Cleaning equipment, control method thereof and cleaning system

Abstract

The invention provides cleaning equipment, a control method thereof and a cleaning system. The cleaning equipment comprises a machine body, a cleaning assembly and a driving assembly, the cleaning assembly is provided with an inwards-retracting position, an edge position and an outwards-swinging position relative to the machine body, and the swinging distance of the cleaning assembly relative to the machine body when the cleaning assembly is located at the outwards-swinging position is larger than that of the cleaning assembly when the cleaning assembly is located at the edge position; the driving assembly comprises a first driving part and a swing arm assembly, the swing arm assembly is movably connected to the machine body, the cleaning assembly is connected to the tail end of the swing arm assembly, and the first driving part drives the swing arm assembly to drive the cleaning assembly to move between the inward retracting position and the outward swinging position. Thus, the cleaning assembly can stretch out to the outward swinging position relative to the machine body, low gaps of furniture such as sofas and cabinets are cleaned, cleaning blind areas are reduced, and the cleaning effect of the cleaning assembly is improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning appliances, and specifically to a cleaning device, a control method thereof, and a cleaning system. Background Art

[0002] With the advancement of science and technology and the improvement of living standards, cleaning devices such as sweeping robots, floor scrubbers, and sweeping-and-mopping robots are becoming increasingly popular in households. However, due to the limitations of the existing robots' form factors, the main robot body cannot reach low-lying furniture such as sofas and cabinets to clean them, resulting in blind spots and poor cleaning performance. Summary of the Invention

[0003] Multiple embodiments of the present application provide a cleaning device, a control method thereof, and a cleaning system. By setting a swing arm assembly between the rag and the main unit, the swing arm assembly can expand the rag to a farther position and make the rag more flexible, thereby achieving cleaning of low spaces.

[0004] In a first aspect, an embodiment of the present application provides a cleaning device, comprising:

[0005] body;

[0006] a cleaning assembly, the cleaning assembly having a retracted position, an edge position, and an outward swing position relative to the body, wherein the swing distance of the cleaning assembly relative to the body when in the outward swing position is greater than the swing distance of the cleaning assembly when in the edge position;

[0007] A drive assembly comprising a first drive member and a swing arm assembly, wherein the swing arm assembly is movably connected to the machine body, and the cleaning assembly is connected to a distal end of the swing arm assembly, wherein the first drive member drives the swing arm assembly to move the cleaning assembly between a retracted position and an outward swing position;

[0008] The first driving member is used to drive the cleaning component to be located at the edge position to perform cleaning work when the cleaning device needs to clean a first scene; and to drive the cleaning component to be located at the outward swing position to perform cleaning work when the cleaning device needs to clean a second scene; in the second scene, the accessibility of the cleaning device to the area to be cleaned is less than that in the first scene.

[0009] Optionally, the first scene includes at least an edge cleaning scene, and the second scene includes at least one of an obstacle suspended scene, an obstacle recessed scene, and an irregular angle scene.

[0010] Optionally, the swing arm assembly includes a first swing arm and a second swing arm that are sequentially connected in a transmission manner, the first swing arm is rotatably connected to the machine body, the cleaning assembly is movably connected to an end of the second swing arm away from the first swing arm, and the swing arm assembly drives the cleaning assembly to move between the retracted position and the outward swing position; the first driving member drives the first swing arm to move relative to the machine body, and the first swing arm and the second swing arm can rotate relative to each other.

[0011] Optionally, when the first driving member drives the cleaning assembly to the retracted position, the bending angle of the second swing arm relative to the first swing arm is α; when the first driving member drives the cleaning assembly to the outward swing position, the bending angle of the second swing arm relative to the first swing arm is β, wherein β is greater than α.

[0012] Optionally, when the first driving member drives the cleaning assembly to be in an edge position, the bending angle of the second swing arm relative to the first swing arm is γ, wherein γ is smaller than α.

[0013] Optionally, the second swing arm includes a first guide wheel, the body includes a sliding guide portion, and the first guide wheel is rotatably arranged on the sliding guide portion, wherein when the cleaning component moves from the retracted position to the edge position, the sliding guide portion can guide the movement trajectory of the second swing arm through the first guide wheel; the cleaning device includes a second guide wheel rotatably arranged on the body, wherein when the cleaning component moves from the edge position to the outward swing position, the side of the second swing arm away from the first driving member can roll along the second guide wheel to guide the movement trajectory of the second swing arm.

[0014] Optionally, the cleaning device includes an in-position sensor, which is electrically connected to the driving assembly. The in-position sensor is used to sense when the cleaning assembly moves to the retracted position, the edge position or the outward swing position, and then provide feedback to the driving assembly to stop driving the swing arm assembly.

[0015] Optionally, the sliding guide portion is in the shape of a circular arc or an involute arc.

[0016] Optionally, the driving assembly includes an elastic member, which is provided on the first swing arm and elastically abuts against the second swing arm;

[0017] When the cleaning component moves from the retracted position to the edge position, the first swing arm and the second swing arm compress the elastic member and store elastic potential energy; when the cleaning component moves from the edge position to the outward swing position, the elastic member releases elastic potential energy to push the second swing arm to rotate relative to the first swing arm.

[0018] Optionally, the first swing arm includes a first limiting portion, the second swing arm includes a second limiting portion, and the elastic member includes two elastic ends; when the cleaning assembly is located in the outward swing position, the first limiting portion and the second limiting portion respectively limit the two elastic ends to fix the relative angles of the first swing arm and the second swing arm.

[0019] Optionally, the elastic member is a torsion spring, a rubber strip, or a spring.

[0020] Optionally, when the cleaning component is in the outward swing position, in the width direction of the cleaning device, a swing distance L of the cleaning component relative to the tangent of the widest edge of the body is greater than or equal to 50 mm.

[0021] Optionally, the cleaning assembly is a disc rag, and there are two of the cleaning assemblies, the two cleaning assemblies are symmetrically arranged along the center line of the cleaning device, and at least one of the two disc rags can extend along the width direction of the cleaning device;

[0022] Alternatively, the cleaning component is a roller rag or a track rag, and the roller rag or the track rag can be extended along the width direction of the cleaning device.

[0023] Optionally, the side wall of the body includes an opening, and the swing arm assembly moves to the outward swing position through the opening; when the cleaning assembly is in the outward swing position, at least the end of the second swing arm of the swing arm assembly extends beyond the side wall of the body.

[0024] Optionally, the body includes a main housing and a door assembly, the main housing forms a accommodating space for accommodating the driving assembly, the accommodating space is connected to the external environment through the opening, and the door assembly is movably arranged on the main housing to close the opening when the cleaning assembly is in the retracted position and open the opening when the cleaning assembly moves toward the outward swing position.

[0025] Optionally, the cleaning device includes a second driving member, and the second driving member is used to drive the door assembly to move;

[0026] Alternatively, the first driving member is used to drive the first swing arm to rotate relative to the machine body and to drive the door stop assembly to move.

[0027] Optionally, the cleaning device includes a water replenishing structure, which is used to replenish water for the cleaning component. The water replenishing structure includes at least one water outlet, and the water outlet is arranged on the swing arm component to swing with the swing arm component.

[0028] Optionally, the cleaning assembly includes a cleaning disc having a hollow area provided on the cleaning disc, and the cleaning disc is used to install a cleaning member. When the cleaning disc is in the retracted position or the outward swing position, at least part of the vertical projection of the water outlet on the cleaning disc always overlaps with the hollow area; the water outlet is provided on the last-stage swing arm, or the water outlet is provided on the first-stage swing arm near the rotating shaft connected to the last-stage swing arm.

[0029] Optionally, the water outlet is arranged on the final swing arm, or is arranged on the first-stage swing arm near the rotating shaft connected to the final swing arm; the distance between the water outlet and the rotation center of the cleaning disc is a predetermined value, and the predetermined value enables the cleaning component to swing between the retracted position and the outward swing position at any position on the swinging trajectory, and the water outlet is connected to the hollow area for water replenishment.

[0030] In a second aspect, an embodiment of the present application provides a cleaning system, which includes a base station and a cleaning device as described above, wherein the base station is used to supply power to the cleaning device and / or clean the cleaning device.

[0031] In a third aspect, an embodiment of the present application provides a control method for a cleaning device, the method being applied to a cleaning device, the cleaning device comprising a body and a cleaning assembly, the cleaning assembly having a retracted position relative to the body, an edge position, and an outward swing position, wherein a swing distance of the cleaning assembly relative to the body when in the outward swing position is greater than a swing distance of the cleaning assembly when in the edge position;

[0032] The control method includes:

[0033] When the first scene is detected, the cleaning component is controlled to be in an edge position to perform cleaning work;

[0034] When a second scenario is detected, the cleaning component is controlled to be in an outward swing position to perform cleaning work, wherein, in the second scenario, the accessibility of the cleaning device to the area to be cleaned is less than that in the first scenario.

[0035] This specification provides multiple implementations. By setting a swing arm assembly between the rag and the main unit, the cleaning assembly can be extended to an outward swing position relative to the body to clean the low gaps in furniture such as sofas and cabinets. The swing distance of the swing arm assembly is adjustable so that the position of the cleaning assembly can be adaptively changed for different scenarios, reducing cleaning blind spots and avoiding problems such as scratches and falling of the cleaning assembly, thereby improving the cleaning effect and interactivity of the cleaning assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic structural diagram of a cleaning device provided in accordance with an embodiment of this specification.

[0037] Figure 2 Another structural schematic diagram of a cleaning device provided in one embodiment of this specification.

[0038] Figure 3 A schematic diagram of a portion of the structure of a cleaning device provided in one embodiment of this specification.

[0039] Figure 4 A schematic structural diagram of a cleaning device provided in accordance with one embodiment of the present disclosure, wherein the cleaning component is in a retracted position.

[0040] Figure 5 A schematic structural diagram of a cleaning device provided in accordance with an embodiment of the present disclosure, wherein the cleaning component is in an outward swing position.

[0041] Figure 6 A schematic structural diagram of a cleaning device provided in accordance with an embodiment of the present disclosure, wherein the cleaning component is positioned along an edge.

[0042] Figure 7 A schematic diagram of a portion of the structure of a drive assembly provided for one embodiment of this specification.

[0043] Figure 8 A schematic diagram of a portion of the structure of a cleaning component provided in one embodiment of this specification.

