Horizontal cleaning device

Abstract

The invention discloses a horizontal type cleaning device which comprises a horizontal type main machine which can be driven by a driving device to automatically move on the ground, the horizontal type main machine comprises a pipe connecting part, and the horizontal type main machine defines a middle vertical plane penetrating through the pipe connecting part; a cleaning head; the connecting pipe assembly is used for being in fluid communication with the horizontal main machine and the cleaning head and comprises a rigid pipe, a flexible pipe and a handle; the plurality of radio wave emission receivers are arranged on the handle and the horizontal host; and a controller arranged to: receive inputs of the plurality of radio wave transceivers; measuring a first horizontal distance between the horizontal host and the handle according to results input by the plurality of radio wave emission receivers; and controlling the horizontal host to advance or retreat based on a comparison result of the first horizontal distance and a predefined first distance parameter range. According to the horizontal cleaning device, an operator does not need to manually move the horizontal main machine, and use is more convenient and efficient.

Description

Technical Field

[0001] The invention relates to the technical field of surface cleaning equipment, and in particular to a horizontal cleaning device capable of cleaning a floor. Background Art

[0002] As a typical floor cleaning device, horizontal cleaning devices are widely used, such as horizontal vacuum cleaners, horizontal fabric cleaning machines, etc. Common horizontal cleaning devices include a horizontal main unit, a cleaning head separated from the horizontal main unit, and a connecting pipe assembly that fluidly connects the horizontal main unit and the cleaning head; the connecting pipe assembly is composed of a hard pipe, a hose, and a handle; when the horizontal cleaning device is in use, the operator holds the handle and pushes the cleaning head to move on the ground with the help of the hard pipe to transmit force to perform cleaning operations. As the cleaning head moves, the horizontal main unit will be dragged by the connecting pipe assembly and move closely with the cleaning head; in addition, if the horizontal cleaning device needs to be moved to other areas for cleaning, the operator needs to lift the entire horizontal main unit and carry it to the ground to be cleaned. Whether dragging the horizontal main unit or carrying the horizontal main unit, the operator needs to operate laboriously, which greatly reduces the convenience of using the device. Summary of the invention

[0003] In order to solve the above technical problems, an object of the present invention is to provide a horizontal cleaning device which is convenient to use.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a horizontal cleaning device, comprising: a horizontal main machine, which can move on the ground by itself under the drive of a driving device, the horizontal main machine includes a pipe connecting part located at the front, and the horizontal main machine defines a middle vertical plane passing through the pipe connecting part; a cleaning head, which can be pushed by an operator to perform cleaning operations along the ground; a connecting pipe assembly, which is used to fluidically connect the horizontal main machine and the cleaning head and includes a rigid pipe, a flexible pipe and a handle, one end of the rigid pipe is attached to the cleaning head, one end of the flexible pipe is fluidically connected to the other end of the rigid pipe, the other end of the flexible pipe is attached to the pipe connecting part, and the handle is installed at the rigid pipe; a plurality of radio wave transmitters and receivers, each of which can transmit radio waves to the outside and receive radio waves transmitted by the remaining radio wave transmitters and receivers, some of the radio wave transmitters and receivers are arranged at the handle, and some of the radio wave transmitters and receivers are arranged at the horizontal main machine; and a controller, which is arranged to: i) receive inputs from the plurality of radio wave transmitters and receivers; ii) iii) measuring the first horizontal distance between the horizontal host and the handle according to the results of the multiple radio wave transmitter and receiver inputs; iii) comparing the first horizontal distance with a predefined first distance parameter range, and controlling the driving device to drive the horizontal host forward or backward when the first horizontal distance is not within the predefined first distance parameter range.

[0005] In a specific embodiment, the controller is arranged to: iv) measure the second horizontal distance from the handle to the middle vertical plane based on the results of the inputs from the multiple radio wave transmitters and receivers; v) compare the second horizontal distance with a predefined second distance parameter, and control the drive device to drive the horizontal host to turn when the second horizontal distance is not within the predefined second distance parameter; wherein, when the first horizontal distance is not within the range of the predefined first distance parameter and at the same time the second horizontal distance is not within the predefined second distance parameter, the drive device is controlled to drive the horizontal host to turn first and then move.

