Self-walking cleaning equipment

Abstract

The invention discloses a self-walking cleaning device. The self-walking cleaning equipment comprises a first functional mechanism and a second functional mechanism, wherein the first functional mechanism comprises a first body and an electric control system arranged on the first body; the equipment main body is detachably connected with the first body; wherein the electric control system comprises a power supply circuit and a monitoring circuit electrically connected with the power supply circuit, and the monitoring circuit is used for detecting the electric connection state between the first function mechanism and the equipment main body. And when the first functional mechanism and the equipment main body are in an electric connection state, the power supply circuit is controlled to supply power to the equipment main body. In this way, the equipment cost of the self-walking cleaning equipment can be reduced, and the safety and reliability of the self-walking cleaning equipment can be improved.

Description

[0001] This application claims the priority of a Chinese patent application with the application number 2023234481273 and the title "A Cleaning System" filed on December 15, 2023. Technical Field

[0002] This application relates to the field of cleaning technology, and particularly to a self - propelled cleaning device. Background Art

[0003] With the development of technology, cleaning devices have entered all aspects of people's lives. Among them, cleaning devices such as floor - cleaning robots, dust collectors, vacuum cleaners, etc. have been widely welcomed by people.

[0004] In order to improve the usability and functional diversity of cleaning devices, cleaning devices usually consist of a cleaning device and a functional mechanism. For example, a detachable floor - cleaning robot usually includes a handheld vacuuming device and a device main body. The handheld vacuuming device can be used alone or in combination with the device main body. The traditional handheld vacuuming device of a detachable floor - cleaning robot usually uses a Hall sensor to detect the connection state with the device main body to determine whether to supply power to the device main body. This solution has a high cost. If the Hall sensor is not used for detection, when the handheld vacuuming device is used in combination with the device main body, the connection terminals of the handheld vacuuming device are easily charged when inserted by hand, resulting in arcing of the connection terminals, which will turn black over time and affect the service life and safety of the product. Summary of the Invention

[0005] The main technical problem to be solved by this application is to provide a self - propelled cleaning device that can reduce the equipment cost of the self - propelled cleaning device and improve its safety and reliability.

[0006] To solve the above - mentioned technical problem, a technical solution adopted by this application is: to provide a self - propelled cleaning device. The self - propelled cleaning device includes: a first functional mechanism, including a first body and an electric control system disposed on the first body; a device main body, wherein the first body is detachably connected to the device main body; wherein, the electric control system includes: a power supply circuit and a monitoring circuit electrically connected to the power supply circuit, and the monitoring circuit is used to detect the electrical connection state between the first functional mechanism and the device main body, and control the power supply circuit to supply power to the device main body when the first functional mechanism and the device main body are in an electrically connected state.

[0007] The beneficial effects of the present application are as follows: Different from the prior art, the self-propelled cleaning device of the present application includes a first functional mechanism and a device main body. Among them, the first functional mechanism includes a first main body and an electric control system arranged on the first main body; the device main body is detachably connected to the first main body; the electric control system includes: a power supply circuit and a monitoring circuit electrically connected to the power supply circuit. The monitoring circuit is used to detect the electrical connection state between the first functional mechanism and the device main body, and control the power supply circuit to supply power to the device main body when the first functional mechanism and the device main body are in an electrically connected state. In this way, the first functional mechanism can supply power to the device main body electrically connected to it; and the first functional mechanism controls its power supply circuit to supply power to the device main body only when it determines that it is electrically connected to the device main body, which can reduce the problem of the connection terminals being burned and blackened due to the power supply circuit always supplying power externally and being charged when the first functional mechanism and the device main body are plugged in. Therefore, the service life and safety of the self-propelled cleaning device can be improved; further, the present application does not need to use a Hall sensor and a magnetic part, etc. to realize the detection of the connection between the first functional mechanism and the device main body, which can reduce the equipment cost. Therefore, the present application can reduce the equipment cost of the self-propelled cleaning device and improve its safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a schematic structural diagram of a base station of an embodiment of the cleaning system of the present application;

[0009] Figure 2 is a schematic three-dimensional structural diagram of the self-propelled cleaning device of the present application;

[0010] Figure 3 is Figure 2 a schematic cross-sectional structural diagram of the self-propelled cleaning device shown;

[0011] Figure 4 is Figure 2 a schematic cross-sectional structural diagram of the handheld vacuuming device shown;

[0012] Figure 5 is Figure 2 a schematic bottom view structural diagram of the self-propelled cleaning device shown;

[0013] Figure 6 is Figure 2 a schematic structural diagram of the separation of the device main body and the handheld vacuuming device shown;

[0014] Figure 7 is Figure 2 a schematic three-dimensional structural diagram of the handheld vacuuming device shown;

[0015] Figure 8 is a schematic structural diagram of an embodiment of the cleaning system of the present application;

[0016] Figure 9Schematic diagram of the three-dimensional structure of the self-propelled cleaning device of the present application;

[0017] Figure 10 is Figure 9 Schematic diagram of the cross-sectional structure of the self-propelled cleaning device shown;

[0018] Figure 11 is Figure 9 Schematic diagram of the disassembled and separated structure of the device main body and the hand-held dust suction device shown;

[0019] Figure 12 is Figure 9 Schematic diagram of the cross-sectional structure of the hand-held dust suction device shown;

[0020] Figure 13 is Figure 9 Schematic diagram of the assembled structure of the hand-held dust suction device and the brush suction head shown;

[0021] Figure 14 is Figure 9 Schematic diagram of the assembled structure of the hand-held dust suction device and the dust suction pipe as a suction nozzle shown;

[0022] Figure 15 is Figure 9 Schematic diagram of the assembled structure of the hand-held dust suction device and another dust suction pipe shown;

[0023] Figure 16 Schematic diagram of the partial structure of the hand-held dust suction device and the dust suction pipe;

[0024] Figure 17 Schematic diagram of the working state of the storage bracket;

[0025] Figure 18 Schematic diagram of the structure of an embodiment of the self-propelled cleaning device of the present application;

[0026] Figure 19 Schematic diagram of the circuit structure of a partial circuit of the electric control system in the self-propelled cleaning device of the present application;

[0027] Figure 20 Schematic diagram of the circuit structure of the first communication circuit and the second communication circuit in the self-propelled cleaning device of the present application;

[0028] Figure 21 Schematic diagram of the communication interaction between the first functional mechanism and the device main body in the self-propelled cleaning device of the present application;

[0029] Figure 22 Schematic diagram of the flow of an embodiment of the control method of the self-propelled cleaning device of the present application;

[0030] Figure 23 Schematic diagram of the flow of another embodiment of the control method of the self-propelled cleaning device of the present application. Detailed Implementation Manner

[0031] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0032] After long-term research, the inventor of the present application found that cleaning equipment often needs to clean garbage objects in the environment during the cleaning process to keep the environment clean. For example, air flow can be generated by a blower to suck dust and debris in the environment. However, in the prior art, the cleaning actions of cleaning equipment are relatively single, resulting in limited cleaning scenarios for the cleaning equipment. To solve this technical problem, the following embodiments are provided in the present application.

[0033] As Figures 1 to 3 and Figure 8 shown, the cleaning system described in the embodiment of the cleaning system of the present application includes a self-propelled cleaning device 1 and a base station 300. The self-propelled cleaning device 1 is provided with a dust collection chamber 201. The function of the dust collection chamber 201 is to collect various garbage objects absorbed by the self-propelled cleaning device 1 during the cleaning work, such as dust particles, paper scraps, hair, etc. The base station 300 is provided with a dust collection port 301, and the dust collection port 301 is used to communicate with the dust collection chamber 201.

[0034] Furthermore, the self-propelled cleaning device 1 is provided with a dust removal port 203. When the self-propelled cleaning device 1 is docked with the base station 300, the garbage objects collected in the dust collection chamber 201 can enter the base station 300 through the dust removal port 203 and the dust collection port 301.

[0035] Specifically, the self-propelled cleaning device 1 can have one or more functions such as sweeping, mopping, washing the floor, and vacuuming. For example, the self-propelled cleaning device 1 can be a sweeping robot, a mopping robot, a washing and mopping integrated robot, a sweeping, washing and mopping integrated robot, etc. When the self-propelled cleaning device 1 is performing cleaning work, the self-propelled cleaning device 1 can absorb various garbage objects from the outside, such as dust particles, paper scraps, hair, etc.

[0036] As Figures 3 to 5 shown, and as Figures 9 to 12 shown, the self-propelled cleaning device 1 can include a device main body 100 and a blower 209.

[0037] The device main body 100 can further include a main housing 124, a traveling assembly, and a cleaning assembly 126. The main housing 124 can serve as the overall structural framework of the device main body 100, and the inside of the main housing 124 can be used to accommodate multiple functional components, electrical devices, and other components to protect the internal components and structures of the self-propelled cleaning device 1, etc.

[0038] The traveling assembly can be mainly disposed on the main housing 124. The traveling assembly can enable the self - propelled cleaning device 1 to have the functions of moving and self - propelling, so that the self - propelled cleaning device 1 can automatically reach the area to be cleaned for cleaning. The traveling assembly includes a driving wheel 125 and a caster 1251, and the caster 1251 is driven by the driving wheel 125 to move. The cleaning assembly 126 can include a rotary brush, and the rotary brush can be disposed at the bottom of the main housing 124 for providing a cleaning function when the self - propelled cleaning device 1 is working, and cleaning the working surface of the self - propelled cleaning device 1. The fan 209 is used to suck dust, debris and other garbage objects on the working surface into the dust collection chamber 201.

[0039] The cleaning assembly 126 and the fan 209 can cooperate with each other and work together. For example, the dust suction port 101 can be disposed adjacent to the rotary brush, so that the garbage or dust swept out during the rotation of the rotary brush can be sucked into the dust collection chamber 201.

[0040] The structure of the above - mentioned self - propelled cleaning device 1 is only for exemplary illustration and is not limited to the above - mentioned exemplary structure.

[0041] Optionally, as Figure 1 shown, the base station 300 can include a base station main body 310 and a base 30. The base station main body 310 is connected to the base 30. For example, the base station main body 310 can be disposed on one side of the base 30, or the base station main body 310 can be disposed above the base 30. The base 30 can be used to carry the self - propelled cleaning device 1. For example, the self - propelled cleaning device 1 can travel to the base 30 and stay on the base 30. The base station main body 310 can suck the garbage objects in the self - propelled cleaning device 1 carried on the base 30. In some embodiments, the base station 300 may not be configured with the base 30.

[0042] Optionally, the base station 300 may include a dust collection box 23, a sewage box 24, a dust collection fan 320, a pumping mechanism 26, a liquid supply mechanism 27, and a gas supply mechanism 28. Specifically, the base station main body 310 includes a dust collection box 23, a clean water box 21, a sewage box 24, a dust collection fan 320, a pumping mechanism 26, a liquid supply mechanism 27, and a gas supply mechanism 28. Further, the base station main body 310 may also include a first housing 29. The clean water box 21, the dust collection box 23, the sewage box 24, and the gas supply mechanism 28 may be disposed within the first housing 29 and are spaced apart from each other. The dust collection fan 320 is configured to suck the garbage objects in the self-propelled cleaning device 1 into the dust collection box 23. The dust collection box 23 is used to retain the garbage objects sucked from the self-propelled cleaning device 1. The sewage box 24 is used to hold the sewage or waste liquid generated after cleaning the self-propelled cleaning device 1. The pumping mechanism 26 is configured to pump the sewage generated after cleaning the self-propelled cleaning device 1 into the sewage box 24. The pumping mechanism 26 may also be connected to the sewer pipe in the scene to be cleaned to automatically pump the sewage into the sewer pipe. The liquid supply mechanism 27 is configured to transport or pump the cleaning liquid to the self-propelled cleaning device 1. The gas supply mechanism 28 is configured to provide a dry gas, and thus can dry the corresponding area after the self-propelled cleaning device 1 is cleaned. In other embodiments, the sewage recovery and the collection of dry garbage objects may share a power source, that is, only one of the dust collection fan 320 and the pumping mechanism 26 may be provided. Additionally, in some embodiments, the gas supply mechanism 28 may also be omitted.