[0044] Figure 9 An embodiment of this specification provides Figure 8 Schematic diagram of the enlarged structure of A in the figure.

[0045] Figure 10 A schematic diagram of the module structure of a cleaning system provided in one embodiment of this specification.

[0046] Figure 11 A flowchart of a method for controlling a cleaning device provided in accordance with an embodiment of the present disclosure.

[0047] Description of Reference Numerals

[0048] 100. Cleaning device; 10. Machine body; 11. Sliding guide; 12. Main housing; 121. Accommodating space; 122. Opening; 13. Door stop assembly; 20. Cleaning assembly; 21. Cleaning disc; 22. Cleaning member; 30. Driving assembly; 3. Swing arm assembly; 31. First swing arm; 32. Second swing arm; 321. First guide wheel; 33. Elastic member; 34. First driving member; 40. Second guide wheel; 50. In-position sensor; 60. Water replenishment structure; 61. Water outlet; 200. Cleaning system; 201. Base station. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0050] In this specification, the drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show details of the local features.

[0051] Unless otherwise indicated, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the art in the technical field of this specification. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the scope of this specification. The term "and / or" used in this specification includes any and all combinations of one or more of the relevant listed items. The singular forms "a", "above", and "the" used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0052] In the description of this specification, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this specification, "plurality" means two or more, unless otherwise specifically defined.

[0053] In the description of this specification, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and so on indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of simplifying the description of this specification, and do not indicate that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be understood as a limitation to this application.

[0054] Throughout this specification, unless otherwise expressly defined, terms such as "installed," "connected," "connect," "fixed," and "disposed" should be interpreted broadly. For example, "connection" can refer to fixed or removable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this specification based on the specific circumstances.

[0055] In the various embodiments described below, the cleaning device 100 may further include a walking system, which is provided on the body 10 and is used to drive the body 10 to realize the function of self-movement on the surface to be cleaned. The walking system generally includes a driver and a walking component. The walking component can generally be divided into two, and the two walking components are symmetrically provided on the body 10. The walking components include but are not limited to drive wheels, track wheels or steering wheels with adjustable steering. For example, the steering wheel is a Mecanum wheel. In addition, the walking system can be swingably provided on the body 10 so that the cleaning device has an obstacle crossing function during walking. Among them, the surface to be cleaned can be, but is not limited to, the surface or scene of objects such as the ground, desktop, glass, and wall. For the sake of convenience, the surface to be cleaned below is described using the ground as an example.

[0056] In the following embodiments, the height, length, and width directions of the cleaning device 100 are also introduced. The height direction is parallel to the overall height direction of the cleaning device in this embodiment when in use on the surface to be cleaned. Taking a generally flat floor as a reference for the surface to be cleaned, the height direction is generally perpendicular to the surface to be cleaned. The length direction is the direction of travel of the cleaning device 100, and the width direction is the direction of movement of the swing arm assembly 3 of the cleaning device 100.

[0057] See also Figures 1 to 5 One embodiment of the present application provides a cleaning device 100, comprising a body 10, a cleaning assembly 20, and a drive assembly 30. The cleaning assembly 20 has a retracted position, an edge position, and an outward swing position relative to the body 10. When the cleaning assembly 20 is in the outward swing position, the swing distance relative to the body 10 is greater than the swing distance when the cleaning assembly 20 is in the edge position.

[0058] To elaborate, the swing arm assembly 3 connects the cleaning assembly 20 and the body 10 to achieve a movable connection between the cleaning assembly 20 and the body 10. The movement of the swing arm assembly 3 can change the position of the cleaning assembly 20, so that the cleaning assembly 20 has a retracted position, an edge position and an outward swing position. In different cleaning scenarios, the cleaning assembly 20 can be in the retracted position, the edge position, the outward swing position, or any position between the retracted position, the edge position and the outward swing position. The position of the cleaning assembly 20 between the retracted position, the edge position and the outward swing position can be set as needed.

[0059] It is understood that when the cleaning assembly 20 is in the outward swing position, the swing arm assembly 3 will extend outward to cover a larger area in order to expand the cleaning range as much as possible. When the cleaning assembly 20 is in the retracted position, the swing arm assembly 3 will retract, so that the cleaning assembly 20 can be closer to the center of the cleaning disk 21.

[0060] Exemplarily, when the cleaning component 20 is cleaning a conventional area or is in standby mode, the cleaning component 20 can be in a retracted position to reduce occupied space and avoid interference. When the cleaning component 20 needs to extend into a deep and low area in a horizontal position for cleaning, the cleaning component 20 can be in an outward swing position. When the cleaning component 20 needs to clean an edge position, the cleaning component 20 can be in a position between the retracted position and the outward swing position.

[0061] When no power source is provided in the machine body 10 , the swing arm assembly 3 can also be manually pulled out to the outward swing position or retracted to the inward retracted position or moved to the edge position.

[0062] Traditional cleaning equipment in the related art often utilizes a single-arm, swing-out design, which operates in a simple manner. However, this single-arm swing-out design has significant drawbacks. Existing technologies make access difficult with a single swing-out design, and the lifting solution requires a significant amount of space within the machine body, resulting in poor cleaning performance in corners and low areas. These limitations prevent traditional cleaning equipment from approaching walls or furniture with low clearances. In other words, a single-arm swing-out design offers limited accessibility to corners and furniture with low clearances, necessitating a longer swing-out arm to reduce blind spots. However, due to the need for long-range cleaning, a longer swing-out arm requires more space. Due to the geometric constraints of a single swing-out arm (a fixed arc trajectory), the arm's length determines the maximum swing-out distance. Excessive length increases the overall size of the machine, while too short prevents it from reaching the edges. Furthermore, the required swing-out space during deployment prevents the machine from operating close to walls or in confined areas. The leverage effect at the end of the swing-out arm reduces ground pressure, reducing cleaning effectiveness. Since the robot is compact and has a small internal space, how to swing it further outward when the space arrangement is compact enough is a technical problem.

[0063] In this embodiment, the driving assembly 30 includes a first driving member 34 and a swing arm assembly 3. The swing arm assembly 3 is movably connected to the body 10. The cleaning assembly 20 is connected to the end of the swing arm assembly 3. The first driving member 34 drives the swing arm assembly 3 to drive the cleaning assembly 20 to move between the retracted position and the outward swing position.

[0064] The swing arm assembly 3 includes a first swing arm 31 and a second swing arm 32 which are sequentially connected in a transmission manner. The first swing arm 31 is rotatably connected to the body 10, and the cleaning assembly 20 is movably connected to the end of the second swing arm 32 away from the first swing arm 31. The swing arm assembly 3 drives the cleaning assembly 20 to move between a retracted position and an outward swing position; the first driving member 34 drives the first swing arm 31 to move relative to the body 10, and the first swing arm 31 and the second swing arm 32 can rotate relative to each other.

[0065] Furthermore, in the embodiments of the present application, the specific number of levels and groups of the swing arm assembly 3 is not limited to meet different needs. The swing arm assembly 3 can include one or more groups. For example, in some embodiments, including two cleaning assemblies 20, the swing arm assembly 3 includes two groups, each corresponding to a cleaning assembly 20. The two groups of swing arm assemblies 3 respectively drive the corresponding cleaning assemblies 20 to move away from each other when swinging outward or toward each other when retracting. A group of swing arm assemblies 3 can also include two or more swing arms to ensure that the cleaning assembly 20 can move to the desired position.

[0066] In the embodiment of the present application, the first swing arm 31 and the second swing arm 32 move relative to each other, and the cleaning component 20 can be extended to the outward swing position relative to the body 10. At this time, the cleaning device 100 can clean the low gaps of furniture such as sofas and cabinets, reducing cleaning blind spots and improving the cleaning effect of the cleaning component 20.

[0067] In the embodiments of the present application, the specific type of cleaning device 100 is not limited to meet different needs. For example, the cleaning device 100 can be a cleaning robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc. The cleaning device 100 is described as a mopping robot in this application. Furthermore, in the embodiments of the present application, the shape of the body 10 is not limited to meet different needs. For example, the body 10 can be round, D-shaped, triangular, or other shapes.

[0068] In this embodiment, the first driving member 34 is used to drive the cleaning component 20 to be located in an edge position to perform cleaning work when the cleaning device 100 needs to clean the first scene; and to drive the cleaning component 20 to be located in an outward swing position to perform cleaning work when the cleaning device 100 needs to clean the second scene; in the second scene, the accessibility of the cleaning device 100 to the area to be cleaned is less than that in the first scene.

[0069] In this way, the cleaning device 100 can change the position of the cleaning component 20 according to different scenarios, thereby changing the form of the cleaning device 100 to be suitable for different scenarios, and the application of the scenarios is more comprehensive.

[0070] In this embodiment, the first scene includes at least an edge cleaning scene, and the second scene includes at least one of an obstacle hanging in the air scene, an obstacle recessed scene, and an irregular angle scene.

[0071] It should be noted that the accessibility refers to the degree to which the body 10 can approach an obstacle. When the cleaning device 100 is used to clean different scenarios, the required application scenario will be determined based on the accessibility. For example, the first scenario may be a wall cleaning scenario. The cleaning device 100 can clean closely to the wall. In this case, the distance between the cleaning device 100 and the obstacle is small, that is, the degree to which the cleaning device 100 is close to the obstacle is greater. Therefore, when the cleaning component 20 is driven to perform cleaning work along the edge, the cleaning component 20 can clean closely to the edge of the obstacle. The second scenario can be a scenario that gradually shrinks from top to bottom, such as a toilet, under a bed, and a table cabinet with a low bottom space, or an area that is difficult for the machine body 10 to approach, such as an irregular angle against the wall, the bottom of a cabinet against the wall, and the angle of a table leg against the wall. When the cleaning device 100 approaches an obstacle, the obstacle itself is difficult to approach. At this time, the distance between the cleaning device 100 and the obstacle is relatively large, that is, the degree to which the cleaning device 100 is close to the obstacle is small. Therefore, driving the cleaning component 20 to be in the outward swing position to perform cleaning work can enable the cleaning component 20 to clean as close to the obstacle as possible when the cleaning device 100 cannot approach the obstacle well, so as to further reduce or eliminate blind spots.

