the housing, and the cleaning section includes at least one of a roller brush and a vacuuming structure; The sensor structure is connected to the housing, and at least a portion of the sensor structure extends into the transmission cavity. The sensor structure is used to stop the movement of the transmission component within the transmission cavity, so that the side brush structure stops rotating at a preset position. The side brush structure has multiple extended brush strips, and at least one of the brush strips is located in the cleaning section at the preset position, where the cleaning section cleans the brush strips.

2. The sweeper according to claim 1, characterized in that, The sensor structure includes a signal transceiver, and the transmission assembly is equipped with a sensing element; The signal transceiver is exposed in the transmission cavity, and the sensing element is positioned opposite to the signal transceiver at the preset position. When the transceiver detects the sensing element, the sensor structure stops the movement of the transmission assembly within the transmission cavity.

3. The sweeper 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 transmit light, and the sensing element is a light-shielding element protruding towards the signal transceiver. At the preset position, the light-shielding member blocks the light emitted by the signal transceiver. The signal transceiver detects the light-shielding member and stops the movement of the transmission component in the transmission cavity.

4. The sweeper according to claim 2, characterized in that, The sensor structure is a Hall sensor, and the sensing element is a magnetic element protruding toward the signal transceiver; At the preset position, the Hall sensor detects the magnetic element and emits an electrical signal to stop the movement of the transmission assembly within the transmission cavity.

5. The sweeper according to claim 2, characterized in that, The housing is provided with a snap-fit ​​part and an opening, and the sensor structure includes a sensor body and a signal transceiver connected to the sensor body; The sensor body is snapped into the snap-fit ​​part, and the signal transceiver is exposed through the opening.

6. The sweeper according to claim 2, characterized in that, The transmission assembly includes a first gear, which is located in the transmission cavity and connected to the side brush structure, and the sensing element is disposed on the first gear.

7. The sweeper according to any one of claims 1-6, characterized in that, The sweeper also includes a controller, which is electrically connected to the sensor structure; When the brush bar needs cleaning, the controller activates the sensor structure to stop the side brush structure from rotating at a preset position.

8. The sweeper according to claim 7, characterized in that, The sweeper also includes a driver, which is electrically connected to the controller and connected to the transmission assembly; The side brush structure is vertically and vertically connected to the housing. When the side brush structure is in the preset position, the controller controls the driver to work. The driver drives the side brush structure to rise through the transmission component so that at least one of the brush strips is close to the cleaning part.

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

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

11. The sweeper according to any one of claims 1-6, characterized in that, The side brush structure includes a side brush shell and a side brush body disposed within the side brush shell. The side brush shell is connected to the transmission assembly, and the side brush body is provided with a plurality of brush strips, which extend out of the side brush shell. The side brush body rotates in the second direction and abuts against the upper surface inside the side brush shell, so that the side brush structure is raised close to the shell.

12. The sweeper according to claim 11, characterized in that, The side brush body includes a sleeve and a side brush curved arm connected to the sleeve, and the brush strip is connected to the side brush curved arm; When the side brush housing rotates in the second direction, the side brush arm bends and abuts against the upper surface inside the side brush housing.

13. The sweeper according to claim 12, characterized in that, The side brush structure also includes a side brush shaft, the sleeve is sleeved on the side brush shaft, and the side brush curved arm has a bent part at one end near the sleeve; When the side brush housing rotates in the second direction, the bending portion bends so that the side brush arm abuts against the upper surface inside the side brush housing.

14. A self-cleaning method for a sweeper, applied to the sweeper according to any one of claims 1-13, characterized in that, The sweeping machine includes: a housing, a side brush structure, a transmission assembly, a cleaning unit, and a sensor structure. The housing has a transmission cavity, the transmission assembly is housed in the transmission cavity, the side brush structure is connected to the transmission assembly and rotatably connected to the bottom of the housing, the cleaning unit is spaced apart from the side brush structure at the bottom of the housing, and the sensor structure is connected to the housing, with at least a portion of the sensor structure extending into the transmission cavity. The method includes: The sensor structure is activated; The sensor structure identifies the position of the transmission component; The transmission component stops moving, and the side brush structure stops rotating at a preset position; wherein, the side brush structure has multiple extended brush strips, and at least one of the brush strips is located in the cleaning section at the preset position; The cleaning unit cleans the brush strip.

15. The self-cleaning method for a sweeper according to claim 14, characterized in that, The sweeper also includes a controller and a driver electrically connected to the controller. The output of the driver is connected to the transmission assembly. The sensor structure is electrically connected to the controller. The side brush structure is liftably connected to the housing. Prior to the step of cleaning the brush strip in the cleaning section, the method further includes: The controller controls the operation of the driver; The driver drives the side brush structure to lift, so that the brush bar is close to the cleaning section.

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