[0043] Optionally, the base station 300 may include a dust bag disposed within the dust collection box 23, and the garbage objects entering the base station will ultimately enter the dust bag. Alternatively, the dust collection box 23 may also employ a cyclone separator to achieve gas-dust separation.

[0044] Regarding the self-propelled cleaning device 1 described in the embodiments of the cleaning system of the present application, the following content may be specifically referred to.

[0045] Among them, the self-propelled cleaning device 1 further includes a first functional mechanism 10a. The first functional mechanism 10a may include a handheld vacuuming device 200, or may include a mopping module, a roller brush module, a fan module including a fan 209, etc. In the present application, the handheld vacuuming device 200 is taken as an example for introduction, and others will not be elaborated one by one.

[0046] As Figures 2 to 5As shown, the self - propelled cleaning device 1 includes driving wheels 125, a device main body 100, and a hand - held dust suction device 200. The hand - held dust suction device 200 is detachably connected to the device main body 100. The driving wheels 125 are installed on the device main body 100 and are used to drive the device main body 100 to move on the working surface. The hand - held dust suction device 200 includes a handle 241 and a blower 209. The hand - held dust suction device 200 is formed with a dust collection chamber 201, an air inlet 202, and a dust removal port 203 that communicates with the dust collection chamber 201. The device main body 100 is provided with a dust suction port 101, and the dust suction port 101 communicates with the air inlet 202. The blower 209 has an air inlet 2091 that communicates with the dust collection chamber 201. The blower 209 is used to form an air flow that flows from the dust suction port 101 through the air inlet 202 into the dust collection chamber 201. The dust collection chamber 201 is used to accommodate the garbage objects carried by the air flow. The base station 300 is provided with a dust collection port 301. The dust collection port 301 is used to communicate with the dust removal port 203 so that the garbage objects in the dust collection chamber 201 can enter the base station 300 through the dust removal port 203 and the dust collection port 301.

[0047] After the hand - held dust suction device 200 is detached from the device main body 100, the hand - held dust suction device 200 can be used separately by the user to suck garbage objects. Specifically, after being detached from the device main body 100, when the hand - held dust suction device 200 works, it can form an air flow that flows into the hand - held dust suction device 200 through the air inlet 202, and then transports the garbage objects carried by the air flow to the dust collection chamber 201 through the air inlet 202.

[0048] When the hand - held dust suction device 200 is assembled to the device main body 100, the hand - held dust suction device 200 and the device main body 100 can cooperate to suck garbage objects. Specifically, when the hand - held dust suction device 200 is assembled to the device main body 100, the dust suction port 101 communicates with the air inlet 202. When the hand - held dust suction device 200 works, it forms an air flow that flows from the dust suction port 101 through the air inlet 202 into the hand - held dust suction device 200, and then transports the garbage objects carried by the air flow to the dust collection chamber 201 through the dust suction port 101 and the air inlet 202.

[0049] In some embodiments, when both the hand - held dust suction device 200 and the device main body 100 are in a working state, the formed air flow can enter the interior of the device main body 100 from the dust suction port 101, and then flow into the hand - held dust suction device 200 through the air inlet 202 and transport the garbage objects carried by the air flow to the dust collection chamber 201.

[0050] By setting the handheld vacuuming device 200 such that the dust suction port 101 communicates with the air inlet 202 when the handheld vacuuming device 200 is assembled to the device main body 100, the dust collection chamber 201 can be used independently by the handheld vacuuming device 200 and can also be used when the handheld vacuuming device 200 is assembled to the self-propelled cleaning device 1 of the device main body 100, which can save space, improve the space utilization rate of the self-propelled cleaning device 1, and the saved space can be used to set parts that can enhance the cleaning function, thereby improving the cleaning effect. For example, the saved space can be used to set a power supply component 221 with a larger energy storage capacity to improve the battery life of the self-propelled cleaning device 1. In addition, the user can selectively use the self-propelled cleaning device 1 and the handheld vacuuming device 200 according to different household scenarios. For example, the self-propelled cleaning device 1 is used to clean the floor, and the handheld vacuuming device 200 is used to clean areas above the ground that the self-propelled cleaning device 1 cannot cross, such as tabletops, steps, etc. Of course, the handheld vacuuming device 200 can also be used to clean the cleaning dead corners of the self-propelled cleaning device 1, such as the corners of the wall, etc.

[0051] As Figures 3 to 6 shown, the dust removal port 203 can be arranged at an interval from the air inlet 202. The dust removal port 203 is used to communicate with the dust collection port 301 of the base station 300 when the self-propelled cleaning device 1 is docked with the base station 300, so that the garbage objects in the dust collection chamber 201 can be sucked into the base station 300 through the dust removal port 203 and the dust collection port 301.

[0052] For example, in the state where the handheld vacuuming device 200 is assembled to the device main body 100, during the dust collection process of the base station 300, the airflow formed by the base station 300 can flow into the dust collection chamber 201 through the air inlet 202, and then leave the dust collection chamber 201 through the dust removal port 203 and enter the base station 300 through the dust collection port 301. The airflow is used to carry the garbage objects in the dust collection chamber 201 when flowing through the dust collection chamber 201, so as to collect the garbage objects in the dust collection chamber 201 into the base station 300. A dust collection box 23 or a dust bag can be arranged in the base station 300 to accommodate the garbage objects from the dust collection chamber 201.

[0053] In some embodiments, the dust collection port 301 communicates with the dust removal port 203 in a docking manner.

[0054] Optionally, as Figures 3 to 6 shown, the device main body 100 is provided with a dust outlet 102 communicating with the dust suction port 101. The dust outlet 102 is used to communicate with the air inlet 202 when the handheld vacuuming device 200 is assembled to the device main body 100. Further, the dust outlet 102 is used to dock and communicate with the air inlet 202 when the handheld vacuuming device 200 is assembled to the device main body 100.

[0055] When the handheld dust suction device 200 is assembled to the device main body 100, the airflow formed during the operation of the handheld dust suction device 200 can enter the interior of the device main body 100 from the dust suction port 101, then flow out from the dust outlet 102, and then enter the dust collection chamber 201 inside the handheld dust suction device 200 through the air inlet 202, and convey the garbage objects carried by the airflow to the dust collection chamber 201 to achieve the cleaning function.

[0056] Optionally, as Figure 3 shown, the device main body 100 is provided with a dust discharge port 103 and a dust inlet 104 that communicate with each other. The dust discharge port 103 is used to communicate with the dust collection port 301, and the dust inlet 104 is used to communicate with the dust removal port 203. Further, the dust discharge port 103 is used to dock and communicate with the dust collection port 301, and the dust inlet 104 is used to dock and communicate with the dust removal port 203.

[0057] When the handheld dust suction device 200 is assembled to the device main body 100, during the dust collection process of the base station 300, the airflow formed by the base station 300 can sequentially flow into the dust collection chamber 201 through the dust suction port 101 and the air inlet 202, then leave the dust collection chamber 201 through the dust removal port 203 and enter the device main body 100 through the dust inlet 104, and then enter the base station 300 through the dust discharge port 103 and the dust collection port 301. The airflow is used to carry the garbage objects in the dust collection chamber 201 when flowing through the dust collection chamber 201, so that the garbage objects in the dust collection chamber 201 can be collected into the base station 300.

[0058] By arranging the dust discharge port 103 on the device main body 100 instead of the handheld dust suction device 200, the compatibility of the base station 300 with different self-propelled cleaning devices 1 can be improved. When adjusting the assembly relationship between the handheld dust suction device 200 and the device main body 100, the docking structure between the base station 300 and the device main body 100 can be kept unchanged, which is beneficial to realizing the stable docking between the dust discharge port 103 and the dust collection port 301.

[0059] Optionally, as Figure 2 and Figure 4 shown, the handheld dust suction device 200 is provided with a shielding member 210. The shielding member 210 is movably arranged at the dust removal port 203 so as to be able to switch between a covering position and an opening position relative to the dust removal port 203. The shielding member 210 is arranged to cover the dust removal port 203 in the covering position, and is also arranged to move from the covering position to the opening position to open the dust removal port 203 under the attraction of the dust collection fan 320.

[0060] When the self - propelled cleaning device 1 is performing cleaning work or the hand - held dust - suction device 200 is held for cleaning work after being detached from the device main body 100, the shielding member 210 can cover the dust - removal port 203 in the covering position, thereby preventing garbage objects from leaving the dust - collection chamber 201 through the dust - removal port 203. When the self - propelled cleaning device 1 needs to collect dust, under the suction force of the dust - collection fan 320, the shielding member 210 can be in the open position to open the dust - removal port 203, and the airflow formed under the action of the dust - collection fan 320 can carry garbage objects to leave the dust - collection chamber 201 through the dust - removal port 203 and enter the base station 300, thereby realizing the dust - collection function.

[0061] Optionally, the hand - held dust - suction device 200 is provided with an elastic member, and the shielding member 210 is rotatably arranged at the dust - removal port 203. The elastic member is used to limit the shielding member 210 in the covering position, and the elastic member is in an elastically compressed state when the shielding member 210 is in the open position.

[0062] When the self - propelled cleaning device 1 is performing cleaning work or the hand - held dust - suction device 200 is held for cleaning work after being detached from the device main body 100, the elastic member can press the shielding member 210 to the covering position to cover the dust - removal port 203. When the self - propelled cleaning device 1 needs to collect dust, under the suction force of the dust - collection fan 320, the shielding member 210 rotates to the open position, and at the same time the elastic member is in an elastically compressed state. When the dust - collection of the self - propelled cleaning device 1 is completed, the dust - collection fan 320 stops working, and the elastic member elastically returns, causing the shielding member 210 to rotate to the covering position. For example, the elastic member is a torsion spring.

[0063] In some embodiments, the shielding member 210 is arranged to move to the covering position under the attraction of the fan 209. In some embodiments, the shielding member 210 is arranged to move to the covering position under the combined action of the attraction of the fan 209 and the elastic return of the elastic member. In some embodiments, the elastic member can also be omitted, and the shielding member 210 itself is made of an elastic material. For example, the shielding member 210 can be made of rubber material. In some embodiments, the shielding member 210 can also be arranged to move between the covering position and the open position under the drive of a motor.

[0064] Optionally, as Figure 6 and Figure 7 shown, the device main body 100 is provided with a second electrical connection terminal 110, and the hand - held dust - suction device 200 is provided with a first electrical connection terminal 220. When the hand - held dust - suction device 200 is assembled to the device main body 100, the first electrical connection terminal 220 and the second electrical connection terminal 110 are electrically connected.