[0072] Specifically, the cleaning component 20 is in the retracted position, which is the position of the cleaning device 100 during normal cleaning. The first scenario is when the cleaning component 20 is in the edge position, and the cleaning device 100 is in a conventional edge-moving state. For example, the cleaning device 100 can move along a relatively regular edge such as the wall, including but not limited to the wall, standard wall corners (inner right angles, outer right angles) and other positions. The second scenario includes but is not limited to the obstacle hanging scene, the obstacle recessed scene and the special-shaped angle scene. Among them, the obstacle hanging scene and the obstacle recessed scene refer to positions such as the bottom of the sofa, the bottom of the cabinet, the recessed skirting board, and the legs of tables and chairs against the wall. The special-shaped angle scene refers to a narrow corner or complex joint with a non-standard geometric shape. For example, the special-shaped angle scene can be an L-shaped corner extension area, the junction of the stairs and the handrail, the gap at the bottom of the bay window sill, the dense support area of multi-legged furniture and the joint of the curved furniture, and the position where the pipe passes through the wall.

[0073] It is understandable that in the second scenario, the cleaning device 100 needs to occupy a certain space because the body 10 itself needs to occupy a certain space. Most furniture will not reserve space for the body 10 of the cleaning device 100 to enter or even approach, making the cleaning device 100 less accessible. The cleaning robot cannot get very close to the obstacle, and the conventional outward swing distance cannot clean the edge of the obstacle. Therefore, in this embodiment, in order to cope with the cleaning of the second scenario, the swing arm assembly 3 is designed as a multi-stage swing arm, and the multi-stage swing arms cooperate with each other to extend the cleaning assembly 20 relative to the body 10 to the outward swing position. When the cleaning assembly 20 is in the outward swing position, in the second direction, the shortest distance L between the outer edge of the cleaning assembly 20 and the outer edge of the body 10 is greater than or equal to 50 mm (that is, the swing distance L of the cleaning assembly 20 relative to the tangent of the widest edge of the body 10 is greater than or equal to 50 mm). In this way, the cleaning assembly 20 can be driven to clean low spaces, and the cleaning range is large.

[0074] In this embodiment, when the first driving member 34 drives the cleaning assembly 20 to be in the retracted position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is α; when the first driving member 34 drives the cleaning assembly 20 to be in the outward swing position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is β, where β is greater than α.

[0075] In this embodiment, when the cleaning assembly 20 is in the retracted position, the second swing arm 32 is bent at an acute angle α relative to the first swing arm 31. When the cleaning assembly 20 is in the swung-out position, the second swing arm 32 is bent at an obtuse angle β relative to the first swing arm 31. Thus, when the second swing arm 32 and the first swing arm 31 are bent relative to each other (the cleaning assembly 20 is in the retracted position), the cleaning assembly 20 retracts below the body 10 to clean the floor or surface in the direction of travel of the body 10. When the second swing arm 32 and the first swing arm 31 are extended relative to each other (the cleaning assembly 20 is in the swung-out position), the cleaning assembly 20 extends outward to a position farther from the body 10 to clean low spaces under furniture that the body 10 cannot access.

[0076] It is understood that when the cleaning assembly 20 is in the retracted position, the cleaning assembly 20 is positioned entirely below the body 10, and the projected overlap area of the cleaning assembly 20 and the body 10 on the ground is relatively large. When the cleaning assembly 20 is in the swung-out position, the bending angle of the second swing arm 32 relative to the first swing arm 31 increases, causing the cleaning assembly 20 to protrude entirely from the body 10, and the projected overlap area of the cleaning assembly 20 and the body 10 on the ground is relatively small.

[0077] In this embodiment, the driving assembly 30 adopts a double swing arm structure design, and the double swing arm can move relative to the body 10 to achieve the transformation of the shape of the cleaning device 100. The first swing arm 31 is rotatably connected to the bottom of the body 10 via a rotating shaft, and the second swing arm 32 is rotatably connected to the distal end of the first swing arm 31 via a rotating shaft structure. The cleaning assembly 20 is mounted on the end of the second swing arm 32 via a movable connection mechanism. When the cleaning assembly 20 is in the retracted position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is α, at which time the cleaning device 100 maintains a compact shape; when the cleaning assembly 20 switches to the outward swing position, the bending angle increases to β, allowing the cleaning assembly 20 to extend outward.

[0078] In the embodiment of the present application, a group of swing arm assemblies 3 may also include three swing arms or four swing arms, which is not limited here. In the following embodiment, a group of swing arm assemblies 3 including two swing arms is used as an example for description.

[0079] In this embodiment, a dual-swing arm linkage mechanism is employed, enabling wide-range position adjustment of the cleaning assembly 20 through the rotational motion of the first swing arm 31 and the second swing arm 32. A specific angular relationship (β > α) is established to ensure sufficient reach when swinging outward. The articulated connection design allows the cleaning assembly 20 to adapt to the undulations of the floor during operation. This angled arrangement of the first and second swing arms 31, 32 ensures a sufficient outward swing distance when deployed, while also allowing the first and second swing arms 31, 32 to rotate relative to each other to a retracted position, thereby ensuring a compact layout for the cleaning apparatus 100.

[0080] In this embodiment of the present application, when the cleaning device 100 detects a low space, such as under furniture, it drives the first swing arm 31 to rotate. Simultaneously, the second swing arm 32, driven by the first swing arm 31, rotates to a corresponding angle, moving the cleaning assembly 20 from a retracted position to an outward swing position. In other words, when the cleaning device 100 determines it is in the second scenario, it drives the cleaning assembly 20 to the outward swing position to perform cleaning operations. Through the combined motion of the two swing arms, the cleaning assembly 20 can extend beyond the edge of the body 10, effectively covering low spaces beneath furniture such as sofas and cabinets. This eliminates the need for the body 10 to enter the space beneath furniture, allowing the cleaning assembly 20 to stay close to the ground and adapt to spaces beneath furniture of varying heights. When the cleaning device 100 detects a corner where the roller brush assembly cannot reach the edge for cleaning, it drives the first swing arm 31 to rotate. Simultaneously, the second swing arm 32, driven by the first swing arm 31, rotates to a corresponding angle, moving the cleaning assembly 20 from a retracted position to an edge position. That is to say, when the cleaning device 100 determines that it is in the first scene, it is necessary to drive the cleaning component 20 to be located at the edge position to perform the edge cleaning scene work. In this way, the cleaning component 20 can clean areas such as walls, furniture edges, and skirtings without extending too far from the body 10.

[0081] In this embodiment, after the cleaning component 20 moves to the retracted position, the edge position or the outward swing position, the cleaning component 20 can always maintain contact pressure with the ground by actively applying ground pressure or by using the weight of the body 10 to apply pressure to the rag, thereby ensuring the cleaning effect and significantly improving the cleaning coverage rate.

[0082] See also Figures 4 to 6 In some embodiments, when the first driving member 34 drives the cleaning assembly 20 to the edge position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is γ, where γ is less than α. The edge position is between the retracted position and the outward swing position.

[0083] In this way, the retracted position, the outward swing position, and the edge position can correspond to three scenarios of the cleaning device 100, achieving different cleaning methods and ensuring better cleaning results. Among them, the retracted position corresponds to the normal mopping position of the cleaning device 100; the edge position corresponds to the position of the mop when the cleaning device 100 needs to mop along the wall corner; and the outward swing position corresponds to the position of the mop when the cleaning device 100 needs to clean low gaps.

[0084] In this embodiment, γ satisfies γ < α < β. That is, as the cleaning assembly 20 moves from the retracted position to the edge position and then to the outward swing position, the relative angle between the second swing arm 32 and the first swing arm 31 first decreases and then increases. The increasing angle range is greater than the decreasing angle range. In one embodiment, γ and α are both acute angles, and β is an obtuse angle. This allows the cleaning device 100 to flexibly adjust its operating mode according to different cleaning scenarios, optimize cleaning coverage, and improve cleaning efficiency.

[0085] Of course, it is understood that in certain embodiments, when the cleaning assembly 20 is in the edge position relative to the body 10, the bending angle γ of the second swing arm 32 relative to the first swing arm 31 does not need to be smaller than the bending angle α of the second swing arm 32 relative to the first swing arm 31 when in the retracted position, in order to accommodate the different structures and angular arrangements of the second swing arm 32 and the first swing arm 31. It is only necessary to ensure that when the first driving member 34 drives the cleaning assembly 20 to the outward swing position, the bending angle β of the second swing arm 32 relative to the first swing arm 31 is the maximum angle.

[0086] Specifically, when the cleaning component 20 is in the retracted position, it is suitable for routine cleaning in open areas (such as living rooms, bedrooms, etc.). The cleaning device 100 maintains a compact shape to ensure that the device does not collide with furniture or obstacles when moving, improves passability, and is suitable for large-area cleaning. When the cleaning component 20 is in the edge position, it is suitable for the cleaning device 100 to perform fine cleaning along walls, furniture edges, skirtings and other areas. The first swing arm 31 drives the second swing arm 32 to rotate slightly, so that the cleaning component 20 extends outward a certain distance to ensure that the mop or brush can stick to the corner of the wall to avoid cleaning dead corners. Effectively remove dust accumulated on the wall, avoid the problem that the cleaning device 100 cannot clean close to the edge, and improve the cleaning effect of corners. When the cleaning component 20 is in the outward swing position, it is suitable for the cleaning device 100 to go deep into low spaces such as sofas, under beds, and under cabinets for cleaning. The second swing arm 32 is extended significantly, allowing the cleaning assembly 20 to extend further outward. The extension length can be automatically adjusted according to the height of the furniture, ensuring that the cleaning assembly 20 always touches the ground, significantly reducing the blind spots under low furniture and improving the cleaning coverage of the whole house. For example, when the cleaning device 100 detects that the low space under the furniture is high enough for the cleaning assembly 20 to extend into, it can automatically adjust the specific mode of the cleaning device 100. For example, adjusting the cleaning assembly 20 from the edge position to the outward swing position can clean the blind spots under low furniture without additional user control, enriching the user experience of the cleaning device 100.

[0087] Furthermore, in the embodiments of the present application, the specific angles of the first and second swing arms 31, 32 when the cleaning assembly 20 is in the edge position, the outward swing position, and the retracted position are not limited to meet different needs. For example, the edge position, the outward swing position, and the retracted position can be a fixed position or a range of positions. In other words, the angles of the first and second swing arms 31, 32 when the cleaning assembly 20 is in the edge position, the outward swing position, and the retracted position can be within a range.