[0006] In a specific embodiment, when the first horizontal distance is not within the predefined first distance parameter range and the difference between the two is within a first threshold range, the driving device is controlled to drive the horizontal main machine to move forward or backward at a first speed; and when the first horizontal distance is not within the predefined first distance parameter range and the difference between the two is within a second threshold range, the driving device is controlled to move forward or backward at a second speed greater than the first speed.

[0007] In a specific embodiment, the horizontal cleaning device comprises at least four radio wave transmitters and receivers, wherein at least one of the radio wave transmitters and receivers is arranged at the handle, and at least three of the radio wave transmitters and receivers are arranged at the horizontal main unit.

[0008] In a specific embodiment, at least three of the radio wave transmitters and receivers are distributed at three vertices of a triangle.

[0009] In a specific embodiment, the handle includes a rod having an upper end and a lower end and a grip fixedly mounted on the upper end, the lower end of the rod is rotatably arranged with the rigid tube, and at least one of the radio wave transmitters and receivers is arranged at the grip.

[0010] In a specific embodiment, the horizontal main machine includes a moving wheel distributed on the left and the right, the driving device includes a pair of driving motors, and each of the moving wheels is equipped with a driving motor.

[0011] In a specific embodiment, controlling the steering of the horizontal main machine includes: controlling a pair of moving wheels to move at different speeds.

[0012] In a specific embodiment, the horizontal main machine includes a rechargeable battery, which is electrically connected to the driving device and can be used to provide electrical energy to the driving device.

[0013] Compared with the prior art, the present invention achieves the following beneficial effects: The horizontal cleaning device in this case, by setting up multiple radio wave transmitters and receivers connected to the controller signal, allows the operator to push the cleaning head to move on the ground, and the controller can always accurately monitor the distance of the horizontal main unit relative to the handle in the horizontal plane, and control the horizontal main unit to move automatically when the distance exceeds a preset distance range, so that the horizontal main unit is always kept within a predetermined distance range from the handle, cleaning head, etc. It avoids the traditional method of using pulling flexible tubes to drive the horizontal main unit to move and damage the flexible tubes, and there is no need for the operator to manually move the horizontal main unit, so it is more convenient and efficient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A three-dimensional diagram of a horizontal cleaning device provided according to an embodiment of the present invention; Figure 2 A front view of a horizontal main engine provided according to an embodiment of the present invention; Figure 3 It is a cross-sectional schematic diagram of a horizontal cleaning device provided according to an embodiment of the present invention, wherein the cleaning head and part of the connecting pipe are omitted; Figure 4A schematic diagram of a state of the handle provided according to an embodiment of the present invention when the horizontal cleaning device is working; Figure 5 A schematic diagram of another state of the handle provided according to an embodiment of the present invention when the horizontal cleaning device is working; Figure 6 A schematic diagram of the working state of the horizontal cleaning device provided according to an embodiment of the present invention; Figure 7 This is a schematic diagram showing the cooperation between a plurality of radio wave transmitters and receivers and a controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0015] To describe the technical content, structural features, achieved purpose and effect of the application in detail, the technical solutions in the embodiments of the application will be described below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all of the embodiments. In the following description, for the purpose of explanation, many specific details are set forth to provide a detailed description of various exemplary embodiments or implementations of the invention. However, various exemplary embodiments may also be implemented without these specific details or in the case of one or more equivalent arrangements. In addition, various exemplary embodiments may be different, but not necessarily exclusive. For example, without departing from the inventive concept, the specific shape, structure and characteristics of the exemplary embodiment may be used or implemented in another exemplary embodiment.

[0016] The horizontal cleaning device according to the present invention will be described in detail below with reference to the accompanying drawings.