[0065] The device main body 100 and the hand - held dust - suction device 200 can be electrically connected through the first electrical connection terminal 220 and the second electrical connection terminal 110, so as to realize the transmission of electric energy and electrical signals between the device main body 100 and the hand - held dust - suction device 200.

[0066] The handheld vacuuming device of traditional separable floor cleaning robots usually uses a Hall sensor to detect the electrical connection state with the device main body to determine whether to supply power to the device main body. This solution has a relatively high cost. If the Hall sensor is not used for detection, when the handheld vacuuming device is used in combination with the device main body, the electrical connection terminals of the handheld vacuuming device are likely to be charged when the handheld vacuuming device is inserted, resulting in arcing at the electrical connection terminals, which will turn black over time and affect the service life and safety of the product.

[0067] For this reason, as Figure 18 shown, the handheld vacuuming device 200 of the self-propelled cleaning device 1 includes a first main body 11a and an electric control system arranged on the first main body 11a; the first main body 11a is detachably connected to the device main body 100; the electric control system includes: a power supply circuit 121a and a monitoring circuit 122a electrically connected to the power supply circuit 121a, and the monitoring circuit 122a is used to detect the electrical connection state between the handheld vacuuming device 200 and the device main body 100, and control the power supply circuit 121a to supply power to the device main body 100 when the handheld vacuuming device 200 and the device main body 100 are in an electrically connected state.

[0068] Among them, the first main body 11a of the handheld vacuuming device 200 at least includes the device main body 240 of the handheld vacuuming device 200, which can at least be used to carry the electric control system, etc., and cooperate with the electric control system to realize the functions of the handheld vacuuming device 200 and supply power to the device main body 100.

[0069] The handheld vacuuming device 200 of this embodiment can work independently to achieve the first function. For example, the user can use the handheld vacuuming device 200 to clean the ground or non-ground; the handheld vacuuming device 200 can also be connected to the device main body 100 and the two are used in combination, and the handheld vacuuming device 200 supplies power to the device main body 100 to achieve the second function, such as the self-propelled cleaning device 1 automatically walking on the ground to complete the cleaning work.

[0070] The handheld vacuuming device 200 of this embodiment can supply power to the device main body 100 electrically connected thereto; and the handheld vacuuming device 200 controls its power supply circuit 121a to supply power to the device main body 100 only when it determines that it is electrically connected to the device main body 100, which can reduce the problem of arcing and blackening of the connection terminals caused by the power supply circuit 121a always supplying power externally and being charged when the handheld vacuuming device 200 is plugged into the device main body 100. Therefore, it can improve the service life and safety of the self-propelled cleaning device; further, this embodiment does not need to use a Hall sensor and magnetic parts, etc. to realize the detection of the connection between the handheld vacuuming device 200 and the device main body 100, which can reduce the equipment cost. Therefore, this embodiment can reduce the equipment cost of the self-propelled cleaning device and improve its safety and reliability.

[0071] In other embodiments, the device main body itself may also be provided with a power supply circuit, such as a battery, etc. Without the need for the handheld suction device to supply power, the device main body can move automatically alone or with the handheld suction device; alternatively, the handheld suction device and / or the device main body can obtain electrical energy through a wireless power supply method, and so on.

[0072] Optionally, the monitoring circuit 122a is configured to detect a voltage change of the transmission voltage between the handheld suction device 200 and the device main body 100, and determine the electrical connection state between the handheld suction device 200 and the device main body 100 based on the voltage change; wherein, if the transmission voltage changes from a first preset voltage value to a second preset voltage value, it is determined that the connection state between the handheld suction device 200 and the device main body 100 switches from a separated state to an electrically connected state; the first preset voltage value is different from the second preset voltage value.

[0073] When the handheld suction device 200 is electrically connected to the device main body 100, the device main body 100 is connected to the handheld suction device 200 as a load of the handheld suction device 200, which will cause the voltage value of the transmission voltage of the power supply circuit 121a of the handheld suction device 200 to the device main body 100 to change. Based on this, in this embodiment, only by the voltage change of the transmission voltage between the handheld suction device 200 and the device main body 100, it is possible to identify the change in the electrical connection state between the handheld suction device 200 and the device main body 100; and when the transmission voltage between the handheld suction device 200 and the device main body 100 changes from a first preset voltage value to a second preset voltage value, it is determined that the connection state between the handheld suction device 200 and the device main body 100 switches from a separated state to an electrically connected state, which can improve the detection accuracy of the electrical connection state.

[0074] Among them, the first preset voltage value is different from the second preset voltage value. The first preset voltage value is the voltage value of the transmission voltage between the handheld suction device 200 and the device main body 100 when they are in a separated state; the second preset voltage value is the voltage value of the transmission voltage between the handheld suction device 200 and the device main body 100 when they are in a separated state.

[0075] Optionally, the monitoring circuit 122a of this embodiment includes: a main control circuit 123a, a first electrical connection terminal 220, and an insertion detection circuit 125a. The device main body 100 includes a second main body 21a, a power supply circuit 22a disposed on the second main body 21a, and a second electrical connection terminal 110. The first electrical connection terminal 220 is used for electrical connection with the second electrical connection terminal 110. The insertion detection circuit 125a is electrically connected to the main control circuit 123a and the first electrical connection terminal 220 respectively, and is used to detect the voltage change of the voltage transmitted on the first electrical connection terminal 220. The power supply circuit 22a is electrically connected to the second electrical connection terminal 110. The power supply circuit 121a is electrically connected to the first electrical connection terminal 220 and the main control circuit 123a respectively. When the main control circuit 123a determines that the first electrical connection terminal 220 is electrically connected to the second electrical connection terminal 110 based on the detection result of the insertion detection circuit, it controls the power supply circuit 121a to supply power to the first electrical connection terminal 220, so as to supply power to the second electrical connection terminal 220.

[0076] When the handheld vacuum device 200 is in a separated state from the device main body 100, the first electrical connection terminal 220 is not electrically connected to the second electrical connection terminal 110. When the handheld vacuum device 200 is in a connected state with the device main body 100, the first electrical connection terminal 220 is electrically connected to the second electrical connection terminal 110. In these two states, the voltage on the first electrical connection terminal 220, that is, the above-mentioned transmitted voltage, will change. In this embodiment, the insertion detection circuit 125a can detect the voltage change of the first electrical connection terminal 220 and feedback this change to the main control circuit 123a. The main control circuit 123a can determine the electrical connection state between the first electrical connection terminal 220 and the second electrical connection terminal 110 based on the detection result of the insertion detection circuit 125a, and control the power supply circuit 121a to supply power to the first electrical connection terminal 220 when the two are electrically connected, so as to supply power to the second electrical connection terminal 110, thereby supplying power to the power supply circuit 22a of the device main body 100, so that the device main body 100 is powered on.

[0077] This embodiment adopts a pure circuit solution to detect the insertion state of the handheld vacuum device 200 and the device main body 100. This solution uses circuit design to identify the connection state of the handheld vacuum device 200 and the device main body 100 by using voltage or change, and has simple control and low cost.

[0078] Among them, the main control circuit 123a of this embodiment may include an integrated chip such as a microcontroller or a discrete circuit with similar functions. The power supply circuit 121a refers to a circuit that can supply electrical energy, such as a DC power supply, an AC power supply, a battery, etc., or includes a circuit that can obtain electrical energy wirelessly. The power supply circuit 22a refers to a circuit that manages, converts, or processes electrical energy, such as a voltage conversion circuit, a power management circuit, etc.

[0079] The second main body 21a of the device main body 100, as the main housing 124 of the device main body 100, is also used to carry the power supply circuit 22a and the second electrical connection terminal 110, and cooperate with the power supply circuit 22a and the second electrical connection terminal 110 to realize the functions of the device main body 100.

[0080] Optionally, as Figure 18 and Figure 19 shown, the insertion detection circuit 125a includes: a first voltage-dividing resistor R447, a second voltage-dividing resistor R448, and a third voltage-dividing resistor R450; the first end of the first voltage-dividing resistor R447 is used to access the power supply voltage VBAT_SYS; the first end of the second voltage-dividing resistor R448 is electrically connected to the second end of the first voltage-dividing resistor R447, the power supply circuit 121a, and the first electrical connection terminal 220 respectively; the first end of the third voltage-dividing resistor R450 is electrically connected to the main control circuit 123a and the second end of the second voltage-dividing resistor R448 respectively, and the second end of the third voltage-dividing resistor R450 is grounded; the device main body 100 further includes: a fourth voltage-dividing resistor R451, the first end of the fourth voltage-dividing resistor R451 is electrically connected to the second electrical connection terminal 110 and the power supply circuit 22a respectively, and the second end of the fourth voltage-dividing resistor R451 is grounded.

[0081] Among them, the first end of the third voltage-dividing resistor R450 serves as the detection end BASE_DET and is electrically connected to the main control circuit 123a.

[0082] When the handheld vacuuming device 200 is in a separated state from the device main body 100, the voltage on the detection end BASE_DET is equal to the second preset voltage value:

[0083]

[0084] When the handheld vacuuming device 200 is in an electrically connected state with the device main body 100, the voltage on the detection end BASE_DET is equal to the first preset voltage value:

[0085]

[0086] Among them, R446 = R448 + R450.

[0087] When the voltage on the detection end BASE_DET changes from the first preset voltage value to the second preset voltage value, the main control circuit 123a controls the power supply circuit 121a, that is, the VBASE1 end supplies power to the VBASE2 end of the power supply circuit 22a of the device main body 100 to supply power to the device main body 100.

[0088] Optionally, the insertion detection circuit 125a of this embodiment further includes: a diode D135. The anode of the diode D135 is connected to the supply voltage VBAT_SYS, and the cathode of the diode D135 is electrically connected to the first end of the first voltage-dividing resistor R447.

[0089] The insertion detection circuit 125a of this embodiment realizes unidirectional conduction with the supply voltage VBAT_SYS through the diode D135, which can avoid the influence of the abnormality of the insertion detection circuit 125a on the power supply system providing the supply voltage VBAT_SYS, thereby improving the reliability of the handheld vacuum cleaner 200.

[0090] Optionally, the insertion detection circuit 125a of this embodiment further includes: a current-limiting and filtering circuit, which is electrically connected to the main control circuit 123a, the second end of the second voltage-dividing resistor R448, and the first end of the third voltage-dividing resistor R450 respectively.

[0091] This embodiment realizes the current-limiting function and filtering function between the insertion detection circuit 125a and the main control circuit 123a through the current-limiting and filtering circuit, which can improve the accuracy of the voltage on the detection terminal BASE_DET.

[0092] Optionally, the current-limiting and filtering circuit may include a resistor R449 and a capacitor C473; wherein, one end of the resistor R449 is electrically connected to the second end of the second voltage-dividing resistor R448 and the first end of the third voltage-dividing resistor R450, and the other end is used as the detection terminal BASE_DET and is electrically connected to the main control circuit 123a. One end of the capacitor C473 is grounded, and the other end is electrically connected to the other end of the resistor R449.

[0093] In other embodiments, the insertion detection circuit can be implemented through other circuit connectors.