[0088] In some embodiments, the cleaning device 100 includes an in-position sensor 50, which is electrically connected to the driving assembly 30. The in-position sensor 50 is used to sense when the cleaning assembly 20 moves to the retracted position, the edge position or the outward swing position and provide feedback to the driving assembly 30 to stop driving the swing arm assembly 3.

[0089] In this way, the in-position sensor 50 can detect the position of the cleaning assembly 20 and control the driving assembly 30 to stop after the cleaning assembly 20 moves to a predetermined position, so that the cleaning assembly 20 can be stably maintained at the current position through the cooperation of the guide part and the pulley.

[0090] In addition, in some embodiments, the cleaning device 100 can detect the relative position of the cleaning component 20 and the body 10 through the position sensor 50, and adjust the position of the cleaning component 20 through the driving component 30 to ensure that the cleaning component 20 is accurately positioned.

[0091] In this embodiment, there is no limitation on the specific type of the position sensor 50 to meet different requirements. For example, the position sensor 50 can be an optical sensor, an angle sensor, or a pressure sensor.

[0092] For example, in one embodiment, when the in-position sensor 50 is an optical sensor, it can be installed on the upper side of the first driving member 34 to directly detect the position of the two swing arms, and then determine the position of the cleaning assembly 20 based on the swing arm position. In another embodiment, when the in-position sensor 50 is an angle sensor, an angle sensor can be installed at the swing arm joint to monitor the bending angle of the first swing arm 31 and the second swing arm 32 in real time.

[0093] In some embodiments, the second swing arm 32 also includes a guide member. When the cleaning component 20 moves and switches between the edge position and the retracted position, the guide member can assist the movement of the second swing arm 32 to ensure that the cleaning component 20 moves smoothly when switching between the edge position and the retracted position, avoiding a stuck state.

[0094] Specifically, the cleaning assembly 20 can cooperate with the in-position sensor 50 during movement, so that the in-position sensor 50 can detect whether the cleaning assembly 20 has moved into position. When the cleaning assembly 20 moves from the retracted position to the edge position, the guide member can guide the second swing arm 32; or when the cleaning assembly 20 moves from the edge position to the retracted position, the guide member can guide the second swing arm 32. During this process, the first drive member 34 actively controls the rotation of the swing arm, the guide member guides the position of the swing arm, and the in-position sensor 50 can synchronously detect the position of the swing arm to ensure that after the first swing arm 31 and the second swing arm 32 move to the corresponding positions, the first drive member 34 stops driving, ensuring that the cleaning assembly 20 is accurate in the edge position, the retracted position, and the outward swing position.

[0095] In the embodiments of the present application, the specific form of the guide member is not limited to meet different requirements. For example, the guide member can be a slide rail or a pulley.

[0096] In some embodiments, the guide member may include a first guide wheel 321 formed on the second swing arm 32. The housing 10 includes a sliding guide portion 11. The first guide wheel 321 is rollably disposed on the sliding guide portion 11. When the cleaning assembly 20 moves from the retracted position to the edge position, the sliding guide portion 11 can guide the movement trajectory of the second swing arm 32 via the first guide wheel 321. In this way, when the cleaning assembly 20 transitions between the retracted position and the edge position, the first guide wheel 321 cooperates with the sliding guide portion 11 to assist the movement of the second swing arm 32. As the first swing arm 31 rotates relative to the housing 10, the second swing arm 32 can be guided to the corresponding position under the guidance of the first guide wheel 321 and the sliding guide portion 11. This ensures that the cleaning assembly 20 is accurately positioned in the edge position and the retracted position.

[0097] In this embodiment, the first guide wheel 321 is rollably engaged within the sliding guide portion 11, forming a stable kinematic pair. When the cleaning assembly 20 moves from the retracted position to the edge position, the sliding guide portion 11 precisely guides the motion trajectory of the second swing arm 32 through the rolling contact of the first guide wheel 321, ensuring a smooth transition along a predetermined path.

[0098] In the embodiment of the present application, the specific form of the sliding guide portion 11 is not limited to meet different needs. For example, the sliding guide portion 11 can be constructed by combining a straight area and an arc area, which can be specifically limited according to the movement process of the second swing arm 32.

[0099] In some embodiments, the guide member may also include a second guide wheel 40 rotatably arranged on the body 10, wherein when the cleaning assembly 20 moves from the edge position to the outward swing position, the side of the second swing arm 32 away from the first drive member 34 can roll along the second guide wheel 40 to guide the movement trajectory of the second swing arm 32.

[0100] In this way, during the conversion of the cleaning component 20 between the edge position and the outward swing position, the second guide wheel 40 cooperates with one side of the second swing arm 32 to assist the movement of the first swing arm 31 and the second swing arm 32, ensuring that the cleaning component 20 is accurately in the edge position and the outward swing position.

[0101] In this embodiment, the axis of the rotatable second guide wheel 40 is parallel to the axis of the first guide wheel 321. When the cleaning assembly 20 moves from the edge position to the outward swing position, the first guide wheel 321 disengages from the sliding guide portion 11, and the second guide wheel 40 contacts the side surface of the second swing arm 32, guiding it to further expand outward through rolling friction.

[0102] For example, when the cleaning assembly 20 moves from the retracted position to the edge position, the first guide wheel 321 can roll along the sliding guide portion 11, allowing the cleaning assembly 20 to stably move to the edge position. Then, when the cleaning assembly 20 moves from the edge position to the outward swing position, the second guide wheel 40 can abut against the side of the second swing arm 32 away from the first drive member 34 and roll, thereby steadily pushing the second swing arm 32 out. In this way, the movement trajectory of the second swing arm 32 is smooth and there is no obvious jamming.

[0103] In some embodiments, the sliding guide portion 11 is in the shape of a circular arc or an involute arc. In this way, when the sliding guide portion 11 guides the movement of the second swing arm 32 through the first guide wheel 321, the second swing arm 32 swings smoothly, reduces the load on the motor, and avoids interference caused by excessive compression angle.

[0104] In this embodiment, the sliding guide 11 can also be a curved rail, a grooved track, or a linear track, without limitation. The contour of the sliding guide 11 is precisely designed, with its curvature matching the ideal motion path of the second swing arm 32. When the first swing arm 31 rotates relative to the body 10, the first guide wheel 321 rolls along the sliding guide 11, forcibly constraining the motion direction of the second swing arm 32 and preventing deviation or jitter.

[0105] For example, the sliding guide portion 11 may adopt an involute arc track so that the second swing arm 32 maintains a constant contact pressure between the cleaning assembly 20 and the wall during the deployment process, thereby improving the edge cleaning effect.

[0106] See also Figure 7In some embodiments, the driving assembly 30 includes an elastic member 33 , which is disposed on the first swing arm 31 and elastically abuts against the second swing arm 32 .

[0107] When the cleaning assembly 20 moves from the retracted position to the edge position, the first swing arm 31 and the second swing arm 32 compress the elastic member 33 and store elastic potential energy; when the cleaning assembly 20 moves from the edge position to the outward swing position, the elastic member 33 releases the elastic potential energy to push the second swing arm 32 to rotate relative to the first swing arm 31.

[0108] In this way, the elastic member 33 can always be in a compressed state, that is, the elastic member 33 always has an elastic force to push the second swing arm 32 to expand relative to the first swing arm 31. The elastic member 33 can be used to adjust the relative position of the second swing arm 32 and the first swing arm 31, thereby realizing the switching of the cleaning device 100.

[0109] Specifically, when the first driving member 34 drives the swing arm assembly 3 from the retracted position to the edge position, the first swing arm 31 and the second swing arm 32 can further compress the elastic member 33, so that the elastic member 33 can store more elastic potential energy. When the first driving member 34 drives the swing arm assembly 3 from the edge position to the outward swing position, the elastic member 33 can release the elastic potential energy to push the second swing arm 32 to expand relative to the first swing arm 31, thereby allowing the cleaning disc 21 and the cleaning member 22 to extend to a sufficiently far position.

[0110] In this embodiment, as the cleaning assembly 20 moves from the retracted position to the edgewise position, the second guide wheel 40 guides the movement of the second swing arm 32, causing the angle between the second swing arm 32 and the first swing arm 31 to decrease, thereby further compressing the elastic member 33. As the cleaning assembly 20 moves from the edgewise position to the outwardly swung position, the second guide wheel 40 and the elastic member 33 jointly limit the movement of the second swing arm 32. The elastic member 33 constantly pushes the second swing arm 32 toward the second guide wheel 40, ensuring stable movement of the second swing arm 32.

[0111] In some embodiments, the first swing arm 31 includes a first limiting portion (not shown), the second swing arm 32 includes a second limiting portion (not shown), and the elastic member 33 includes two elastic ends (not shown). When the cleaning assembly 20 is in the outward swing position, the first limiting portion and the second limiting portion respectively limit the two elastic ends to fix the relative angle between the first swing arm 31 and the second swing arm 32. In this way, the elastic member 33 can cooperate with the first limiting portion and the second limiting portion to achieve the maximum expansion angle of the second swing arm 32 in the outward swing position, preventing the second swing arm 32 from being misaligned due to the action of the elastic member 33.

[0112] In this embodiment, the first and second limiting portions can limit the maximum expansion angle of the elastic member 33, thereby limiting the maximum relative angle of the second swing arm 32 and the first swing arm 31, thereby maintaining the stability of the cleaning assembly 20 in the outward swing position. In other words, when the first driving member 34 drives the swing arm assembly 3 from the edge position to the outward swing position, the elastic member 33 releases its elastic potential energy to push the second swing arm 32 to expand relative to the first swing arm 31. During this process, the first and second limiting portions can restrict the elastic member 33, thereby limiting the accuracy of the swing arm assembly 3 in the outward swing position.

[0113] In some embodiments, the elastic member 33 is a torsion spring, a rubber strip, or a spring. Thus, the elastic member 33 can be one of the torsion spring, the rubber strip, or the spring.

[0114] In this embodiment, the specific type of the elastic member 33 is not limited to meet different needs.

[0115] In some embodiments, the cleaning assembly 20 includes a cleaning disc 21 and a cleaning member 22 mounted on the cleaning disc 21. The cleaning disc 21 is rotatably mounted on an end of a second swing arm 32 away from the first swing arm 31. The cleaning member 22 engages with the floor and is used to clean the floor. Thus, the cleaning disc 21 can drive the cleaning member 22 to rotate relative to the second swing arm 32, and the cleaning member 22 can clean the floor or other surface.

