Shoe cleaning device and equipment

Abstract

The invention provides a shoe cleaning device and equipment, the shoe cleaning device comprises a box body, a brush assembly, a spraying assembly and a control assembly, a shoe cleaning bin is arranged in the box body, a bracket is arranged in the shoe cleaning bin, and the bracket is used for placing shoes; the brush assembly comprises a mechanical arm and a brush head, one end of the mechanical arm is connected to the box body, and the other end of the mechanical arm is connected with the brush head; the spraying assembly comprises a liquid storage bin and a plurality of cleaning sprayers, the liquid storage bin is arranged on the box body, the cleaning sprayers are connected with the liquid storage bin, the multiple cleaning sprayers are arranged on the inner wall of the shoe washing bin around the bracket at intervals, the liquid storage bin is used for storing cleaning media, and the cleaning sprayers are used for spraying the cleaning media towards the shoes and / or the brush heads; the control assembly, the brush assembly and the spraying assembly are electrically connected, and the control assembly is used for regulating and controlling the brush assembly and the spraying assembly to operate, so that the brush head moves along the surface of the shoe to achieve cleaning. The high-quality cleaning requirement of the shoes can be met, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of shoe cleaning, in particular to a shoe cleaning device and a cleaning equipment. Background Art

[0002] As people's living standards continue to improve, the demand for shoe cleaning is also showing a growing trend. Currently, in related technologies, shoe cleaning mainly adopts the soaking method, that is, placing the shoes in a shoe washing bucket filled with detergent, and using a motor to drive the bucket body or the stirring device inside the bucket to rotate, and using the immersion of detergent and the flushing friction between the shoes and the detergent to achieve the removal of stains on the shoe surface. However, this method is not only limited in use, especially in leather shoes, but also difficult to ensure that every part of the shoe is fully in contact with the detergent and stirring components to generate effective friction. As a result, some areas of the shoes are often not cleaned, seriously affecting the overall cleanliness and aesthetics of the shoes. Summary of the Invention

[0003] The present invention is based on the inventor's discovery and understanding of the following facts and problems:

[0004] In the related art, shoe cleaning methods primarily involve placing the shoes in a shoe washing bucket filled with detergent, using a motor to drive the bucket or a stirring device inside the bucket to remove stains from the shoe surface through the soaking of the detergent and the friction between the shoes and the detergent. However, after long-term practice and application, this soaking and washing cleaning method has many obvious drawbacks and shortcomings.

[0005] From a practical perspective, different shoe materials have different cleaning requirements. For example, leather shoes contain protein fibers and natural oils. When soaking and washing, excessive water intrusion can cause the leather fibers to swell, damaging the structure and texture, causing the leather to harden, deform, or even crack. Chemical components can also react with the oil, reducing gloss and causing discoloration, affecting appearance and service life. Furthermore, shoes with special craftsmanship, such as waterproof coatings or hot stamping patterns, are easily damaged by soaking and washing, making it difficult to meet the cleaning needs of shoes of various materials.

[0006] From a cleaning quality perspective, shoes are generally complex, with irregular features and hidden crevices like lace holes and tongue edges. During the soaking process, the shoe's position within the tub is difficult to control, often resulting in areas not being fully exposed to the detergent. This can lead to incomplete removal of stains and areas remaining unwashed, affecting overall cleanliness and aesthetics, and potentially creating breeding grounds for bacteria.

[0007] To this end, the present invention provides a shoe cleaning device and a cleaning equipment, which can meet the high-quality cleaning requirements for shoes and improve user experience.

[0008] The shoe cleaning device provided by the present invention comprises:

[0009] A box body, wherein a shoe washing compartment is provided in the box body, wherein a bracket is provided in the shoe washing compartment, and the bracket is used for placing shoes;

[0010] A brush assembly, comprising a mechanical arm and a brush head, one end of the mechanical arm being connected to the box, and the other end of the mechanical arm being connected to the brush head;

[0011] A spray assembly, the spray assembly comprising a liquid storage tank and a plurality of cleaning nozzles, the liquid storage tank being disposed in the housing, the cleaning nozzles being connected to the liquid storage tank, the plurality of cleaning nozzles being spaced around the bracket and disposed on the inner wall of the shoe washing compartment, the liquid storage tank being used to store a cleaning medium, and the cleaning nozzles being used to spray the cleaning medium toward the shoes and / or the brush head;

[0012] A control component is electrically connected between the control component, the brush component and the spray component. The control component is used to regulate the operation of the brush component and the spray component so that the brush head moves along the surface of the shoe to achieve cleaning.