[0094] Optionally, the electronic control system of this embodiment further includes: a switch SW. The control end of the switch SW is electrically connected to the monitoring circuit 122a. One communication end of the switch SW is electrically connected to the power supply circuit 121a, and the other communication end of the switch SW is used to be electrically connected to the device main body 100; the monitoring circuit 122a controls the switch SW to close when the handheld vacuum cleaner 200 and the device main body 100 are in an electrically connected state, and controls the switch SW to open when the handheld vacuum cleaner 200 and the device main body 100 are in a separated state.

[0095] The monitoring circuit 122a of this embodiment controls the on-off of the electrical energy transmission between the power supply circuit 121a and the device main body 100 by controlling the on-off of the switch SW, and the control is simple.

[0096] Optionally, the control terminal of the switch SW may be specifically electrically connected to the main control circuit 123a. When the first electrical connection terminal 220 and the second electrical connection terminal 110 are in an electrically connected state, the main control circuit 123a controls the switch SW to close, and when the first electrical connection terminal 220 and the second electrical connection terminal 110 are in a separated state, the main control circuit 123a controls the switch SW to open.

[0097] Optionally, the switch SW may be a mechanical switch, an electronic switch, or the like.

[0098] In other embodiments, the power supply circuit may be directly connected to the main control circuit so that the main control circuit directly controls the power supply circuit to output or not output electrical energy.

[0099] Optionally, the handheld vacuum device 200 of this embodiment further includes: a first communication circuit 126a; the device main body 100 further includes a second communication circuit 24a; the first communication circuit 126a is used for signal communication with the second communication circuit 24a; the monitoring circuit 122a is electrically connected to the first communication circuit 126a; when the monitoring circuit 122a determines that the handheld vacuum device 200 is separated from the device main body 100 based on the communication state between the first communication circuit 126a and the second communication circuit 24a, it controls the power supply circuit 121a to cut off the power supply to the device main body 100.

[0100] In this embodiment, the separation state between the handheld vacuum device 200 and the device main body 100 can be determined by a communication method without detecting through an electrical signal method. Therefore, it is possible to avoid the influence on the transmission voltage change between the handheld vacuum device 200 and the device main body 100 caused by the external power supply of the power supply circuit 121a when the handheld vacuum device 200 and the device main body 100 are in an electrically connected state, thereby causing the problem of low detection accuracy of the separation state. Therefore, by determining the separation state between the handheld vacuum device 200 and the device main body 100 through a communication method, this embodiment can improve the detection accuracy of the separation state, thereby improving safety and reliability.

[0101] Optionally, the main control circuit 123a is electrically connected to the first communication circuit 126a; the main control circuit 123a determines to disconnect the power supply circuit 121a from supplying power to the first electrical connection terminal 220 when the first electrical connection terminal 220 is separated from the second electrical connection terminal 110 based on the communication state between the first communication circuit 126a and the second communication circuit 24a. In this embodiment, the separation state between the handheld vacuum cleaner 200 and the device main body 100 can be determined by communication, without detecting through an electrical signal method. Therefore, it is possible to avoid the influence of the voltage change of the first electrical connection terminal 220 caused by the power supply circuit 121a supplying power to the first electrical connection terminal 220 when the handheld vacuum cleaner 200 and the device main body 100 are in an electrically connected state, thereby avoiding the problem of low detection accuracy of the separation state. Therefore, in this embodiment, by determining the separation state between the handheld vacuum cleaner 200 and the device main body 100 through communication, the detection accuracy of the separation state can be improved, thereby improving safety and reliability.

[0102] Among them, the first communication circuit 126a and the second communication circuit 24a may include a wired communication module, such as a serial port communication module, an optical fiber communication module, etc. The serial port communication module may include an RS48 bus, etc. When the first electrical connection terminal 220 and the second electrical connection terminal 110 are in an electrically connected state, the first communication circuit 126a and the second communication circuit 24a are in a communication connection state; when the first electrical connection terminal 220 and the second electrical connection terminal 110 are in a separated state, the first communication circuit 126a and the second communication circuit 24a are in a non-communication connection state.

[0103] In other embodiments, the first communication circuit and the second communication circuit may be wireless connection modules, and the communication distance between the first communication circuit and the second communication circuit can be set so that when the first electrical connection terminal and the second electrical connection terminal are in an electrically connected state, the first communication circuit and the second communication circuit are in a communication connection, and when the first electrical connection terminal and the second electrical connection terminal are in a separated state, the communication connection between the first communication circuit and the second communication circuit is disconnected.

[0104] For example, in this embodiment, an insertion detection circuit 125a is used to detect the insertion state of the handheld vacuum cleaner and the device main body, and voltage or change is used to identify whether the handheld vacuum cleaner is connected to the device main body. When the handheld vacuum cleaner is inserted into the device main body, the handheld vacuum cleaner supplies power to the device main body, and it is judged by communication whether the handheld vacuum cleaner is subsequently pulled out from the device main body.

[0105] After the main control circuit 123a controls the power supply circuit 121a to supply power to the device main body 100, it detects whether the handheld vacuum device 200 is separated from the device main body 100 through the above-mentioned communication module. If so, after a certain period of time, it controls the power supply circuit 121a to cut off the power supply to the first electrical connection terminal 220, which can greatly reduce the electric arc generated by live insertion and avoid the problem of the above-mentioned electrical connection terminal sparking and blackening.

[0106] Optionally, when the handheld vacuum device 200 is in an electrically connected state with the device main body 100, the first communication circuit 126a sends a heartbeat data packet to the second communication circuit 24a and receives feedback data of the heartbeat data packet from the second communication circuit 24a; when the first communication circuit 126a does not receive feedback data within a preset period of time, the monitoring circuit 122a controls the power supply circuit 121a to cut off the power supply to the device main body 100.

[0107] Optionally, when the first electrical connection terminal 220 is in an electrically connected state with the second electrical connection terminal 110, the main control circuit 123a controls the first communication circuit 126a to send a heartbeat data packet to the second communication circuit 24a and controls the first communication circuit 126a to receive feedback data of the heartbeat data packet from the second communication circuit 24a; if the main control circuit 123a determines that it does not receive feedback data within a preset period of time, it controls the power supply circuit 121a to cut off the power supply to the first electrical connection terminal 220, thereby cutting off the power supply to the device main body 100.

[0108] The heartbeat packet is a software mechanism that confirms the connection status between two devices by periodically sending small data packets. The heartbeat packet mechanism can achieve stable and efficient network communication, and can also be used for network security management. Moreover, it is relatively simple to manage, and all existing connections are useful connections without the need for additional control means. Therefore, in this embodiment, the communication status detection between the first communication circuit 126a and the second communication circuit 24a is realized through the heartbeat packet mechanism, which can improve the efficiency, reliability and security of separation detection.

[0109] Optionally, as Figure 20 shown, the first communication circuit 126a includes: a first communication terminal 127a and a first protection circuit 128a electrically connected to the first communication terminal 127a; the second communication circuit 24a includes: a second communication terminal 129a and a second protection circuit 130a electrically connected to the second communication terminal 129a; wherein, the first communication terminal 127a is used for electrically connecting with the second communication terminal 129a to realize signal communication; the first protection circuit 128a is used to block the high-voltage input when the first communication terminal 127a is electrically connected to the second communication terminal 129a, and the second protection circuit 130a is used to block the high-voltage input when the second communication terminal 129a is electrically connected to the first communication terminal 127a.

[0110] Optionally, the first communication terminal 127a, the first protection circuit 128a, the second communication terminal 129a, and the second protection circuit 130a are also electrically connected to the main control circuit 123a.

[0111] The first protection circuit 128a may include a current-limiting resistor R1, a current-limiting resistor R3, switching transistors Q27 and Q28, a pull-up resistor R11, etc. The first communication circuit 126a is provided with two first communication terminals 127a; the control terminals of the switching transistor Q27 and the switching transistor Q28 are connected to the main control circuit 123a through the pull-up resistor R11 to obtain a supply voltage; the switching transistor Q27 and the current-limiting resistor R1 are connected in series between the MCU_TX terminal of the main control circuit 123a and the first first communication terminal 127a; the switching transistor Q28 and the current-limiting resistor R3 are connected in series between the MCU_RX terminal of the main control circuit 123a and the second first communication terminal 127a.

[0112] The second communication circuit 24a further includes a communication module. The second protection circuit 130a may include a current-limiting resistor R4, a current-limiting resistor R2, switching transistors Q3 and Q5, etc. The second communication circuit 24a is provided with two second communication terminals 129a; the control terminals of the switching transistor Q3 and the switching transistor Q5 are connected to the supply voltage; the switching transistor Q3 and the current-limiting resistor R2 are connected in series between the BASE_RX terminal of the communication module and the first second communication terminal 129a; the switching transistor Q5 and the current-limiting resistor R4 are connected in series between the BASE_TX terminal of the communication module and the second second communication terminal 129a.

[0113] Wherein, the first second communication terminal 129a is used for communication connection with the first first communication terminal 127a, and the second second communication terminal 129a is used for communication connection with the second first communication terminal 127a.

[0114] In other embodiments, the communication circuit may also be implemented by other circuit elements and circuit structures.

[0115] In some embodiments, the first electrical connection terminal 220 of the handheld vacuuming device 200 and the first communication terminal 127a may be integrated into the same interface, and the second electrical connection terminal 110 of the device main body 100 and the second communication terminal 129a may be integrated into the same first interface. The above terminals may be connected through corresponding electrode plates. For example, the handheld vacuuming device 200 is provided with 4 electrode plates, two of which are used for power supply, namely Vcc and GND, and the other two electrode plates are used for communication, namely Tx and Rx. The device main body 100 may also be designed similarly.

[0116] For example, as Figure 21 shown, Figure 21This is a schematic diagram of the communication interaction between the first functional mechanism and the device main body in the self - propelled cleaning device of the present application. When the hand - held vacuum cleaner, which is the hand - held vacuum device 200, is connected to the device main body 100, the hand - held vacuum device regularly sends heartbeat packets to the device main body 100 to maintain power supply. If the hand - held vacuum device does not receive a heartbeat packet within a preset time period, it determines that the hand - held vacuum cleaner has been unplugged and accordingly cuts off the power supply circuit to the device main body to avoid unnecessary energy consumption and potential safety risks.

[0117] The hand - held vacuum device can push small data packets (including information such as battery level, current, and voltage) at a cycle of 1 s. After receiving the small data packet, the device main body 100 generates a response packet and feeds the response packet back to the hand - held vacuum device. If the hand - held vacuum device receives the response packet within 15 s, it will maintain the power supply to the device main body 100. If the hand - held vacuum device does not receive the response packet within 15 s, it will stop supplying power to the device main body 100.

[0118] In an application scenario, as Figure 22 shown, the control method of the self - propelled cleaning device specifically includes the following steps:

[0119] Step S41: Use the monitoring circuit to detect the electrical connection state between the first electrical connection terminal and the second electrical connection terminal.

[0120] Step S42: If the first electrical connection terminal and the second electrical connection terminal are in an electrically connected state, control the power supply circuit to supply power to the first electrical connection terminal to supply power to the device main body.

[0121] When the first functional mechanism and the device main body are in a separated state, the first electrical connection terminal is not electrically connected to the second electrical connection terminal. When the first functional mechanism and the device main body are in a connected state, the first electrical connection terminal is not electrically connected to the second electrical connection terminal. In these two states, the voltage on the first electrical connection terminal will change. In this embodiment, the insertion detection circuit can detect the voltage change of the first electrical connection terminal and feedback this change to the main control circuit. The main control circuit can determine the electrical connection state between the first electrical connection terminal and the second electrical connection terminal based on the detection result of the insertion detection circuit, and control the power supply circuit to supply power to the first electrical connection terminal when they are electrically connected to supply power to the second electrical connection terminal, thereby supplying power to the power supply circuit of the device main body so that the device main body gets powered.