[0116] Specifically, in this embodiment, the cleaning assembly 20 may include a track rag and a roller rag, or may include a round cleaning rag, etc., which is not limited here.

[0117] In this embodiment, both the cleaning disc 21 and the cleaning element 22 are circular in shape, and can rotate to create friction with the floor, thereby cleaning the floor. The cleaning disc 21 can be hollowed out to reduce the weight of the cleaning assembly 20 and facilitate refilling of the cleaning element 22. The cleaning element 22 is detachably connected to the cleaning disc 21, allowing for replacement of the cleaning element 22 when it becomes dirty, or for direct replacement of a different type of cleaning element 22 to achieve different cleaning methods.

[0118] In the embodiment of the present application, the type of cleaning member 22 is not limited to meet different needs. For example, the cleaning member 22 can be made of a water-absorbing material such as a flannel or mop, which can be used to wipe the floor. For another example, the cleaning member 22 can also be made of a material such as a floor brush, which can be used to sweep the floor.

[0119] In one embodiment, the cleaning component 20 is a disc rag, and there are two cleaning components 20. The two cleaning components 20 are symmetrically arranged along the center line of the cleaning device 100, and at least one of the two disc rags can be extended along the width direction of the cleaning device 100; or, the cleaning component 20 is a roller rag or a track rag, and the roller rag or the track rag can be extended along the width direction of the cleaning device 100.

[0120] Specifically, at least one of the circular cleaning assemblies 20 can be moved to an outward swing position by the movement of the second swing arm 32 and the first swing arm 31. In one example, both cleaning assemblies 20 can be moved outward by the second swing arm 32 and the first swing arm 31; in another example, one of the two cleaning assemblies 20 can be moved outward by the second swing arm 32 and the first swing arm 31, while the other cannot move and can only perform the corresponding cleaning in the retracted position.

[0121] Furthermore, the cleaning component 20 may be a two-stage swing structure. For example, the cleaning component 20 may be a two-stage swing arm, or the cleaning component 20 may be a one-stage swing arm corresponding to two or more swing positions. The specific details are not limited here.

[0122] In one embodiment, there are two cleaning assemblies 20, one of which is a disc rag and the other is a roller rag or a track rag. The disc rag can extend along the width direction of the cleaning device 100, or the disc rag can be fixed on the cleaning device 100. The roller rag or the track rag can be fixed on the cleaning device 100, or the roller rag or the track rag can also extend along the width direction of the cleaning device 100.

[0123] In some embodiments, the cleaning device 100 advances in a first direction, and the cleaning assembly 20 moves in a second direction when in the outward swing position. The first direction is the length of the cleaning device 100, and the second direction is the width of the cleaning device 100. It should be noted that the length of the cleaning device 100 is not necessarily the longest dimension of the cleaning device 100; the width and length of the cleaning device 100 are only used to distinguish directions. Specific details will need to be explained based on the shape of the cleaning device 100.

[0124] In this way, the cleaning device 100 can clean the ground in the first direction during movement. At the same time, for low spaces that the body 10 cannot enter, the cleaning component 20 can be extended and placed in an outward swing position. Then, while the cleaning device 100 is moving along the first direction, the cleaning component 20 can be extended in the second direction to clean the low space.

[0125] In this embodiment, the body 10 may be disc-shaped, and the cleaning assembly 20 may be disposed on the left or right side of the central axis of the body 10. When the cleaning assembly 20 is on the left side, it may extend leftward along the second direction when it moves toward the outward swing position; and when the cleaning assembly 20 is on the right side, it may extend rightward along the second direction when it moves toward the outward swing position.

[0126] In some embodiments, when the cleaning assembly 20 is in the outward swing position, the swing distance L of the cleaning assembly 20 relative to the tangent line of the widest edge of the cleaning body 10 in the width direction of the cleaning device 100 is greater than or equal to 50 mm. For example, when the cleaning assembly 20 is in the outward swing position, the shortest distance L between the outer edge of the cleaning assembly 20 and the outer edge of the cleaning body 10 in the second direction can be 50 mm, 51 mm, 52 mm, 53 mm, 54 mm, 55 mm, 56 mm, 57 mm, 58 mm, 59 mm, or 60 mm.

[0127] In this way, when the cleaning assembly 20 can extend out of the machine body 10 and is in the outward swing position, the distance L between the outer edge of the cleaning disc 21 and the outer edge of the machine body 10 is greater than or equal to 50 mm. In this way, the cleaning disc 21 can drive the cleaning member 22 to clean low spaces, and the cleaning range is large.

[0128] Specifically, the cleaning assembly 20 may include a circular cleaning disc 21 and cleaning elements 22. The cleaning disc 21 can drive the cleaning elements 22 to clean low spaces, providing a wide cleaning range. In other words, the extended reach of the cleaning disc 21 defines the cleaning range of the cleaning assembly 20 when it is swung outward. When the cleaning assembly 20 is in the swung-out position, the overlap between the cleaning assembly 20 and the machine body 10 is minimized, and the cleaning assembly 20 is extended to the maximum extent relative to the machine body 10. At this point, the swing distance L of the cleaning assembly 20 relative to the tangent of the widest edge of the machine body 10, along the width of the cleaning device 100, is at least 50 mm.

[0129] It should be noted that "the shortest distance L between the outer edge of the cleaning component 20 and the outer edge of the body 10" refers to the shortest distance between the cleaning disc 21 and the edge of the body 10. For example, the moving direction of the body 10 can be perpendicular to the shortest distance between the cleaning disc 21 and the edge of the body 10 (that is, in the width direction of the cleaning device 100, the tangent of the widest edge of the body 10 is used as a reference, and the tangent of the cleaning component 20 relative to the outer edge of the body 10 is used as a tangent, and the two tangents are parallel. At this time, the distance between the farthest end of the body 10 and the tangent after the cleaning disc 21 is in the outward swing position is greater than or equal to 50 mm, which means that the distance between the two tangents is greater than or equal to 50 mm).

[0130] In addition, through analysis of multiple scenarios, the shortest distance L between the outer edge of the cleaning component 20 and the outer edge of the body 10 is at least 50 mm, which can ensure a good coverage rate and avoid leaving too large a cleaning area untouched after the rag is swung outward, resulting in increased workload for supplementary cleaning.

[0131] In some embodiments, the relative position of the cleaning assembly 20 and the body 10 is not determined by the outer edge, but by the position of the rotation axis of the cleaning disc 21. In addition, when the cleaning assembly 20 is in the outward swing position, it can extend in the first direction, the second direction, or a direction between the second direction and the first direction, and the specific details are not limited here.

[0132] For example, when the cleaning assembly 20 is in the outward swing position, in the width direction of the cleaning device 100 , the swing distance L of the cleaning assembly 20 relative to the tangent of the widest edge of the body 10 may be 55.7 mm.

[0133] In some embodiments, the number of cleaning components 20 may be one, three, or four, which is not limited to the specific number herein, to meet different needs. In one example, the number of cleaning components 20 may be four, and the cleaning members 22 of the two cleaning components 20 at the front of the machine body 10 may be cleaning brushes, while the cleaning members 22 of the two cleaning components 20 at the rear of the machine body 10 may be flannel cloths.

[0134] In some embodiments, the side wall of the body 10 includes an opening 122, and the swing arm assembly 3 moves to the outward swing position through the opening 122; when the cleaning assembly 20 is in the outward swing position, at least the end of the second swing arm 32 of the swing arm assembly 3 extends beyond the side wall of the body 10.

[0135] Specifically, when the cleaning assembly 20 is in the edge position, it may or may not extend beyond the side wall of the machine body 10. When the cleaning assembly 20 is in the edge position and extends beyond the side wall of the machine body 10, it can clean areas such as walls. When the cleaning assembly 20 is in the edge position and does not extend beyond the side wall of the machine body 10, it is less likely to scratch. When the cleaning assembly 20 is in the outward swing position, at least a portion of the distal end of the second swing arm 32 extends beyond the side wall of the machine body 10, providing a wider side cleaning range and reducing blind spots.

[0136] In some embodiments, the body 10 includes a main housing 12 and a door assembly 13. The main housing 12 is formed with a accommodating space 121 for accommodating the driving assembly 30. The accommodating space 121 is connected to the external environment through an opening 122. The door assembly 13 is movably arranged on the main housing 12 to close the opening 122 when the cleaning assembly 20 is in the retracted position, and to open the opening 122 when the cleaning assembly 20 moves toward the outward swing position.

[0137] In this embodiment, the door assembly 13 can cooperate with the main housing 12 to close or open the opening 122. When the cleaning assembly 20 is in the retracted position, the drive assembly 30 can be disposed within the accommodating space 121. In this case, the door assembly 13 can close the accommodating space 121, preventing the drive assembly 30 from being exposed, thereby making the cleaning device 100 more aesthetically pleasing. When the cleaning assembly 20 needs to be switched to the edge position or the swing-out position, the door assembly 13 can move relative to the main housing 12 to expose the accommodating space 121, allowing the first swing arm 31 and the second swing arm 32 to drive the cleaning assembly 20 to extend.

[0138] In addition, the door stop assembly 13 can cooperate with the in-position sensor 50 to achieve automatic control of the door stop assembly 13.

[0139] In some embodiments, the drive assembly 30 includes a first drive member 34, which is disposed on the body 10. An end of the first swing arm 31 away from the second swing arm 32 is disposed on the first drive member 34. The first drive member 34 is configured to drive the first swing arm 31 to rotate relative to the body 10. In this way, the first drive member 34 can connect to and drive the first swing arm 31 to rotate, thereby achieving a change in the shape of the cleaning device 100.

[0140] In some embodiments, the cleaning device 100 includes a second drive member (not shown) for driving the door assembly 13. Alternatively, in other embodiments, the first drive member 34 is used to drive the first swing arm 31 to rotate relative to the body 10 and to drive the door assembly 13. In other words, in this embodiment, the door assembly 13 and the swing arm assembly 3 share a single drive member, further simplifying the number of structural components.

[0141] In this embodiment, when the cleaning component 20 reaches the retracted position, the edge position and the outward swing position, the in-position sensor 50 can also be used to detect the relative angle between the first swing arm 31 and the second swing arm 32, ensuring that the bending angle of the second swing arm 32 and the first swing arm 31 stops precisely at α, β or γ to avoid excessive extension or retraction.