[0013] In summary, the shoe cleaning device provided by the present invention realizes an efficient, automated and intelligent shoe cleaning function through the mutual cooperation of the brush assembly, the spray assembly and the control assembly, ensuring that the shoes can be cleaned of stains without being damaged during the cleaning process, thereby significantly improving the cleaning efficiency of the shoes.

[0014] In some embodiments, the cleaning medium includes water washing liquid, the injection assembly includes a water washing pipe and a water washing circulation pump, one end of the water washing pipe has a liquid return port, the other end of the water washing pipe is connected to the liquid storage tank, the liquid return port is provided at the bottom of the shoe washing tank, and the water washing circulation pump is used to cause the water washing liquid in the shoe washing tank to flow back to the liquid storage tank through the liquid return port and spray toward the shoes through the cleaning nozzle.

[0015] In some embodiments, the bracket includes a shoe tree, which is inserted into the shoe. The shoe tree is provided with a plurality of spray holes, which are connected to the liquid storage tank through a pipeline. The spray holes are used to spray the washing liquid in the liquid storage tank into the shoe.

[0016] In some embodiments, the cleaning medium includes dry cleaning liquid, the injection assembly includes a dry cleaning tube and a dry cleaning pump, one end of the dry cleaning tube is connected to the liquid storage tank, and the other end of the dry cleaning tube is provided with a cleaning nozzle, and the dry cleaning pump is used to cause the dry cleaning liquid in the liquid storage tank to be sprayed toward the brush head through the dry cleaning tube and the cleaning nozzle.

[0017] In some embodiments, the spray assembly further includes a foamer, which is disposed on the dry cleaning pipe and is used to cause the dry cleaning fluid to generate foam.

[0018] In some embodiments, the spray assembly further includes a curing agent bin, a curing nozzle, a curing pipeline, and a curing pump. The curing agent bin, the curing nozzle, the curing pipeline, and the curing pump are all arranged in the box body. Both ends of the curing pipeline are connected to the curing agent bin and the curing nozzle. The curing pump is arranged in the curing pipeline, and the curing pump is used to cause the curing agent in the curing agent bin to be sprayed to the brush head through the curing pipeline and the curing nozzle.

[0019] And / or, the brush assembly further includes a brush box, which is rotatably mounted on the box body, and the brush box has at least two fixing parts, which are used to place the brush head.

[0020] In some embodiments, the shoe cleaning device also includes a drying component, which includes an air duct, a heat exchanger and a fan. The heat exchanger is arranged in the air duct, and the air duct has an exhaust port. The exhaust port is arranged on the inner wall of the shoe washing compartment. The fan is used to promote the gas in the air duct that has been heat exchanged by the heat exchanger to flow into the shoe washing compartment.

[0021] In some embodiments, the air outlet has a first air outlet and a second air outlet, and the first air outlet and the second air outlet are spaced apart around the bracket and arranged on the inner wall of the shoe washing compartment.

[0022] In some embodiments, the control component includes an image acquisition module and a path planning module. The image acquisition module is arranged toward the bracket, and the image acquisition module is used to capture images of the shoes to be cleaned. The path planning module is used to perform feature recognition based on the images captured by the image acquisition module and plan the movement path of the cleaning brush along the shoes. The feature recognition includes at least stain recognition and material recognition.

[0023] In addition, the cleaning equipment provided by the present invention includes the shoe cleaning device provided by any one of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention.

[0025] Figure 1 It is a structural schematic diagram of a shoe cleaning device provided by one embodiment of the present invention.

[0026] Figure 2 1 is a schematic top view of a shoe cleaning device provided in one embodiment of the present invention.

[0027] Figure 3 The figure is a schematic diagram of the exploded components of a shoe cleaning device provided by one embodiment of the present invention.