[0122] The first functional mechanism can supply power to the device main body electrically connected thereto; and the first functional mechanism controls its power circuit to supply power to the device main body only when it determines that it is electrically connected to the device main body, which can reduce the problem of the connection terminals getting blackened due to sparking when the power circuit supplies power externally all the time and being charged when the first functional mechanism is plugged into the device main body. Therefore, the service life and safety of the self-propelled cleaning device can be improved; further, in this application, there is no need to use a Hall sensor, a magnetic part, etc. to detect the connection between the first functional mechanism and the device main body, which can reduce the device cost. Therefore, this application can reduce the device cost of the self-propelled cleaning device and improve its safety and reliability.

[0123] In another application scenario, such as Figure 23 shown, the control method of the self-propelled cleaning device specifically includes the following steps:

[0124] Step S51: Use the monitoring circuit to detect the electrical connection state between the first electrical connection terminal and the second electrical connection terminal.

[0125] For specific implementation manners, reference can be made to the above step S41.

[0126] Step S52: If the first electrical connection terminal and the second electrical connection terminal are in an electrically connected state, control the power circuit to supply power to the first electrical connection terminal to supply power to the device main body.

[0127] For specific implementation manners, reference can be made to the above step S42.

[0128] Step S53: When the first electrical connection terminal and the second electrical connection terminal are in an electrically connected state, control the first communication circuit to send a heartbeat data packet to the second communication circuit, and control the first communication circuit to receive the feedback data of the heartbeat data packet from the second communication circuit.

[0129] Step S54: If the first communication circuit does not receive the feedback data within the preset time period, control the power circuit to disconnect the power supply to the first electrical connection terminal.

[0130] In other embodiments, other communication methods can also be used to implement step S63 and step S64, such as the tcp communication protocol, etc.

[0131] Optionally, as Figure 4 shown, the handheld vacuuming device 200 further includes a power supply assembly 221, and the power supply assembly 221 is electrically connected to the first electrical connection terminal 220 and the blower 209 respectively. The power supply assembly 221 is used to supply power to the device main body 100 when the first electrical connection terminal 220 and the second electrical connection terminal 110 are electrically connected. The power supply assembly 221 can also be used to supply power to the blower 209.

[0132] The power supply component 221 is electrically connected to the blower 209 and the monitoring circuit 122a as the power supply circuit 121a, and the power supply component 221 supplies power to the handheld vacuuming device 200 under the control of the monitoring circuit 122a.

[0133] Optionally, the blower 209 is also electrically connected to the monitoring circuit 122a, and the monitoring circuit 122a controls the operation of the blower 209.

[0134] Optionally, the power supply component 221 may include a battery or the like.

[0135] Further, as Figure 11 shown, the first electrical connection terminal 220 and the second electrical connection terminal 110 are electrically connected by means of plugging or elastic abutting.

[0136] Specifically, the first electrical connection terminal 220 and the second electrical connection terminal 110 are respectively one of the male and female seats of the connecting PIN.

[0137] By arranging the power supply component 221 on the handheld vacuuming device 200, the power supply component 221 can supply power to the handheld vacuuming device 200 when the handheld vacuuming device 200 is held and used after being detached from the device main body 100, and can also supply power to the self-propelled cleaning device 1 when the handheld vacuuming device 200 is assembled to the device main body 100, which can make the layout of the self-propelled cleaning device 1 more compact.

[0138] In some other embodiments, the power supply component 221 is detachably arranged on the device main body 100, and the power supply component 221 can supply power to the self-propelled cleaning device 1. The power supply component 221 can be detached from the device main body 100 and then assembled to the handheld vacuuming device 200 to supply power when the handheld vacuuming device 200 is held and operated after being detached from the device main body 100. Or, in some embodiments, batteries can be respectively arranged on the device main body 100 and the handheld vacuuming device 200. When the handheld vacuuming device 200 is assembled to the device main body 100, the two batteries are connected in series, and when the handheld vacuuming device 200 is detached from the device main body 100, the two batteries can work independently.

[0139] Optionally, when the self-propelled cleaning device 1 is docked with the base station 300, the base station 300 can charge the power supply component 221.

[0140] Optionally, as Figure 2 and Figure 6 shown, the device main body 100 is provided with a recessed groove 105, and the handheld vacuuming device 200 is detachably arranged in the recessed groove 105.

[0141] By providing the recessed groove 105, it is convenient to assemble the handheld vacuum device 200 on the device main body 100. The recessed groove 105 can limit the handheld vacuum device 200, which is beneficial to improving the connection stability between the handheld vacuum device 200 and the device main body 100.

[0142] Optionally, as Figure 2 and Figure 6 shown, the device main body 100 includes a limiting post 106 disposed in the recessed groove 105. The handheld vacuum device 200 is provided with a limiting groove 204 that cooperates with the limiting post 106. The limiting post 106 is used to insert into the limiting groove 204 to be able to limit the handheld vacuum device 200 within the recessed groove 105.

[0143] By providing the limiting post 106 and the limiting groove 204, the handheld vacuum device 200 and the device main body 100 can be assembled and positioned as well as limited and fixed, which is beneficial to improving the connection stability between the handheld vacuum device 200 and the device main body 100.

[0144] Furthermore, as Figure 6 shown, the handheld vacuum device 200 includes a device main body 240 and a handle 241. The handle 241 and the device main body 240 enclose to form the limiting groove 204. The user's finger can extend into the limiting groove 204 to hold the handle 241.

[0145] Optionally, as Figure 4 and Figure 6 shown, the limiting post 106 is provided with a hook portion 107. A buckle groove 205 is formed on the groove wall of the limiting groove 204. The hook portion 107 is used to be embedded in the buckle groove 205 when the limiting post 106 is inserted into the limiting groove 204, so that the handheld vacuum device 200 is buckled to the device main body 100.

[0146] With such a setting, the separation between the handheld vacuum device 200 and the device main body 100 can be restricted, which is beneficial to improving the connection stability between the handheld vacuum device 200 and the device main body 100.

[0147] Furthermore, a part of the groove wall of the handle 241 forms the limiting groove 204, and the buckle groove 205 is disposed on the handle 241. Or, as Figure 11 shown, a part of the groove wall of the device main body 240 forms the limiting groove 204, and the buckle groove 205 is disposed on the device main body 240.

[0148] Optionally, the hook portion 107 protrudes from the side surface of the limiting post 106. The insertion direction of the hook portion 107 into the buckle groove 205 intersects with the extending direction of the limiting post 106. Furthermore, the limiting post 106 extends along the height direction D4 of the self - propelled cleaning device 1.

[0149] Further, the device main body 100 includes an unlocking mechanism 109. The unlocking mechanism 109 is movably arranged on the limiting post 106 and is exposed to the outside. The unlocking mechanism 109 is used to be pressed to drive the hook portion 107 to disengage from the buckle groove 205, so that the handheld vacuum device 200 is disengaged from the buckle connection with the device main body 100. Further, the unlocking mechanism 109 is arranged on the top surface of the limiting post 106 facing upward for easy pressing by the user.

[0150] In this way, the unlocking mechanism 109 can be positioned close to the handle 241. When the user removes the handheld vacuum device 200 from the device main body 100, the user can press the unlocking mechanism 109 with one hand and then hold the handle 241, which facilitates the user to remove the handheld vacuum device 200 from the device main body 100.

[0151] Optionally, as Figure 8 and Figure 11 shown, the second electrical connection terminal 110 is arranged on the periphery of the limiting post 106, the first electrical connection terminal 220 is arranged adjacent to the buckle groove 205, and the first electrical connection terminal 220 and the second electrical connection terminal 110 are inserted or elastically abutted along the height direction D4 of the self-propelled cleaning device 1. In this way, the stability of the first electrical connection terminal 220 and the second electrical connection terminal 110 can be improved.

[0152] Optionally, as Figure 3 and Figure 5 shown, the device main body 100 has a top 121 and a bottom 122 arranged opposite to each other, and the recessed groove 105 is recessed from the top 121 towards the bottom 122. Further, the device main body 100 has a peripheral side 123 connected between the top 121 and the bottom 122. The recessed groove 105 is recessed from the top 121 towards the bottom 122 and penetrates through a part of the peripheral side 123. The suction port 101 is opened on the bottom 122.

[0153] By arranging the recessed groove 105 to be recessed from the top 121 towards the bottom 122, the user can place the handheld vacuum device 200 into the recessed groove 105 from above the device main body 100, which facilitates the assembly connection between the handheld vacuum device 200 and the device main body 100, is beneficial to improving the connection stability between the two, and can also reduce the overall height of the self-propelled cleaning device 1.

[0154] Optionally, as Figure 10 and Figure 11 shown, the bottom 122 is provided with an extension port 1051, and the extension port 1051 is communicated with the recessed groove 105. When the handheld vacuum device 200 is assembled to the device main body 100, a part of the handheld vacuum device 200 is exposed from the extension port 1051.

[0155] Specifically, the recessed groove 105 communicates with the outside through the extension port 1051. A part of the handheld dust suction device 200 can be located within the extension port 1051. For example, the extension port 1051 is formed in the bottom wall of the recessed groove 105.

[0156] With such a setting, it is beneficial to make the layout of the self - propelled cleaning device 1 more compact and reduce the height dimension of the self - propelled cleaning device 1. In addition, the extension port 1051 is located below the air inlet 202. When the handheld dust suction device 200 is removed from the device main body 100, the dust and garbage that fall from the air inlet 202 can fall to the outside through the extension port 1051, which is convenient for the user to clean up using the handheld dust suction device 200 or the self - propelled cleaning device 1, thus avoiding the accumulation of this dust and garbage in the recessed groove 105 and requiring manual cleaning by the user.

[0157] Furthermore, a part of the handheld dust suction device 200 can extend to the outside through the extension port 1051. Specifically, the traveling mechanism has the function of supporting the device main body 100 to form a spaced - apart space at the bottom 122 of the device main body 100, so that there is a gap between the device main body 100 and the working surface (such as the ground). The recessed groove 105 can communicate with the spaced - apart space through the extension port 1051, and a part of the handheld dust suction device 200 can extend into the spaced - apart space through the extension port 1051. With such a setting, it is beneficial to further reduce the height dimension of the self - propelled cleaning device 1. In some embodiments, the extension port 1051 can also be omitted.

[0158] Furthermore, the extending direction of the limiting post 106 is parallel to the recessed direction of the recessed groove 105.

[0159] Optionally, as Figure 6 shown, the device main body 100 has a head 128 facing the forward direction of the self - propelled cleaning device 1 and a tail 129 facing away from the forward direction. The handheld dust suction device 200 is detachably arranged on the tail 129 and is exposed outside. With such a setting, the center - of - gravity layout of the device main body 100 can be made more compact and reasonable, and at the same time, it is convenient for the installation and disassembly of the handheld dust suction device 200 on the device main body 100. Among them, the forward direction of the self - propelled cleaning device 1 refers to the forward direction when the self - propelled cleaning device 1 travels to clean the scene to be cleaned.