[0142] For example, when the cleaning assembly 20 is in the retracted position, the bending angle α of the second swing arm 32 relative to the first swing arm 31 can be 83.2°; when the cleaning assembly 20 is in the edge position, the bending angle γ of the second swing arm 32 relative to the first swing arm 31 can be 71°; when the cleaning assembly 20 is in the outward swing position, the bending angle β of the second swing arm 32 relative to the first swing arm 31 can be 113.7°.

[0143] See also Figures 8 and 9In some embodiments, the cleaning device 100 includes a water replenishing structure 60, which is used to replenish water for the cleaning component 20. The water replenishing structure 60 includes at least one water outlet 61, which is arranged on the swing arm component 3 and swings with the swing arm component 3.

[0144] In one embodiment, the water outlet 61 can be set on the first swing arm 31 and move with the first swing arm 31. Regardless of whether the cleaning component 20 is in the retracted position, the edge position or the outward swing position, the water replenishing structure 60 can replenish water for the cleaning component 22 to ensure the cleaning effect of the cleaning component 20.

[0145] In some embodiments, the cleaning assembly 20 includes a cleaning disc 21, a hollow area is provided on the cleaning disc 21, and the cleaning disc 21 is used to install a cleaning member 22. When the cleaning disc 21 is in a retracted position or an outward swing position, at least part of the vertical projection of the water outlet 61 on the cleaning disc 21 always overlaps with the hollow area; the water outlet 61 is provided on the last-stage swing arm, or the water outlet 61 is provided on the first-stage swing arm near the rotating shaft connected to the last-stage swing arm.

[0146] It is understood that in the embodiments of the present application, there is no limitation on the number of swing arm assemblies 3. It is sufficient that the number of swing arm assemblies 3 is greater than or equal to two to meet different needs. In other words, the swing arm assembly 3 may include a first-stage swing arm, a second-stage swing arm, a third-stage swing arm, and so on. The first-stage swing arm (the first-stage swing arm, also known as the first swing arm 31) is the swing arm closest to the first drive member 34; the last-stage swing arm (the farthest-stage swing arm, also known as the second swing arm 32) is the swing arm farthest from the first drive member 34.

[0147] Specifically, the swing arm assembly 3 includes a multi-stage swing arm that is sequentially connected in a transmission manner. The multi-stage swing arm connects the cleaning assembly 20 and the body 10 to achieve a movable connection between the cleaning assembly 20 and the body 10. It can significantly expand the outward swing distance of the end of the final swing arm without increasing the length of the single-stage swing arm. The multi-stage swing arm movement can change the position of the cleaning assembly 20. A larger angle will be opened between the first-stage swing arm and the final-stage swing arm (compared to the angle between the two when the cleaning assembly 20 is in the retracted position), and the angle between the first-stage swing arm and the final-stage swing arm will become smaller. Of course, in other embodiments, based on different structural settings, the angle between the first-stage swing arm and the final-stage swing arm when the cleaning assembly 20 is in the outward swing position is smaller than the angle between the first-stage swing arm and the final-stage swing arm when the cleaning assembly 20 is in the retracted position.

[0148] In some embodiments, the first-stage swing arm rotates around a fixed point, and by controlling the swing amplitude of the first-stage swing arm, the swing amplitude of the final-stage swing arm can be adjusted in a linked manner. For example, when the first-stage swing arm rotates 20°, the final-stage swing arm rotates 50°. The number of swing arms can be set as needed. There can be at least one level of swing arm between the first-stage swing arm and the final-stage swing arm. For example, in some embodiments, there is a level of swing arm between the first-stage swing arm and the final-stage swing arm. In some embodiments, there are two levels of swing arms between the first-stage swing arm and the final-stage swing arm. This is not limited in the present application. Of course, the first-stage swing arm and the final-stage swing arm can also be directly connected in transmission. Among them, the power source can be an electric motor. Since the rotation angle of the electric motor is adjustable, the movement of the swing arm assembly 3 is controlled by controlling the rotation angle of the electric motor, and then the cleaning assembly 20 is released or recovered.

[0149] The final swing arm is provided with a cleaning drive unit, which is used to drive the cleaning disc 21 to vibrate or rotate back and forth. The cleaning element generates friction with the ground during movement to clean the ground. In actual use, the end of the final swing arm is close to the cleaning disc 21. When the water outlet 61 is set on the final swing arm, the spray range of the water outlet 61 is easily blocked by the solid area of the cleaning disc 21 and cannot be sprayed into the hollow area. When the cleaning disc 21 is swung outward, it may be tilted due to the terrain. For example, when it moves to the edge of a carpet, the body 10 changes its posture as a whole, and the angle of the water outlet 61 of the final swing arm changes accordingly, causing the liquid spray to deviate from the projection of the hollow area. When the swing arm assembly 3 includes an intermediate swing arm, if the water outlet 61 is set on the first swing arm, when the cleaning assembly 20 is in the outward swing position, the distance between the water outlet 61 on the first swing arm and the hollow area on the cleaning disc 21 increases significantly, making it difficult to cover the liquid spray range. For this reason, the present application proposes a cleaning device 100.

[0150] In some embodiments, the water outlet 61 is arranged on the last-stage swing arm, or, is arranged on the first-stage swing arm near the rotating shaft connected to the last-stage swing arm; the distance between the water outlet 61 and the rotation center of the cleaning disc 21 is a predetermined value, and the predetermined value enables the cleaning component 20 to swing between the retracted position and the outward swing position at any position on the swinging trajectory, and the water outlet 61 is connected to the hollow area for water replenishment.

[0151] In some embodiments, the number of water outlets 61 is two. One is arranged on the primary swing arm, and the other is arranged on the final swing arm. The liquid replenishment axes of the two water outlets 61 both have a certain inclination angle with the rotation center axis of the cleaning component 20, such as 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, and 60°, etc. The angles between the liquid replenishment axes of the two water outlets 61 and the rotation center axis of the cleaning component 20 can be the same or different. In different embodiments, different control logics can be adopted for the liquid supply of the water outlet 61. For example, when the cleaning component 20 is in the retracted position, the water outlet 61 arranged on the primary swing arm can be controlled to spray liquid for the cleaning component 20; when the cleaning component 20 is in the outward swing position, the water outlet 61 arranged on the final swing arm and the water outlet 61 arranged on the primary swing arm are controlled to jointly spray liquid for the cleaning component 20.

[0152] In some embodiments, the hollow area includes an inner ring structure, an outer ring structure, and a transition section connecting the inner ring structure and the outer ring structure. The radius of the inner ring structure is R1, the radius of the outer ring structure is R2, and the distance between the rotation center axis of the cleaning disk 21 and the water outlet 61 is h, where R1 ≤ h ≤ R2.

[0153] When the distance between the rotation center axis of the cleaning disk 21 and the water outlet 61 is h, and R1 ≤ h ≤ R2, this can ensure that at least one water outlet 61 can maintain a stable position with the hollow area when the cleaning disk 21 is in the retracted position and the outward swing position, etc., ensuring that the water outlet 61 can supply liquid to the hollow area when the cleaning disk 21 is in any position, and avoiding liquid supply dead angles. Among them, h is greater than or equal to R1, and at the same time, h is less than or equal to R2. That is, in different embodiments, h can also satisfy R1 < h ≤ R2, or R1 ≤ h < R2, or R1 < h < R2.

[0154] In some embodiments, a circular water outlet 61 is arranged at the bottom of the upper swing arm adjacent to the final swing arm. The spraying axis of the water outlet 61 is perpendicular to the plane where the cleaning disk 21 is located. h satisfies: R1 < h < R2. When the swing arm assembly 3 is retracted to make the cleaning component 20 in the retracted position, at least part of the area of the vertical projection of the water outlet 61 on the cleaning disk 21 overlaps with the hollow area. When the swing arm assembly 3 is unfolded to drive the cleaning component 20 to move to the outward swing position, at least part of the area of the vertical projection of the water outlet 61 on the cleaning disk 21 overlaps with the hollow area, thereby ensuring that the water outlet 61 can effectively supply liquid to the hollow area.

[0155] For the cleaning device 100 according to the embodiment of the present application, the distance between the water outlet 61 and the rotation center of the cleaning disk 21 is a predetermined value, and the predetermined value enables the water outlet 61 to communicate with the hollow area for water replenishment at any position on the swing track of the cleaning component 20.

[0156] The distance between the water outlet 61 and the rotation center of the cleaning disc 21 is a predetermined value. When the water outlet 61 is provided on the upper swing arm connected to the final swing arm, if the multi-stage swing arm only includes the first-stage swing arm and the final swing arm, the water outlet 61 is provided on the first-stage swing arm. If the multi-stage swing arm includes an intermediate-stage swing arm, the intermediate-stage swing arm is in the upper transmission position of the final swing arm, and its movement amplitude with the first-stage swing arm forms a linkage relationship with the movement amplitude of the cleaning disc 21 driven by the final swing arm: when swinging outward, the intermediate-stage swing arm expands with the first-stage swing arm, and the water outlet 61 moves outward with the intermediate-stage swing arm, while the final-stage swing arm pushes the cleaning disc 21 outward. The movement trajectories of the two make the distance between the water outlet 61 and the rotation center of the cleaning disc 21 the predetermined value; when retracting, the intermediate-stage swing arm folds with the first-stage swing arm, the water outlet 61 retracts with the intermediate-stage swing arm, and the cleaning disc 21 retracts synchronously, and the distance between the water outlet 61 and the rotation center of the cleaning disc 21 is the predetermined value.

[0157] According to the cleaning device 100 of the embodiment of the present application, the distance between the water outlet 61 and the rotation center of the cleaning disc 21 is a predetermined value, so that no matter whether the cleaning component 20 is in the outward swing position or the inward retracted position, it can be ensured that there is sufficient space so that the vertical projection of the water outlet 61 on the cleaning disc 21 has an overlapping area with the hollow area, ensuring that the water outlet 61 can always supply liquid to the part of the cleaning part exposed in the hollow area.

[0158] In this embodiment, the hollow area can be arranged in a variety of ways. For example, in some embodiments, the hollow area is centered on the central axis of the cleaning disc 21 and includes multiple evenly distributed fan-shaped sub-areas. The multiple fan-shaped sub-areas are separated by a solid frame. When the cleaning disc 21 rotates, the multiple fan-shaped sub-areas alternately enter the spray range of the water outlet 61. In some embodiments, the hollow area includes multiple circles of fan-shaped sub-areas centered on the central axis of the cleaning disc 21. The radius of the outer edge of each circle of fan-shaped sub-areas gradually increases, and there are solid intervals between the fan-shaped sub-areas in the same circle. In some embodiments, the hollow area is a continuous annular hollow groove with no solid intervals within the groove. When the cleaning disc 21 rotates, at least a portion of the annular hollow groove is always within the spray range of the water outlet 61.