[0017] like Figure 1 As shown, the horizontal cleaning device 100 is mainly composed of a horizontal main body 1, a cleaning head 2 and a connecting pipe 3. The horizontal cleaning device 100 can clean the floor; for example, it can be constructed as a horizontal vacuum cleaner to perform vacuuming operations on the floor; or it can be constructed as a horizontal wet cleaning device to wipe the floor with a cleaning liquid such as water; or it can be constructed as a horizontal steam device to clean the floor with steam. The cleaning functions of the horizontal cleaning device 100 are not limited to the above-mentioned ones.

[0018] like Figure 2 As shown, the horizontal main machine 1 includes a housing 11 and a pair of moving wheels 12. The housing 11 can be of any shape. For example, the housing 11 can be Figure 1 As shown in the spherical shape, the housing 11 may be assembled from a plurality of injection molded parts.

[0019] like Figure 3As shown, a driving device 13, a controller 14, a rechargeable battery 15 and functional components that meet the floor cleaning requirements are installed inside the housing 11. In this example, the functional components installed in the housing 11 include a suction motor 16 and a dust box 17. The horizontal main machine 1 can move on the ground by itself under the drive of the driving device 13. The front part of the housing 11 defines a pipe connection part 18. The horizontal main machine 1 defines a middle vertical plane XZ passing through the pipe connection part 18.

[0020] A pair of moving wheels 12 are mounted on the bottom of the housing 11, one on the left and one on the right. The driving device 13 includes a pair of driving motors 131; one driving motor 131 is arranged in a transmission with a corresponding moving wheel 121. The rechargeable battery 15 provides the pair of driving motors 131 with the required electrical energy for operation. Driven by the pair of driving motors 131, the pair of moving wheels 12 can drive the horizontal host 1 to move forward, backward and turn; wherein, to realize the forward or backward movement of the horizontal host 1, the pair of driving motors 131 need to drive the pair of moving wheels 12 to move at the same speed; and to realize the turning of the horizontal host 1, the pair of driving motors 131 need to drive the pair of moving wheels 12 to move at different speeds. In order to enable the horizontal host 1 to be stably supported on the ground or move along the ground, at least one passive wheel (not shown in the figure) should also be provided at the bottom of the housing 11.

[0021] like Figure 4 As shown, the cleaning head 2 can be pushed by the operator to move along the ground to perform cleaning operations. Suitable cleaning components, such as a stirring brush, a wiping cloth, a suction port, etc., can be arranged on the cleaning head 2.

[0022] The connecting pipe assembly 3 is used for fluid communication between the horizontal main unit 1 and the cleaning head 2. The connecting pipe assembly 3 includes a rigid pipe 31, a flexible pipe 32 and a handle 33. One end of the rigid pipe 31 is attached to the cleaning head 2, and the rigid pipe 31 can be a separate pipe or a telescopic sleeve that can be retracted. One end of the flexible pipe 32 is connected to the other end of the rigid pipe 31 for fluid communication, and the other end of the flexible pipe 32 is attached to the pipe connection portion 18 of the horizontal main unit 1. The handle 33 is installed at the upper position of the rigid pipe 31.

[0023] The handle 33 includes a rod 331 having an upper end and a lower end and a grip 332 fixedly mounted on the upper end. The lower end of the rod 331 is rotatably arranged with the rigid tube 31. Figure 1-2 As shown, the operator can hold the handle 332 to move the cleaning head 2, so that the cleaning head 2 can cooperate with the horizontal main machine 1 to clean the floor.

[0024] like Figure 5As shown, during the process of moving the cleaning head 2, the user can choose to rotate the handle 33 forward relative to the rigid tube 31, so as to clean the floor in low places such as under a table or bed without bending over.

[0025] The horizontal cleaning device 100 further comprises a plurality of radio wave transmitters and receivers, each of which is capable of transmitting radio waves to the outside and receiving radio waves transmitted by the remaining radio wave transmitters and receivers, some of which are arranged at the handle and some at the horizontal main unit.

[0026] like Figure 6 As shown, the horizontal cleaning device 100 is provided with four radio wave transmitters and receivers, wherein one radio wave transmitter and receiver 41 is arranged at the grip 332 of the handle 33; three radio wave transmitters and receivers 42, 43 and 44 are arranged at the housing 11 of the horizontal main unit; Figure 7 As shown, three radio wave transmitting and receiving devices 42, 43 and 44 are distributed at three vertices of a triangle.