[0160] Optionally, the dust discharge port 103 is arranged on the tail 129. With such a setting, it is beneficial to reduce the spacing distance between the dust discharge port 103 and the dust collection cavity 201, reduce the movement path length of the garbage during dust collection, and reduce the risk of blockage. Correspondingly, in this embodiment, the dust collection port 301 is arranged on the base station main body 310. In some embodiments, the dust discharge port 103 can also be arranged on the bottom 122. Correspondingly, in this embodiment, the dust collection port 301 is arranged on the base 30.

[0161] In some other embodiments, the device main body 100 includes a covering member (not shown in the figure), and the covering member covers the hand-held vacuum device 200.

[0162] Optionally, as Figure 8 shown, the tail 129 of the device main body 100 can be used to dock with the base station 300.

[0163] Optionally, as Figure 9 shown, the outer shape of the hand-held vacuum device 200 matches the contour of the peripheral side 123 of the device main body 100. For example, the peripheral side contour of the tail 129 is arc-shaped, and correspondingly, the outer contour of the peripheral side of the hand-held vacuum device 200 near the tail 129 is in a matching arc shape to correspond to and match the peripheral side contour of the tail 129.

[0164] Furthermore, the handle 241 is arc-shaped to match the peripheral side contour of the tail 129. With such a setting, on the one hand, the shape of the handle 241 can match the outer contour of the self-propelled cleaning device 1, which is beneficial to making full use of the space on the device main body 100. Also, when the self-propelled cleaning device 1 makes a rotating motion, it can avoid rubbing and colliding with the items in the working environment.

[0165] Optionally, as Figure 9 shown, on a reference plane perpendicular to the height direction D4 of the self-propelled cleaning device 1, the projection of the hand-held vacuum device 200 falls within the projection of the device main body 100. Specifically, the projection of the hand-held vacuum device 200 on the working surface falls within the projection of the device main body 100 on the working surface.

[0166] Perpendicular to the height direction D4 of the self-propelled cleaning device 1, the hand-held vacuum device 200 is set to be retracted relative to the device main body 100. In this way, it can avoid the hand-held vacuum device 200 from rubbing and colliding with the items in the working environment when the self-propelled cleaning device 1 makes rotating and other motions during the cleaning process, and at the same time, it is convenient for the device main body 100 to dock with the base station 300.

[0167] Optionally, as Figure 6 shown, the self-propelled cleaning device 1 further includes an accessory 400a for the hand-held vacuum device 200. The accessory 400a is used to be assembled to the air inlet 202. The device main body 100 has a head 128 facing the forward direction of the self-propelled cleaning device 1 and a tail 129 facing away from the forward direction. The head 128 is provided with a receiving groove 108, and the accessory 400a is detachably received in the receiving groove 108. With such a setting, the layout of the device main body 100 can be made more compact and reasonable.

[0168] Optionally, as Figure 6 shown, the self-propelled cleaning device 1 further includes an accessory 400a for the hand-held vacuum device 200. At least one accessory 400a is detachably provided on the device main body 100.

[0169] As Figure 8 and Figures 13 to 17 shown, the accessory 400a can be used in conjunction with the handheld vacuuming device 200. For example, the accessory 400a may include a suction tube 400 and a brush suction head 402. Among them, the brush suction head 402 can be used to clean application scenarios such as sofas and narrow gaps.

[0170] Specifically, the suction tube 400 is used to be detachably assembled to the air inlet 202 when the handheld vacuuming device 200 is detached from the device main body 100. The suction tube 400 can be used to improve the compatibility of the handheld vacuuming device 200 with the cleaning scenario. The number of suction tubes 400 can be one, two or more, and different suction tubes 400 may have different shapes and application scenarios.

[0171] The following will separately introduce in detail two suction tubes 400 with different shapes and the corresponding application scenarios.

[0172] In some embodiments, as Figure 8 and Figure 14 shown, the suction tube 400 is detachably provided on the device main body 100. The suction tube 400 can be used as a suction nozzle. Specifically, the caliber of the end of the suction tube 400 away from the air inlet 202 can be smaller than the caliber of the air inlet 202, so as to facilitate cleaning of narrow gaps and also help to enhance the suction force.

[0173] By detachably providing the suction tube 400 on the device main body 100, the original space of the device main body 100 is fully utilized, the space occupied by the overall cleaning system is reduced, the device main body 100 can accommodate the suction tube 400, and it is also convenient to take the suction tube 400 as needed.

[0174] Optionally, as Figure 6 shown, the device main body 100 is provided with a receiving groove 108, and the suction tube 400 is detachably received in the receiving groove 108.

[0175] Furthermore, the suction tube 400 can be directly placed in the receiving groove 108, or the suction tube 400 is connected to the inner wall of the receiving groove 108 by a tight fit, a snap connection and / or a magnetic attraction.

[0176] Optionally, the receiving groove 108 is recessed from the top 121 towards the bottom 122.

[0177] Optionally, as Figures 15 to 17 shown, the accessory 400a may further include a floor brush assembly 403 and an extension tube 404. One end of the extension tube 404 is used to be detachably connected to the handheld vacuuming device 200 so that the extension tube 404 is communicated with the air inlet 202, and the other end of the suction tube is detachably connected to the floor brush assembly 403.

[0178] Specifically, the extension tube 404 has a first pair of interfaces 4001, a second pair of interfaces 4002, and an extension channel 4005. The extension channel 4005 extends along the extension direction of the extension tube 404, and both ends of the extension channel 4005 are respectively communicated with the first pair of interfaces 4001 and the second pair of interfaces 4002. The first pair of interfaces 4001 is used to communicate with the air inlet 202. The second pair of interfaces 4002 is used for garbage objects to enter the extension channel 4005.

[0179] The floor brush assembly 403 is arranged at the second pair of interfaces 4002. The floor brush assembly 403 can be used to clean the working surface. The dust and garbage swept by the floor brush assembly 403 can be sucked into the extension channel 4005 through the second pair of interfaces 4002 under the suction of the hand-held vacuum device 200, and then sequentially pass through the extension channel 4005 and the first pair of interfaces 4001, and then be sucked into the dust collection chamber 201 of the hand-held vacuum device 200 through the air inlet 202.

[0180] Optionally, the floor brush assembly 403 includes a floor brush main body, a driving motor, and a brush body. The driving motor is arranged on the floor brush main body, the brush body is rotatably connected to the floor brush main body, and the driving motor can drive the brush body to rotate relative to the floor brush main body.

[0181] Optionally, the hand-held vacuum device 200 includes a power supply assembly 221. In a state where the extension tube 404 is respectively assembled and connected to the hand-held vacuum device 200 and the floor brush assembly 403, the power supply assembly 221 is electrically connected to the floor brush assembly 403 through the extension tube 404, so that the power supply assembly 221 can supply power to the floor brush assembly 403.

[0182] Specifically, as Figures 15 to 17 shown, the hand-held vacuum device 200 is provided with a first electrical connection contact 2021 electrically connected to the power supply assembly 221. Both ends of the extension tube 404 are respectively provided with a second electrical connection contact 4003 and a third electrical connection contact. In a state where the extension tube 404 is assembled and connected to the hand-held vacuum device 200, the first electrical connection contact 2021 and the second electrical connection contact 4003 are electrically connected. The floor brush assembly 403 is provided with a fourth electrical connection contact. In a state where the extension tube 404 is assembled and connected to the floor brush assembly 403, the third electrical connection contact and the fourth electrical connection contact are electrically connected. A wire can be arranged in the extension tube 404 and connected between the second electrical connection contact 4003 and the third electrical connection contact. In this way, in a state where the extension tube 404 is respectively assembled and connected to the hand-held vacuum device 200 and the floor brush assembly 403, the power supply assembly 221 can supply power to the floor brush assembly 403. By using the extension tube 404, the suction range of the hand-held vacuum device 200 can be extended to a farther distance. Through the floor brush assembly 403, the dust and garbage on the working surface can be swept out, so that the application scenarios of the hand-held vacuum device 200 can be enriched and the cleaning effect can be improved.

[0183] Optionally, the first electrical connection contact 2021 and the second electrical connection contact 4003 are electrically connected by plugging or elastically abutting. Further, the first electrical connection contact 2021 and the second electrical connection contact 4003 are respectively one of a male socket and a female socket of a connection PIN.

[0184] The configuration of the third electrical connection contact and the fourth electrical connection contact may refer to the first electrical connection contact 2021 and the second electrical connection contact 4003 described above.

[0185] Alternatively, if Figure 16 As shown, the handheld vacuum cleaner 200 is provided with a first snap-fit ​​portion 2022, and the end of the extension tube 404 for docking with the handheld vacuum cleaner 200 is provided with a second snap-fit ​​portion 4004, the first snap-fit ​​portion 2022 is used to snap with the second snap-fit ​​portion 4004, and the extension tube 404 and the handheld vacuum cleaner 200 are detachably connected via the first snap-fit ​​portion 2022 and the second snap-fit ​​portion 4004.

[0186] This is conducive to the stable connection between the first interface 4001 and the air inlet 202, and is also conducive to maintaining the electrical connection stability between the first electrical connection contact 2021 and the second electrical connection contact 4003. Further, the second buckle portion 4004 and the second electrical connection contact 4003 are both disposed in the first interface 4001 and are disposed adjacent to each other.

[0187] Optionally, a pressing mechanism drivingly connected to the second buckle portion 4004 is disposed on the outer side of the extension tube 404 , and the pressing mechanism can drive the second buckle portion 4004 to be disconnected from the first buckle portion 2022 when pressed.

[0188] Optionally, the extension tube 404 and the floor brush assembly 403 are detachably connected through the third buckle part and the fourth buckle part. In this way, the extension tube 404 and the floor brush assembly 403 are stably connected, and the third electrical connection contact and the fourth electrical connection contact are electrically connected stably. The third buckle part and the fourth buckle part can also be set with reference to the first buckle part 2022 and the second buckle part 4004.

[0189] Alternatively, if Figure 17 As shown, the cleaning system 10 includes a storage bracket 401, and the storage bracket 401 is configured to fix an idle accessory 400a.

[0190] Optionally, the storage bracket 401 is provided with at least two fixing positions, one of which can be used to fix the idle extension tube 404, and the other of which can be used to fix the idle brush suction head 402. The extension tube 404 or the brush suction head 402 can be removed from the storage bracket 401 when work is needed.

[0191] Optionally, the storage bracket 401 can be set as a wall-mounted or floor-standing type. Among them, the wall-mounted storage bracket 401 can be fixed on the wall by means of screw connection, adhesive connection, glue connection, etc.

[0192] Optionally, the device main body 100 includes a lidar 127, which is used for three-dimensional map drawing and positioning functions, and the lidar 127 is installed in the area between the accommodation groove 108 and the recessed groove 105.

[0193] Optionally, as Figure 6 shown, the handheld vacuum cleaner 200 includes an accommodation part 242, and the accommodation part 242 is detachably connected to the device main body 240 to form a dust collection cavity 201. The air inlet 202 is provided on the device main body 240, the dust removal port 203 is provided on the accommodation part 242, the fan 209 is arranged inside the device main body 240, and the handle 241 is connected to the device main body 240.

[0194] When the accommodation part 242 is detached from the device main body 240, the dust collection cavity 201 can be exposed to the outside, so that the garbage objects in the dust collection cavity 201 can be dumped to the outside, and it is also convenient for the user to clean the inside of the accommodation part 242.