[0159] In this embodiment, the cleaning disc 21 is perpendicular to the rotation center axis of the cleaning disc 21 , and the cleaning disc 21 is perpendicular to the rotation center axis of the final-stage swing arm.

[0160] In this embodiment, the fluid replenishment axis of the water outlet 61 can be perpendicular to the cleaning disk 21, or it can be inclined to the cleaning disk 21. For example, the inclination angle between the fluid replenishment axis of the water outlet 61 and the rotation center axis of the final swing arm is 15°, 16°, 17°, 18°, 19°, 20°, 21°, 30°, 31°, 32°, 33°, 34°, 35°, 36°, 37°, 38°, 39°, 40°, 41°, 42°, 43°, 44° and 45°, etc.

[0161] In this embodiment, the water outlet 61 can be set on the lower end surface, side wall surface or upper top surface of the first-stage swing arm. When the water outlet 61 is set on the upper top surface of the first-stage swing arm, the liquid replenishment axis of the water outlet 61 needs to be inclined with respect to the rotation center axis of the last-stage swing arm to ensure that the water outlet 61 can spray liquid toward the cleaning disk 21 in an oblique downward direction.

[0162] In some setting scenarios of this embodiment, the hollow area includes multiple fan-shaped sub-areas arranged around the central axis of rotation of the cleaning disc 21, the multi-stage swing arm only includes a first-stage swing arm and a last-stage swing arm, and the water outlet 61 is arranged on the lower end surface of the first-stage swing arm. The number of water outlets 61 is multiple, and the multiple water outlets 61 are arranged at intervals. The injection axis of some water outlets 61 is perpendicular to the cleaning disc 21, and the injection axis of some water outlets 61 is at an angle to the central axis of rotation of the cleaning disc 21. When the cleaning disc 21 is at different positions of the moving trajectory, the water outlet 61 at the corresponding position can be opened.

[0163] In some embodiments, there is one water outlet 61 disposed on the final swing arm, and a liquid replenishing axis of the water outlet 61 is perpendicular to the cleaning disk 21 .

[0164] In some embodiments, there is one water outlet 61, located near the pivot connecting the first-stage swing arm to the final-stage swing arm. Water outlet 61 is located on the lower end surface of the first-stage swing arm. The refill axis of water outlet 61 is perpendicular to the cleaning disc 21. The hollowed-out area includes multiple sector-shaped sub-areas arranged around the central axis of rotation of the cleaning disc 21.

[0165] In some embodiments, the cleaning component 20 also has an edge position, which is on the trajectory of the cleaning component 20 moving between the outward swing position and the inward retracted position. When the cleaning component 20 is in the outward swing position, the edge position and the inward retracted position, the vertical projection of the water outlet 61 on the cleaning disc 21 falls within the hollow area.

[0166] In some embodiments, when the cleaning assembly 20 is in the edge position, the portion of the cleaning assembly 20 located outside the circumference of the housing 10 is larger than the portion of the cleaning assembly 20 located outside the circumference of the housing 10 when the cleaning assembly 20 is in the retracted position. Furthermore, when the cleaning assembly 20 is in the edge position, the portion of the cleaning assembly 20 located outside the circumference of the housing 10 is the same as the portion of the cleaning assembly 20 located outside the circumference of the housing 10 when the cleaning assembly 20 is in the swing-out position, i.e., when the cleaning assembly 20 is in the edge position, it is fully exposed outside the housing 10. Alternatively, when the cleaning assembly 20 is in the edge position, the portion of the cleaning assembly 20 located outside the circumference of the housing 10 is smaller than the portion of the cleaning assembly 20 located outside the circumference of the housing 10 when the cleaning assembly 20 is in the swing-out position, i.e., when the cleaning assembly 20 is in the edge position, it is not fully exposed outside the housing 10.

[0167] According to the cleaning device 100 of the embodiment of the present application, when the cleaning component 20 stays in the edge position, it is convenient to clean the edges of furniture, skirting boards and other areas prone to dust accumulation. Regardless of whether the cleaning component 20 is in the outward swing position, the edge position or the inward position, the vertical projection of the water outlet 61 on the cleaning disc 21 falls into the hollow area. The liquid can directly infiltrate the cleaning parts through the hollow area, avoiding spraying onto the physical structure of the cleaning disc 21, thereby avoiding waste.

[0168] The cleaning component 20 can be driven by the swing arm component 3 to accurately switch between the preset retracted position, edge position, and outward swing position. When the cleaning device 100 is in the edge cleaning scene, the cleaning component 20 moves to the edge position and close to the edge of the surface to be cleaned to achieve refined edge cleaning; facing low areas, suspended recesses, toilet edges and other scenes that are difficult for the robot body to directly approach, the cleaning component 20 moves and remains in the outward swing position, so that it can clean positions that are far away from the body 10.

[0169] If the cleaning component 20 is continuously maintained in the outward swing position or the edge position, the cleaning component 20 is easily interfered with or disturbed by obstacles in the environment. Usually, when cleaning at the edge position or in a low area, the cleaning component 20 is moved to the edge position or the outward swing position to reduce the problems of the rag being scratched and dropped in the outward swing state, the swing arm component 3 being easily stuck or losing its life, etc. When the cleaning device 100 is not cleaning along the edge or in other scenarios, the cleaning component 20 tends to remain in the retracted position. Among them, other scenarios may include but are not limited to the cleaning device 100 needing to return to the base station, the base station charging the cleaning device 100, collecting dust in the dust box into the dust bin of the base station, cleaning cleaning parts, disassembling and / or assembling cleaning parts, filling the water replenishment mechanism in the cleaning device 100 with water, etc.

[0170] In some embodiments, the rotation center axis of the final swing arm passes through at least one water outlet 61 .

[0171] That is to say, the rotation center axis of the final swing arm can always pass through one water outlet 61, or the rotation center axis of the final swing arm can be in different water outlets 61 when the cleaning component 20 is in the retracted position, the edge position and the outward swing position. In this way, it can be ensured that there is always a water outlet 61 that can supply liquid to the cleaning component.

[0172] Part of the water outlet 61 is arranged at the bottom of the upper-stage swing arm adjacent to the final swing arm, and the central axis of rotation of the final swing arm passes through at least one water outlet 61 on the swing arm. In the height direction, the swing arm is located above the cleaning disc 21. At the same time, the water outlet 61 is also located above the cleaning disc 21. In this way, during the rotation of the final swing arm, the position of the water outlet 61 and the hollow area always remains stable. Regardless of whether the cleaning component 20 is in the retracted position, the edge position or the outward swing position, the liquid can be accurately sprayed into the hollow area, effectively improving the stability and accuracy of water replenishment, while making the structural layout more compact. It can be understood that the water outlet 61 is arranged at the bottom of the swing arm, which can be closer to the hollow area of the cleaning disc 21, the liquid replenishment pressure is small, and the bottom of the swing arm is close to the ground, so the water outlet 61 is not easily blocked by dust or obstacles.

[0173] Specifically, when the cleaning assembly 20 is in the outward swing position, the edge position, and the retracted position, the vertical projection of the water outlet 61 on the cleaning disc 21 falls within the hollow area. Since the vertical projection of the water outlet 61 always overlaps with the hollow area of the cleaning disc 21, the liquid can directly act on the portion of the cleaning element 22 exposed in the hollow area through the hollow area. When the cleaning disc 21 is swung outward, within the expanded range of motion, the water outlet 61 can still ensure that the liquid continues to act on the effective area of the cleaning element 22 through the linkage with the swing arm assembly 3, thereby improving the uniformity of the wetting of the cleaning element 22. When the cleaning disc 21 is retracted, the liquid directly soaks the cleaning element 22 through the hollow area, ensuring the wetness during normal cleaning. The cleaning element 22 can be a rag made of a flexible material or a wiping element made of a hard material.

[0174] For example, as the cleaning disc 21 changes position with the swing arm assembly 3, the vertical projection of the water outlet 61 on the cleaning disc 21 will change. No matter where the cleaning disc 21 is in the moving trajectory, it always has an overlapping area of at least 10% to 40% with the hollow area.

[0175] In some embodiments, a water supply box (not shown in the figure) is also provided in the body 10, and a limiting portion is provided on the outer wall of the swing arm where the water outlet 61 is located. A water supply pipe is clamped in the limiting portion, and the water supply pipe connects the water outlet 61 and the water supply box.

[0176] The water supply box in the body 10 is used to store water or cleaning liquid. The limiting part is clamped to the water supply pipe. The limiting part is clamped to the water supply pipe, which makes the installation and disassembly of the water supply pipe very convenient. During installation, you only need to press the water supply pipe into the limiting part, and pull out the limiting part during maintenance. At the same time, this can fix the water supply pipe. The water supply pipe stretches naturally in the limiting part, and always keeps the connection stable. The cleaning liquid is continuously and evenly sprayed onto the cleaning disc 21, effectively completing the cleaning task. During the whole process, the water supply pipe does not fall off or leak, and the reliability is greatly improved.

[0177] In some embodiments, the cleaning device 100 also includes a liquid guide pipe (not shown in the figure), at least part of which is located in the inner cavity of the first-stage swing arm, the inlet of the liquid guide pipe is connected to the water supply box, and the outlet of the liquid guide pipe is connected to the water supply pipe through a rotary sealing joint, and the rotary sealing joint is arranged in the inner cavity of the swing arm having a water outlet 61.

[0178] At least part of the liquid conduction pipeline is arranged in the inner cavity of the first-stage swing arm. While realizing the connection between the water supply box and the water supply pipe, it can be hidden in the inner cavity of the first-stage swing arm. The closed environment of the inner cavity can reduce the erosion of dust and water stains on the liquid conduction pipeline, and delay the aging of the liquid conduction pipeline. When the swing arm assembly 3 swings back and forth to clean the floor, the rotary joint can dissipate the torque generated by the rotation of the swing arm assembly 3, thereby avoiding twisting of the water supply pipe and the liquid conduction pipe.