[0027] The controller 14 of the horizontal cleaning device 100 is connected to the signals of the radio wave transmitters and receivers 41, 42, 43 and 44 to receive the inputs of the radio wave transmitters and receivers. The controller 14 is connected to a pair of drive motors 131 to control the pair of drive motors 131 to drive the horizontal main machine 1 to move forward, backward and turn on the ground.

[0028] like Figure 7 As shown, the controller 14 can measure the first horizontal distance X1 between the horizontal main unit 1 and the handle 33 and the second horizontal distance Y1 from the handle 33 to the middle vertical plane XZ according to the results of the radio wave transmitter and receiver input; for example, the two horizontal distances are measured by using a three-sided measurement positioning algorithm; after this measurement, the position coordinates of the horizontal main unit 1 relative to the handle 33 in the horizontal plane coordinate system can be confirmed; the controller 14 can control the driving device 13 to drive the horizontal main unit 1 to move forward, backward and turn on the ground based on the first horizontal distance X1 and the second horizontal distance Y1, so as to constrain the first horizontal distance between the horizontal main unit 1 and the handle 33 within a predetermined distance parameter range, such as within a range of 0.8m-1m.

[0029] The controller 14 controls the horizontal main machine 1 to move forward, backward and turn on the ground, specifically: The calculated first horizontal distance X1 is compared with a predefined first distance parameter range, and when the first horizontal distance X1 is not within the predefined first distance parameter range, the driving device 13 is controlled to drive the horizontal main machine 1 forward or backward. For example, taking the predefined first distance parameter range of 0.8m-1m as an example, if the first horizontal distance X1 is greater than 1m, the driving device 13 is controlled to drive the horizontal main machine 1 forward, and when the first horizontal distance X1 is less than 0.8m, the driving device 13 is controlled to drive the horizontal main machine 1 backward.

[0030] The second horizontal distance Y1 is compared with a predefined second distance parameter. When the second horizontal distance Y1 is greater than the predefined second distance parameter, the driving device 13 is controlled to drive the horizontal main machine 1 to turn. At this time, by controlling a pair of driving motors 131 to drive the corresponding rotations at different speeds, the turning can be achieved. For example, the driving motor 131 arranged to be transmitted with the moving wheel 12 on the left side is controlled to drive the moving wheel 12 on the left side to move at a faster speed, and the driving motor 131 arranged to be transmitted with the moving wheel 12 on the right side is controlled to drive the moving wheel 12 on the right side to move at a slower speed, so as to turn right, and vice versa, turn left. Generally, the value of the second horizontal distance Y1 is extremely large, which means that the handle 33 deviates more from the middle vertical plane XZ, and the predefined second distance parameter can select a smaller range, such as 5cm.

[0031] When the controller 14 learns that the first horizontal distance X1 is not within the predefined first distance parameter range and the second horizontal distance Y1 is greater than the predefined second distance parameter, the controller 14 controls the driving device 13 to drive the horizontal main machine 1 to turn first and then move.

[0032] When the first horizontal distance X1 is not within the predefined first distance parameter range and the difference between the two is within the first threshold range, the controller 14 controls the driving device 13 to drive the horizontal main machine 1 to move forward or backward at a first speed; and when the first horizontal distance X1 is not within the predefined first distance parameter range and the difference between the two is within the second threshold range, the controller 14 controls the driving device 13 to move forward or backward at a second speed greater than the first speed. For example, the first threshold range is selected to be greater than 0 and less than 0.5m; the second threshold range is greater than 0.5m. This solution can ensure that the horizontal main machine 1 away from the handle can be moved to the vicinity of the handle 33 as quickly as possible, avoiding the need for the user to pull the flexible tube.

[0033] In the horizontal cleaning device of this case, when the operator pushes the cleaning head to move on the ground, the horizontal main unit moves by itself and always maintains a predetermined distance range from the handle, the cleaning head, etc., which avoids the disadvantage of the traditional method of pulling the flexible tube to drive the horizontal main unit to move and damaging the flexible tube. In addition, the operator does not need to manually move the horizontal main unit, which makes it more convenient and efficient to use.