[0195] In some embodiments, as Figure 4 shown, when the accommodation part 242 is detached from the device main body 240, the separation space 232 is exposed to the outside, so that the garbage objects in the separation space 232 can be dumped to the outside.

[0196] Optionally, the power supply assembly 221 is arranged adjacent to the accommodation part 242.

[0197] Optionally, as Figure 9 、 Figures 11 to 13 shown, the handheld vacuum cleaner 200 includes a control button group 2411, and the handle 241 and the air inlet 202 are respectively arranged on opposite sides of the device main body 240. The handle 241 has a first end and a second end, the power supply assembly 221 is adjacent to the first end of the handle 241, and the second end of the handle 241 is connected to the device main body 240. The control button group 2411 is arranged on the handle 241 and close to the second end of the handle 241.

[0198] Specifically, as Figure 9 、 Figures 11 to 13As shown, the handheld vacuum device 200 has a first direction D1, a second direction D2, and a third direction D3 that are perpendicular to each other. The handle 241 and the air inlet 202 are respectively disposed on both sides of the handheld vacuum device 200 along the first direction D1. In this way, it is convenient for the user to hold the handheld vacuum device 200 for cleaning work. The fan 209 and the power supply assembly 221 are respectively disposed on both sides of the handheld vacuum device 200 along the second direction D2. Both the fan 209 and the power supply assembly 221 have a relatively large weight. In this way, it is beneficial to the overall weight balance distribution of the handheld vacuum device 200, and it is convenient to maintain the balance of the handheld vacuum device 200 when the user holds it, and the setting of the handheld vacuum device 200 is more ergonomic.

[0199] Optionally, the handheld vacuum device 200 is provided with an air outlet 207 communicating with the outside. The fan 209 is in communication with the air outlet 207. Specifically, the air inlet 2091 of 209 is communicated with the outside through the air outlet 207. The air outlet 207 faces the outside along the third direction D3. In this way, when the user holds the handheld vacuum device 200 for cleaning work, the air outlet 207 does not face the user and the area to be cleaned, and the influence of the airflow discharged from the air outlet 207 on the cleaning work can be reduced.

[0200] Optionally, when the handheld vacuum device 200 is assembled and connected to the device main body 100, the air outlet 207 is arranged to face upward, and the device main body 100 is arranged to avoid the air outlet 207.

[0201] When the handheld vacuum device 200 is assembled and connected to the device main body 100, the device main body 100 can avoid the air outlet 207 so that the airflow can be smoothly discharged from the air outlet 207. For example, when the handheld vacuum device 200 is assembled and connected to the device main body 100, the air outlet 207 can face upward.

[0202] Further, the fan 209 has an air outlet 2092 communicating with the air inlet 2091. The airflow enters the fan 209 from the air inlet 2091 and flows out of the fan 209 from the air outlet 2092. Further, the air outlet 2092 is in communication with the air outlet 207.

[0203] Optionally, the power supply assembly 221 is located at a corner of the handheld vacuum device 200 close to the handle 241. When the user holds the handheld vacuum device 200 for cleaning work, the power supply assembly 221 can be at the lower part, and the fan 209 is at the upper front position. Under the weight of the fan 209 and the power supply assembly 221, the air inlet 202 can face a position slightly lower in the front, so as to facilitate the user's cleaning activities.

[0204] Optionally, when the handheld vacuum device 200 is assembled to the device main body 100, the third direction D3 is parallel to the height direction D4 of the self-propelled cleaning device 1.

[0205] Optionally, as Figure 9 shown, in the second direction D2, a control button group 2411 is provided at the second end of the handle 241. The control button group 2411 is used to control the on / off and gear switching functions of the handheld vacuuming device 200. With such a setting, it is convenient for the user to hold the handle 241 with one hand and press the control button group 2411 with the thumb, while reducing the risk of accidental touch and accidental pressing of the control button group 2411. When the user removes the handheld vacuuming device 200 from the device main body 100, the user can press the unlocking mechanism 109 with one hand and then hold the handle 241, and then press the control button group 2411 to start the handheld vacuuming device 200.

[0206] Optionally, as Figure 9 shown, an indicator light 243 is provided on the handheld vacuuming device 200. When the self-propelled cleaning device 1 is performing cleaning work or the handheld vacuuming device 200 is held for cleaning work after being detached from the device main body 100, the indicator light 243 can display the power and gear information. Further, the indicator light 243 is provided on the device main body 240. In the state where the handheld vacuuming device 200 is assembled to the device main body 100, the indicator light 243 is located above the device main body 240 and is exposed to the outside.

[0207] Optionally, as Figure 4 and Figure 6 as well as Figure 12 shown, the handheld vacuuming device 200 includes a blower 209 and a filter assembly 230. The filter assembly 230 is provided on one side of the blower 209 close to the dust collection chamber 201. The filter assembly 230 is used to intercept the garbage objects entering the dust collection chamber 201 through the air inlet 202 and make the garbage objects enter the dust collection chamber 201. By providing the filter assembly 230, the air flow and the garbage objects can be separated from each other, and the dust collection chamber 201 can accommodate the garbage objects.

[0208] For example, the filter assembly 230 includes a centrifugal separation mechanism 231. Since the densities of air and garbage objects are different, the centrifugal separation mechanism 231 can separate the air flow and the garbage objects by the principle of centrifugal separation.

[0209] The centrifugal separation mechanism 231 is connected to the device main body 240 and is located in the dust collection chamber 201. In this way, it is beneficial to the uniform distribution of the overall weight of the handheld vacuuming device 200.

[0210] Optionally, the centrifugal separation mechanism 231 is located between the blower 209 and the accommodating part 242, and the air inlet 202 is located between the blower 209 and the accommodating part 242. In this way, it is beneficial for the air inlet 202 to be centered, and it is convenient for the handheld vacuuming device 200 to be held and used.

[0211] Optionally, as Figures 10 to 12As shown in the figure, the centrifugal separation mechanism 231 has a separation space 232 inside. The separation space 232 is respectively communicated with the air inlet 2091 and the dust collection chamber 201. The airflow formed by the fan 209 flows through the dust suction port 101, the air inlet 202, the dust collection chamber 201, the separation space 232 and the air inlet 2091 in sequence. The dust collection chamber 201 is used to accommodate large particulate garbage objects intercepted outside the separation space 232 by the centrifugal separation mechanism 231. The centrifugal separation mechanism 231 is used to perform centrifugal separation on the airflow and garbage objects in the separation space 232 so that small particulate garbage objects remain in the separation space 232.

[0212] For example, the centrifugal separation mechanism 231 includes a cyclone separator, and the cyclone separator includes a wind cone tube. With such a setting, it is beneficial to achieve multi-stage separation of garbage objects and improve the separation efficiency of separating garbage objects from the airflow.

[0213] Optionally, as Figures 10 to 12 shown, the filter assembly 230 includes an interception net 233, and the interception net 233 is arranged at the entrance of the separation space 232. The interception net 233 can intercept large-sized garbage objects from entering the separation space 232, which is beneficial to improving the separation efficiency of the airflow and garbage objects. Specifically, the interception net 233 is a metal net.

[0214] In some embodiments, optionally, as Figures 10 to 12 shown, the centrifugal separation mechanism 231 also has an air outlet 234 communicated with the separation space 232, and the separation space 232 is communicated with the air discharge port 207 through the air outlet 234. The purified airflow in the separation space 232 can flow towards the air inlet 2091 through the air outlet 234 and is finally discharged to the outside through the air discharge port 207.

[0215] Optionally, as Figures 10 to 12 shown, a filter element 250 can be arranged between the fan 209 and the filter assembly 230. The filter element 250 has the function of purifying the airflow. Further, the filter element 250 is arranged at intervals between the centrifugal separation mechanism 231 and the fan 209. The path of the purified airflow in the separation space 232 flowing towards the air inlet 2091 passes through the filter element 250, and the filter element 250 can purify the airflow again. Specifically, the filter element 250 is a HEPA (High Efficiency Particulate Air Filter). In some embodiments, multiple filter elements 250 can be arranged, and the multiple filter elements 250 are stacked between the fan 209 and the filter assembly 230.

[0216] Optionally, the handheld vacuum device 200 is provided with a communication port 2013, and the dust collection chamber 201 communicates with the separation space 232 through the communication port 2013. During the dust collection process of the base station 300, the garbage objects in the separation space 232 enter the dust collection chamber 201 through the communication port 2013, then leave the dust collection chamber 201 through the dust removal port 203 and enter the base station 300 through the dust collection port 301.

[0217] Optionally, as Figures 10 to 12 shown, the handheld vacuum device 200 includes a partition member 2014, and the partition member 2014 is movably arranged at the communication port 2013 to open or close the communication port 2013. The base station 300 includes a dust collection fan 320 communicating with the dust collection port 301, and the partition member 2014 is arranged to move from the position closing the communication port 2013 to the position opening the communication port 2013 under the attraction of the dust collection fan 320. In some embodiments, the partition member 2014 is arranged to move from the position opening the communication port 2013 to the position closing the communication port 2013 under the attraction of the fan 209.

[0218] When the self - propelled cleaning device 1 is performing cleaning work or the handheld vacuum device 200 is held for cleaning work after being removed from the device main body 100, the partition member 2014 can be in the position closing the communication port 2013, which is used to prevent the airflow and garbage objects in the dust collection chamber 201 from entering the separation space 232 through the communication port 2013 under the suction of the fan 209. When the self - propelled cleaning device 1 needs to collect dust, under the suction of the dust collection fan 320, the partition member 2014 can be in the position opening the communication port 2013, and the airflow formed under the action of the dust collection fan 320 can carry the garbage objects into the dust collection chamber 201 through the communication port 2013, then leave the dust collection chamber 201 through the dust removal port 203 and enter the base station 300 through the dust collection port 301, thereby realizing the dust collection function.

[0219] Optionally, the handheld vacuum device 200 is provided with an elastic reset member, and the partition member 2014 is rotatably arranged at the communication port 2013. The elastic reset member is used to limit the partition member 2014 to the position closing the communication port 2013, and the elastic reset member is in an elastically compressed state when the partition member 2014 is in the position opening the communication port 2013.

[0220] When the self - propelled cleaning device 1 is performing cleaning work or the handheld vacuuming device 200 is held for cleaning work after being removed from the device main body 100, the elastic reset member can press the partition member 2014 to the position covering the communication port 2013. When the self - propelled cleaning device 1 needs to collect dust, under the suction force of the dust collection fan 320, the partition member 2014 rotates to the position of opening the communication port 2013, and at the same time, the elastic reset member is in an elastically compressed state. When the dust collection of the self - propelled cleaning device 1 is completed, the dust collection fan 320 stops working, and the elastic reset member elastically returns, causing the partition member 2014 to rotate to the position covering the communication port 2013. Further, the partition member 2014 is arranged to be accelerated by the fan 209 to move to the position covering the communication port 2013. For example, the elastic reset member is a torsion spring. In some embodiments, the elastic reset member can be directly omitted, and the partition member 2014 is directly made of an elastic material. For example, the partition member 2014 can be made of rubber material.

[0221] In other embodiments, such as Figure 4 shown, different from the embodiment Figure 12 shown, in the embodiment Figure 4 shown, the partition member 2014 is omitted, and the communication port 2013 extends to abut against the inner wall of the accommodating portion 242. In this embodiment, the garbage in the separation space 232 cannot be sucked away by the base station, and the user can pour out the garbage in the separation space 232 by removing the accommodating portion 242.