[0179] See also Figure 10 An embodiment of the present application provides a cleaning system 200 , which includes a base station 201 and the cleaning device 100 as described above. The base station 201 is used to supply power to the cleaning device 100 and / or clean the cleaning device 100 .

[0180] Specifically, the base station 201 can charge the cleaning device 100, collect the dust in the dust box into the dust bin of the base station 201, clean the cleaning parts 22, disassemble and / or assemble the cleaning parts 22, and fill the water tank of the water replenishment mechanism in the cleaning device 100 with water.

[0181] See also Figure 11 An embodiment of the present application provides a control method for a cleaning device 100, which is applied to the cleaning device 100. The cleaning device 100 includes a body 10 and a cleaning component 20. The cleaning component 20 has an inward position, an edge position, and an outward swing position relative to the body 10. When the cleaning component 20 is in the outward swing position, the swing distance relative to the body 10 is greater than the swing distance when the cleaning component 20 is in the edge position.

[0182] Control methods include:

[0183] S1, when the first scene is detected, the cleaning component 20 is controlled to be in the edge position to perform cleaning work;

[0184] S2, when the second scene is detected, the cleaning component 20 is controlled to be in the outward swing position to perform cleaning work, wherein, in the second scene, the accessibility of the cleaning device 100 to the area to be cleaned is less than that in the first scene.

[0185] In this way, the cleaning device 100 can determine the application scenario of the cleaning device 100 by detecting its own environment and position, and then control the cleaning component 20 to be in different positions for cleaning according to the application scenario. There are more application scenarios and smaller blind spots in cleaning.

[0186] Specifically, the cleaning device 100 may further include a detection component and a control module (not shown in the figure). The detection component may be used to detect the environment in which the cleaning device 100 is located. For example, the detection component may detect the terrain, space, and furniture position in the scene in real time, and determine in real time whether the position on the route to be cleaned is the first scene or the second scene. After the detection component of the cleaning device 100 transmits the detected information back to the control module, the control module may enter different working modes based on the detected information and control the cleaning component 20 to be in different positions to cope with different working scenes. For example, when the first scene is detected, the cleaning component 20 is controlled to be in the edge position to perform cleaning work; for another example, when the second scene is detected, the cleaning component 20 is controlled to be in the outward swing position to perform cleaning work.

[0187] In addition, in the embodiments of the present application, there is no limitation on the type of detection component to meet different needs. For example, the detection component can be at least one of an infrared sensor, a line laser sensor, and a visual sensor.

[0188] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0189] The functions and effects of this embodiment can be explained with reference to the aforementioned implementation manner and will not be elaborated on again.

[0190] It can be understood that in the various embodiments in this specification, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this specification.

[0191] It can be understood that the various implementation methods described in this specification can be implemented individually or in combination, and the embodiments of this specification are not limited to this.

[0192] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, devices and units can refer to the corresponding processes in the aforementioned method implementation methods and will not be repeated here.

[0193] The above are merely specific embodiments of this specification, but the scope of protection of this application is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this specification should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A cleaning device, characterized in that: include: body; a cleaning assembly, the cleaning assembly having a retracted position, an edge position, and an outward swing position relative to the body, wherein the swing distance of the cleaning assembly relative to the body when in the outward swing position is greater than the swing distance of the cleaning assembly when in the edge position; A drive assembly comprising a first drive member and a swing arm assembly, wherein the swing arm assembly is movably connected to the machine body, and the cleaning assembly is connected to a distal end of the swing arm assembly, wherein the first drive member drives the swing arm assembly to move the cleaning assembly between a retracted position and an outward swing position; The first driving member is used to drive the cleaning component to be located at the edge position to perform cleaning work when the cleaning device needs to clean a first scene; and to drive the cleaning component to be located at the swing-out position to perform cleaning work when the cleaning device needs to clean a second scene; In the second scenario, the accessibility of the cleaning device to the area to be cleaned is less than that in the first scenario.

2. The cleaning device according to claim 1, characterized in that The first scene includes at least an edge cleaning scene, and the second scene includes at least one of an obstacle hanging in the air scene, an obstacle recessed scene, and an irregular angle scene.

3. The cleaning device according to claim 1, characterized in that The swing arm assembly includes a first swing arm and a second swing arm which are sequentially connected in a transmission manner, the first swing arm being rotatably connected to the machine body, the cleaning assembly being movably connected to an end of the second swing arm away from the first swing arm, and the swing arm assembly drives the cleaning assembly to move between the retracted position and the outward swing position; the first driving member drives the first swing arm to move relative to the machine body, and the first swing arm and the second swing arm are rotatable relative to each other.

4. The cleaning device according to claim 3, characterized in that When the first driving member drives the cleaning assembly to be in the retracted position, the bending angle of the second swing arm relative to the first swing arm is α; when the first driving member drives the cleaning assembly to be in the outward swing position, the bending angle of the second swing arm relative to the first swing arm is β, wherein β is greater than α.

5. The cleaning device according to claim 4, characterized in that When the first driving member drives the cleaning assembly to be in an edgewise position, the bending angle of the second swing arm relative to the first swing arm is γ, wherein γ is smaller than α.

6. The cleaning device according to claim 3, characterized in that The second swing arm includes a first guide wheel, and the body includes a sliding guide part, and the first guide wheel is rotatably arranged on the sliding guide part, wherein when the cleaning component moves from the retracted position to the edge position, the sliding guide part can guide the movement trajectory of the second swing arm through the first guide wheel; the cleaning device includes a second guide wheel rotatably arranged on the body, wherein when the cleaning component moves from the edge position to the outward swing position, the side of the second swing arm away from the first driving member can roll along the second guide wheel to guide the movement trajectory of the second swing arm.

7. The cleaning device according to claim 6, characterized in that The cleaning device includes an in-position sensor, which is electrically connected to the driving assembly. The in-position sensor is used to sense when the cleaning assembly moves to the retracted position, the edge position or the outward swing position, and provide feedback to the driving assembly to stop driving the swing arm assembly.

8. The cleaning device according to claim 6, characterized in that The sliding guide portion is in the shape of a circular arc or an involute arc.

9. The cleaning device according to claim 3, characterized in that The driving assembly includes an elastic member, which is arranged on the first swing arm and elastically abuts against the second swing arm; When the cleaning component moves from the retracted position to the edge position, the first swing arm and the second swing arm compress the elastic member and store elastic potential energy; when the cleaning component moves from the edge position to the outward swing position, the elastic member releases elastic potential energy to push the second swing arm to rotate relative to the first swing arm.

10. The cleaning device according to claim 9, characterized in that The first swing arm includes a first limiting portion, the second swing arm includes a second limiting portion, and the elastic member includes two elastic ends; when the cleaning assembly is located in the outward swing position, the first limiting portion and the second limiting portion limit the two elastic ends respectively to fix the relative angle between the first swing arm and the second swing arm.

11. The cleaning device according to claim 9, characterized in that The elastic member is a torsion spring, a rubber strip or a spring.

12. The cleaning device according to claim 3, characterized in that When the cleaning component is in the outward swing position, a swing distance L of the cleaning component relative to a tangent line of the widest edge of the cleaning device body in the width direction of the cleaning device is greater than or equal to 50 mm.

13. The cleaning device according to claim 1, characterized in that The cleaning assembly is a disc rag, and there are two of the cleaning assemblies. The two cleaning assemblies are symmetrically arranged along the center line of the cleaning device, and at least one of the two disc rags can extend along the width direction of the cleaning device; Alternatively, the cleaning component is a roller rag or a track rag, and the roller rag or the track rag can be extended along the width direction of the cleaning device.

14. The cleaning device according to claim 3, characterized in that The side wall of the machine body includes an opening, and the swing arm assembly moves to the outward swing position through the opening; when the cleaning assembly is in the outward swing position, at least the end of the second swing arm of the swing arm assembly exceeds the side wall of the machine body.

15. The cleaning device according to claim 14, characterized in that The body includes a main housing and a door assembly, the main housing forms a accommodating space for accommodating the driving assembly, the accommodating space is connected to the external environment through the opening, and the door assembly is movably arranged on the main housing to close the opening when the cleaning assembly is in the retracted position and to open the opening when the cleaning assembly moves toward the outward swing position.

16. The cleaning device according to claim 15, characterized in that The cleaning device includes a second driving member, the second driving member being used to drive the door assembly to move; Alternatively, the first driving member is used to drive the first swing arm to rotate relative to the machine body and to drive the door stop assembly to move.

17. The cleaning device according to claim 3, characterized in that The cleaning device includes a water replenishing structure, which is used to replenish water for the cleaning component. The water replenishing structure includes at least one water outlet, and the water outlet is arranged on the swing arm component and swings with the swing arm component.

18. The cleaning device according to claim 17, characterized in that The cleaning assembly includes a cleaning disc, a hollow area is provided on the cleaning disc, and the cleaning disc is used to install a cleaning piece. When the cleaning disc is in the retracted position or the outward swing position, at least part of the vertical projection of the water outlet on the cleaning disc always overlaps with the hollow area; the water outlet is provided on the last-stage swing arm, or the water outlet is provided on the first-stage swing arm near the rotating shaft connected to the last-stage swing arm.

19. The cleaning device according to claim 18, characterized in that The water outlet is arranged on the final swing arm, or is arranged on the first-stage swing arm near the rotating shaft connected to the final swing arm; the distance between the water outlet and the rotation center of the cleaning disc is a predetermined value, and the predetermined value enables the cleaning component to swing between the retracted position and the outward swing position at any position on the swinging trajectory, and the water outlet is connected to the hollow area for water replenishment.

20. A cleaning system, characterized in that: It comprises a base station and the cleaning device according to any one of claims 1 to 19, wherein the base station is used to supply power to the cleaning device and / or clean the cleaning device.

21. A control method for cleaning equipment, applied to cleaning equipment, characterized in that: The cleaning device includes a body and a cleaning assembly, wherein the cleaning assembly has a retracted position relative to the body, an edge position, and an outward swing position, wherein the swing distance of the cleaning assembly relative to the body when in the outward swing position is greater than the swing distance of the cleaning assembly when in the edge position; The control method includes: When the first scene is detected, the cleaning component is controlled to be in an edge position to perform cleaning work; When a second scenario is detected, the cleaning component is controlled to be in an outward swing position to perform cleaning work, wherein, in the second scenario, the accessibility of the cleaning device to the area to be cleaned is less than that in the first scenario.

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