[0028] Figure 4 It is a structural schematic diagram of a shoe cleaning device provided by one embodiment of the present invention with the outer shell removed.

[0029] Figure 5 yes Figure 2 The shoe cleaning device shown is a schematic cross-sectional view along AA.

[0030] Figure 6 It is a structural diagram related to dry cleaning and maintenance in a shoe cleaning device provided by one embodiment of the present invention.

[0031] Figure 7 yes Figure 2 The shoe cleaning device shown is a schematic cross-sectional view along line BB.

[0032] Figure 8 The figure is a schematic structural diagram of a brush box in a shoe cleaning device provided by one embodiment of the present invention.

[0033] Figure 9 It is a structural schematic diagram of a robotic arm in a shoe cleaning device provided by one embodiment of the present invention.

[0034] Figure 10 The figure is a schematic diagram of the exploded components of a robot arm in a shoe cleaning device provided in one embodiment of the present invention.

[0035] Figure 11 It is a partial schematic diagram of the connection between the rotation mechanism and the connecting rod mechanism of the robot arm in the shoe cleaning device provided by one embodiment of the present invention.

[0036] Figure 12 The figure is a schematic structural diagram of a bracket in a shoe cleaning device provided in one embodiment of the present invention.

[0037] Figure 13 It is a structural schematic diagram of a bracket in a shoe cleaning device provided by an embodiment of the present invention at another angle.

[0038] Figure 14 The figure is a schematic structural diagram of a shoe tree in a shoe cleaning device provided by one embodiment of the present invention.

[0039] Figure 15 It is a structural schematic diagram of a side support assembly in a shoe cleaning device provided by one embodiment of the present invention.

[0040] Figure 16 The figure is a schematic diagram of the assembly of the adjustment sleeve and the support rod in the shoe cleaning device provided in one embodiment of the present invention.

[0041] Figure 17 The figure is a schematic diagram of the exploded components of the adjustment sleeve in the shoe cleaning device provided in one embodiment of the present invention.

[0042] Figure 18 It is a structural schematic diagram of a fastener in a shoe cleaning device provided by one embodiment of the present invention.

[0043] Figure 19 It is a structural schematic diagram of a support body in a shoe cleaning device provided by one embodiment of the present invention.

[0044] Figure 20 The figure is a schematic diagram of the assembly of the shoe upper support and the support body in the shoe cleaning device provided in one embodiment of the present invention.

[0045] Figure 21 It is a structural schematic diagram of a rotating disk in a shoe cleaning device provided by one embodiment of the present invention.

[0046] Figure 22 1 is a schematic diagram of components of a control assembly in a shoe cleaning device provided in one embodiment of the present invention.

[0047] Reference numerals: 100, shoe cleaning device;

[0048] 10. Box; 111. Shoe washing compartment; 1111. First opening; 112. Outer shell; 1121. Opening; 113. Inner shell; 1131. Bottom plate; 1132. Side wall; 114. Door; 115. Equipment cavity; 13. Bracket; 14. Mounting platform; 141. Second rotating shaft; 15. Limiting platform; 151. Limiting hole; 152. Rotating bearing; 17. Shoe support; 171. Spray hole; 172. Support body; 1721. Heel; 17211 , first rack; 1722, middle portion; 17221, synchronous gear; 17222, guide groove; 1723, toe portion; 17231, second rack; 1724, guide block; 17241, first guide slope; 17242, high end; 17243, low end; 1725, second elastic member; 1726, vamp support; 17261, first connector; 17262, second connector; 17263, connector; 17264, positioning Slide groove; 17265, plug-in portion; 1727, third elastic member; 173, side support assembly; 1731, support rod; 17311, slot; 17312, guide ridge; 1732, first side support; 1733, second side support; 1734, swing rod; 1735, support plate; 1736, synchronous meshing teeth; 1737, guide strip; 17371, plug-in hole; 1738, adjustment member; 1739, adjustment sleeve; 17391, first slide sleeve; 1 7392, second sliding sleeve; 17393, small-diameter portion; 17394, accommodating groove; 17395, guide groove; 17396, second guide slope; 1741, snap member; 17411, snap head; 17412, rotating shaft; 17413, pressing portion; 1742, first elastic member; 191, rotating disk; 1911, first protrusion; 1912, second protrusion; 192, fifth driver; 193, first pulley; 194, second pulley;