[0222] Optionally, as Figure 10 shown, the device main body 100 includes a body 130, a rotary brush 1011 and a comb 1012. The rotary brush 1011 is rotatably connected to the body 130 and is arranged at the suction port 101. The comb 1012 is connected to the body 130 and is used to clean the hair wound around the rotary brush 1011.

[0223] Specifically, the rotary brush 1011 and the comb 1012 are arranged at the suction port 101, and when the rotary brush 1011 rotates, it sweeps across the comb 1012. The rotary brush 1011 is used to sweep the working surface to sweep out garbage objects so that the garbage objects can be sucked into the suction port 101. Hairs and silk threads in the garbage objects are easily wound around the rotary brush 1011. When the rotary brush 1011 rotates and sweeps across the comb 1012, the comb 1012 can scrape off the hairs and silk threads wound on the rotary brush 1011, and then they are sucked into the dust collection cavity 201 by the fan 209. In other embodiments, the comb 1011 can also be omitted, and a cutting structure can also be used to cut the hair wound around the rotary brush 1011, or by controlling the forward and reverse rotation of the rotary brush 1011 to loosen the hair wound around the rotary brush 1011 so that the hair is sucked into the dust collection cavity 201.

[0224] Optionally, the rotary brush 1011 can be a rubber - hair integrated rotary brush 1011 or a rubber rotary brush.

[0225] Optionally, as Figure 10 and Figure 12 shown, the handheld dust suction device 200 includes a plugging member 2023 for plugging the air inlet 202. The plugging member 2023 is movably disposed at the air inlet 202 so as to be able to switch between a plugging position and a communicating position relative to the air inlet 202. The plugging member 2023 is arranged to cover the air inlet 202 at the plugging position and is also arranged to be attracted by the fan 209 or the dust collection fan 320 to move from the plugging position to the communicating position to open the air inlet 202. Further, the plugging member 2023 plugs the air inlet 202 inside the handheld dust suction device 200.

[0226] When the self-propelled cleaning device 1 is performing a cleaning operation or the handheld dust suction device 200 is held for cleaning, the plugging member 2023 can be in the communicating position to allow the garbage objects to enter the dust collection chamber 201 through the air inlet 202. When the handheld dust suction device 200 is detached from the device main body 100, the plugging member 2023 can cover the air inlet 202 to prevent the garbage objects in the dust collection chamber 201 from sliding out through the air inlet 202.

[0227] Optionally, the handheld dust suction device 200 includes an elastic pressing member for keeping the plugging member 2023 in the plugging position by elastic action.

[0228] In summary, after the handheld dust suction device 200 is detached from the device main body 100 and the handheld dust suction device 200 is connected to the accessory 400a for cleaning, both the dust removal port 203 and the communication port 2013 are closed. When the fan 209 is started, an air flow can be formed that flows into the dust collection chamber 201 successively through the accessory 400a and the air inlet 202. The air flow can carry garbage objects and make the air inlet 202 conduct. Some of the garbage objects carried by the air flow can be received in the dust collection chamber 201. The air flow and some of the garbage objects carried by it can enter the separation space 232 through the intercepting net 233 and perform centrifugal separation. The garbage objects separated by centrifugation can be retained in the separation space 232. The air flow purified by centrifugal separation can flow through the air outlet 234, pass through the filter element 250, flow towards the air inlet 2091, and finally be discharged to the outside through the air outlet 207. In this way, multi-stage separation of the garbage objects can be realized, and the separation effect can be improved.

[0229] After the handheld dust suction device 200 is assembled to the device main body 100 and when the self-propelled cleaning device 1 is cleaning, the dust removal port 203 and the communication port 2013 are both closed. The airflow formed by the fan 209 can enter the interior of the device main body 100 from the dust suction port 101, then flow out from the dust outlet 102, and in turn drive the air inlet 202 to open and flow into the dust collection chamber 201 through the air inlet 202. The airflow can carry garbage objects. Then, the airflow carrying the garbage objects enters the separation space 232 through the intercepting net 233, and centrifugal separation of the airflow and the garbage objects is performed in the separation space 232. The intercepting net 233 can intercept large-sized garbage objects from entering the separation space 232, so that the large-sized garbage objects are stored in the dust collection chamber 201. The garbage objects centrifugally separated in the separation space 232 can remain in the separation space 232, and the airflow purified in the separation space 232 can flow toward the air inlet 2091 through the air outlet 234 and the filter element 250 and is finally discharged to the outside through the air exhaust port 207. In this way, multi-stage separation of the garbage objects can be achieved, and the separation effect can be improved.

[0230] When the self-propelled cleaning device 1 is docked with the base station 300 for dust collection, under the action of the dust collection fan 320, the shielding member 210 rotates to the open position, the partition member 2014 rotates to the position where the communication port 2013 is opened, the blocking member 2023 moves to the communicating position, the air inlet 202, the dust removal port 203, and the communication port 2013 are all opened. The formed airflow can flow into the dust collection chamber 201 from the outside through the air inlet 202, and the formed airflow can also flow into the separation space 232 from the outside through the air exhaust port 207. The airflow can carry the garbage objects in the separation space 232 and the dust collection chamber 201 to leave the handheld dust suction device 200 through the dust removal port 203 and enter the device main body 100 through the dust inlet 104, and then enter the base station 300 through the dust discharge port 103 and the dust collection port 301.

[0231] The above are only the embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, shall be similarly included in the patent protection scope of the present application.

Claims

1. A self-propelled cleaning device, characterized in that: The self-propelled cleaning device comprises: A first functional mechanism, comprising a first body and an electric control system disposed on the first body; A device body, wherein the first body is detachably connected to the device body; Among them, the electronic control system includes: a power supply circuit and a monitoring circuit electrically connected to the power supply circuit, the monitoring circuit is used to detect the electrical connection state between the first functional mechanism and the device body, and control the power supply circuit to supply power to the device body when the first functional mechanism and the device body are in an electrically connected state.

2. The self-propelled cleaning device according to claim 1, characterized in that: The monitoring circuit is used to detect a voltage change of a transmission voltage between the first functional mechanism and the device body, and determine an electrical connection state between the first functional mechanism and the device body based on the voltage change; Among them, if the transmission voltage changes from a first preset voltage value to a second preset voltage value, it is determined that the connection state between the first functional mechanism and the device body is switched from a separated state to an electrically connected state; the first preset voltage value is different from the second preset voltage value.

3. The self-propelled cleaning device according to claim 2, characterized in that: The monitoring circuit includes: a main control circuit, a first electrical connection terminal and an insertion detection circuit, and the device body includes a second body, a power supply circuit and a second electrical connection terminal arranged on the second body; The first electrical connection terminal is used to be electrically connected to the second electrical connection terminal; the insertion detection circuit is electrically connected to the main control circuit and the first electrical connection terminal respectively, and is used to detect the voltage change of the transmission voltage on the first electrical connection terminal; the power supply circuit is electrically connected to the second electrical connection terminal; The power supply circuit is electrically connected to the first electrical connection terminal and the main control circuit respectively; when the main control circuit determines that the first electrical connection terminal is electrically connected to the second electrical connection terminal based on the detection result of the insertion detection circuit, the main control circuit controls the power supply circuit to supply power to the first electrical connection terminal so as to supply power to the second electrical connection terminal.

4. The self-propelled cleaning device according to claim 3, characterized in that: The insertion detection circuit comprises: A first voltage-dividing resistor, wherein a first end of the first voltage-dividing resistor is used to connect to a power supply voltage; a second voltage-dividing resistor, wherein a first end of the second voltage-dividing resistor is electrically connected to a second end of the first voltage-dividing resistor, the power supply circuit, and the first electrical connection terminal respectively; a third voltage-dividing resistor, wherein a first end of the third voltage-dividing resistor is electrically connected to the main control circuit and a second end of the second voltage-dividing resistor respectively, and a second end of the third voltage-dividing resistor is grounded; The device body also includes: A fourth voltage-dividing resistor, wherein a first end of the fourth voltage-dividing resistor is electrically connected to the second electrical connection terminal and the power supply circuit respectively, and a second end of the fourth voltage-dividing resistor is grounded.

5. The self-propelled cleaning device according to claim 4, characterized in that: The insertion detection circuit further includes: a diode, an anode of the diode being connected to the supply voltage, and a cathode of the diode being electrically connected to a first end of the first voltage-dividing resistor; and / or The insertion detection circuit further includes: a current limiting filter circuit, which is electrically connected to the main control circuit, the second end of the second voltage-dividing resistor, and the first end of the third voltage-dividing resistor respectively.

6. The self-propelled cleaning device according to claim 1, characterized in that: The first functional mechanism further includes: a first communication circuit, and the device body further includes a second communication circuit; The first communication circuit is used for signal communication with the second communication circuit; the monitoring circuit is electrically connected to the first communication circuit; When the monitoring circuit determines based on the communication state between the first communication circuit and the second communication circuit that the first functional mechanism is separated from the device body, the monitoring circuit controls the power supply circuit to cut off the power supply to the device body.

7. The self-propelled cleaning device according to claim 6, characterized in that: When the first functional mechanism is in an electrically connected state with the device body, the first communication circuit sends a heartbeat data packet to the second communication circuit, and receives feedback data of the heartbeat data packet from the second communication circuit; When the first communication circuit does not receive the feedback data within a preset time period, the monitoring circuit controls the power supply circuit to cut off the power supply to the device body.

8. The self-propelled cleaning device according to claim 6, wherein: The first communication circuit includes: a first communication terminal and a first protection circuit electrically connected to the first communication terminal; The second communication circuit includes: a second protection circuit electrically connected to the second communication terminal and the second communication terminal; Among them, the first communication terminal is used to be electrically connected to the second communication terminal to achieve signal communication; the first protection circuit is used to block the high voltage input when the first communication terminal is electrically connected to the second communication terminal, and the second protection circuit is used to block the high voltage input when the second communication terminal is electrically connected to the first communication terminal.

9. The self-propelled cleaning device according to claim 1, characterized in that: The electric control system further comprises: a switch, a control end of the switch being electrically connected to the monitoring circuit, a communication end of the switch being electrically connected to the power circuit, and another communication end of the switch being electrically connected to the device body; The monitoring circuit controls the switch to be closed when the first functional mechanism is in an electrically connected state with the device body, and controls the switch to be opened when the first functional mechanism is in a separated state with the device body.

10. The self-propelled cleaning device according to any one of claims 1 to 9, characterized in that: The device body has a dust suction port, the first functional mechanism includes a handheld dust suction device, the handheld dust suction device also includes: a handle, a fan and a power supply assembly, and the handheld dust suction device is formed with a dust collection chamber and an air inlet for connecting to the dust collection chamber, the fan has an air inlet connected to the dust collection chamber, when the first functional mechanism is connected to the device body, the dust suction port is connected to the air inlet, the fan is used to form an airflow from the dust suction port and the air inlet into the dust collection chamber, and the dust collection chamber is used to receive garbage objects carried by the airflow; Among them, the power supply component serves as the power supply circuit and is electrically connected to the fan and the monitoring circuit; the power supply component provides electrical energy to the fan and supplies power to the device body under the control of the monitoring circuit.

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