[0034] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present application. Without departing from the spirit and scope of the present application, the present application may have various changes and improvements, and the scope of protection required by the present application is defined by the attached claims, description and their equivalents.

Claims

1. A horizontal cleaning device, characterized in that: include: A horizontal main machine, which can move on the ground by itself under the drive of a driving device, wherein the horizontal main machine comprises a pipe connection portion at the front, and the horizontal main machine defines a middle vertical plane passing through the pipe connection portion; A cleaning head that can be pushed by an operator to perform cleaning operations along the ground; A connecting pipe assembly, which is used for fluid connection between the horizontal main unit and the cleaning head and comprises a rigid pipe, a flexible pipe and a handle, one end of the rigid pipe is attached to the cleaning head, one end of the flexible pipe is fluidically connected with the other end of the rigid pipe, the other end of the flexible pipe is attached to the pipe connecting portion, and the handle is installed at the rigid pipe; A plurality of radio wave transmitters and receivers, each of which is capable of transmitting radio waves externally and receiving radio waves transmitted by the remaining radio wave transmitters and receivers, some of which are arranged at the handle, and some of which are arranged at the horizontal host; as well as a controller arranged to: i) receive input from the plurality of radio wave transmitting and receiving devices; ii) measuring a first horizontal distance between the horizontal main unit and the handle according to the results of the inputs of the multiple radio wave transmitters and receivers; iii) comparing the first horizontal distance with a predefined first distance parameter range, and controlling the driving device to drive the horizontal main unit forward or backward when the first horizontal distance is not within the predefined first distance parameter range.

2. The horizontal cleaning device according to claim 1, characterized in that: The controller is arranged to: iv) measure the second horizontal distance from the handle to the middle vertical plane according to the results of the inputs of the multiple radio wave transmitters and receivers; v) compare the second horizontal distance with a predefined second distance parameter, and control the driving device to drive the horizontal host to turn when the second horizontal distance is not within the predefined second distance parameter; wherein, when the first horizontal distance is not within the predefined first distance parameter range and at the same time the second horizontal distance is not within the predefined second distance parameter, the driving device is controlled to drive the horizontal host to turn first and then move.

3. The horizontal cleaning device according to claim 1, characterized in that: When the first horizontal distance is not within the predefined first distance parameter range and the difference between the two is within the first threshold range, the driving device is controlled to drive the horizontal main machine to move forward or backward at a first speed; and when the first horizontal distance is not within the predefined first distance parameter range and the difference between the two is within the second threshold range, the driving device is controlled to move forward or backward at a second speed greater than the first speed.

4. The horizontal cleaning device according to claim 1, characterized in that: The horizontal cleaning device comprises at least four radio wave transmitters and receivers, wherein at least one of the radio wave transmitters and receivers is arranged at the handle, and at least three of the radio wave transmitters and receivers are arranged at the horizontal main unit.

5. The horizontal cleaning device according to claim 4, characterized in that: At least three of the radio wave transmitters and receivers are distributed at three vertices of a triangle.

6. The horizontal cleaning device according to claim 4, characterized in that: The handle comprises a rod with an upper end and a lower end and a grip fixedly mounted on the upper end, the lower end of the rod is rotatably arranged with the rigid tube, and at least one radio wave transmitter and receiver is arranged at the grip.

7. The horizontal cleaning device according to claim 1, characterized in that: The horizontal main machine comprises a moving wheel distributed on the left and the right, the driving device comprises a pair of driving motors, and each of the moving wheels is equipped with a driving motor.

8. The horizontal cleaning device according to claim 7, characterized in that: Controlling the steering of the horizontal main machine includes: controlling a pair of moving wheels to move at different speeds.

9. The horizontal cleaning device according to claim 1, characterized in that: The horizontal main machine comprises a rechargeable battery which is electrically connected to the driving device and can be used to provide electrical energy to the driving device.

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