[0049] 30. Brush assembly; 31. Robotic arm; 311. Rotating mechanism; 3111. Rotating frame; 31111. First rotating shaft; 31112. First plate; 31113. Second plate; 31114. Accommodating chamber; 31115. Third gear; 31116. Plug-in block; 31117. Slot; 3112. Second driver; 31121. Fourth gear; 3113. Third rotating shaft; 313. Link mechanism; 3131. Brush frame; 3132. First connecting rod; 31321. Rotating hole; 31322. Rod body; 31323. Boss; 31324. Threaded hole; 31322, first gear; 3133, second connecting rod; 3134, third driver; 31341, second gear; 3136, mounting cylinder; 315, limit module; 3151, first position sensor; 3152, second position sensor; 33, brush head; 331, connecting portion; 351, brush box; 3511, fixing portion; 35111, guide channel; 35112, fixing hole; 3512, side panel; 3513, top panel; 3514, bottom panel; 352, first driver; 371, rotary joint; 372, fourth driver;

[0050] 50. Spray assembly; 51. Liquid storage tank; 511. Water washing liquid tank; 512. Dry cleaning liquid tank; 52. Cleaning nozzle; 521. Water washing nozzle; 522. Dry cleaning nozzle; 5211. First nozzle section; 5212. Second nozzle section; 531. Water washing pipe; 5311. Liquid return port; 532. Water washing circulation pump; 533. Filter; 541. Dry cleaning pipe; 542. Dry cleaning pump; 543. Foaming device; 551. Curing agent tank; 552. Curing nozzle; 553. Curing pipeline; 554. Curing pump;

[0051] 60. Drying component; 61. Air duct; 611. Exhaust outlet; 6111. First air outlet; 6112. Second air outlet; 62. Heat exchanger; 63. Fan;

[0052] 70. Control component; 71. Image acquisition module; 711. Camera component; 72. Image processing module; 73. Stain detection module; 74. Path generation module. DETAILED DESCRIPTION

[0053] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0054] like Figures 1 to 22As shown, the present invention provides a shoe cleaning device, which includes a housing 10, a brush assembly 30, a spray assembly 50 and a control assembly 70. A shoe washing chamber 111 is provided in the housing 10, and a bracket 13 is provided in the shoe washing chamber 111. The bracket 13 is used to place shoes. The brush assembly 30 includes a mechanical arm 31 and a brush head 33. One end of the mechanical arm 31 is connected to the housing 10, and the other end of the mechanical arm 31 is connected to the brush head 33. The spray assembly 50 includes a liquid storage tank 51 and a plurality of cleaning nozzles 52. The liquid storage tank 51 is located in the housing 10, and the cleaning nozzles 52 are connected to the liquid storage tank 51. The plurality of cleaning nozzles 52 are spaced around the bracket 13 and arranged on the inner wall of the shoe washing chamber 111. The liquid storage tank 51 is used to store cleaning medium, and the cleaning nozzles 52 are used to spray cleaning medium toward the shoes and / or the brush head 33. The control component 70, the brush component 30 and the spray component 50 are electrically connected. The control component 70 is used to regulate the operation of the brush component 30 and the spray component 50 so that the brush head 33 moves along the surface of the shoe to achieve cleaning.

[0055] Specifically, the housing 10 forms the main structure of the device, housing a shoe-washing chamber 111 for cleaning shoes. Within chamber 111 lies a bracket 13, which holds the shoes to be cleaned, ensuring stability and a smooth cleaning process. The brush assembly 30 is a key component in physically cleaning the shoes. The robotic arm 31 can flexibly extend and move within chamber 111, driving the brush head 33 to perform a comprehensive cleaning operation on the shoe surface.

[0056] The spray assembly 50 provides a cleaning medium. The liquid reservoir 51 stores cleaning media, such as water, detergent, dry cleaning fluid, and other solutions. These cleaning media effectively remove stains, dust, and odors from the shoe surface. Multiple cleaning nozzles 52 are spaced around the bracket 13 and arranged on the inner wall of the shoe washing chamber 111. These nozzles can spray the cleaning medium onto the shoe surface and / or onto the brush head 33 as needed, facilitating shoe cleaning by the brush head 33.

[0057] The control assembly 70 is the control center of the entire shoe cleaning device. It is electrically connected to the brush assembly 30 and the spray assembly 50 and can regulate the operating status of the brush assembly 30 and the spray assembly 50, including the extension, contraction, and rotation of the robotic arm 31, as well as parameters such as the spray flow rate and spray time of the cleaning nozzle 52. Through the precise control of the control assembly 70, the brush head 33 can move along a preset path and method on the surface of the shoe to achieve comprehensive cleaning of the shoe. At the same time, the control assembly 70 can also automatically adjust the spray volume and cleaning intensity of the cleaning medium based on factors such as the material of the shoe and the degree of stains to achieve the best cleaning effect while avoiding unnecessary damage to the shoe.

[0058] It should be noted that in the drawings of this application, the cleaning brush head 33 is only shown in the form of an opening. It is conceivable that the cleaning nozzle 52 can also be set to other forms, such as a circular nozzle, a fan-shaped nozzle or a porous nozzle, etc., all of which are within the scope of protection of this application.

[0059] In summary, the shoe cleaning device provided by the present invention realizes an efficient, automated and intelligent shoe cleaning function through the mutual cooperation of the brush assembly 30, the spray assembly 50 and the control assembly 70, ensuring that the shoes can be cleaned of stains without being damaged during the cleaning process, thereby significantly improving the cleaning efficiency of the shoes.

[0060] like Figure 1 、 Figure 2 and Figure 3 As shown, in this embodiment, the housing 10 includes an outer shell 112, an inner shell 113, and a door 114. The outer shell 112 is disposed outside the inner shell 113, and the shoe washing compartment 111 is located within the inner shell 113. The outer shell 112 has an opening 1121, and the door 114 is rotatably disposed at the opening 1121 to open and close the opening 1121. An equipment chamber 115 is defined between the inner shell 113 and the outer shell 112. At least a portion of the spray assembly 50, the brush assembly 30, and the control assembly 70 may be disposed within the equipment chamber 115.

[0061] Furthermore, the inner shell 113 includes a bottom plate 1131 and a plurality of side walls 1132, and the plurality of side walls 1132 are sequentially connected and connected to the bottom plate 1131 to form the shoe washing chamber 111. The bracket 13 is used to place the shoes upside down in the shoe washing chamber 111, that is, the shoe openings are arranged toward the bottom plate 1131, so that the dust and stains inside the shoes, as well as impurities loosened by the brush head 33 and the cleaning medium during the cleaning process, can more naturally slide or drip along the inner walls of the shoes to the bottom of the shoe washing chamber 111, making full use of the effect of gravity, so that the stains inside the shoes can be more thoroughly removed, avoiding the stains from remaining inside the shoes, thereby improving the cleaning effect.

[0062] like Figure 3 、 Figure 4 and Figure 5 As shown, in some embodiments, the cleaning medium includes water washing liquid, and the injection assembly 50 includes a water washing pipe 531 and a water washing circulation pump 532. One end of the water washing pipe 531 has a liquid return port 5311, and the other end of the water washing pipe 531 is connected to the liquid storage tank 51. The liquid return port 5311 is provided at the bottom of the shoe washing chamber 111. The water washing circulation pump 532 is used to cause the water washing liquid in the shoe washing chamber 111 to flow back to the liquid storage tank 51 through the liquid return port 5311 and spray toward the shoes through the cleaning nozzle 52.

[0063] Specifically, the shoe cleaning device may have a water washing mode. The liquid storage tank 51 may include a water washing liquid tank 511, the cleaning nozzle 52 may include a water washing nozzle 521, and the water washing pipe 531, the water washing circulation pump 532, the water washing liquid tank 511 and the water washing nozzle 521 constitute a water washing circulation system. In the water washing mode, the washing liquid in the water washing liquid tank 511 is sprayed toward the shoes through the cleaning nozzle 52, wetting and dissolving the stains on the surface of the shoes, and then the washing liquid drips or flows to the bottom of the shoe washing tank 111, and is then recovered through the return liquid port 5311 at the bottom of the shoe washing tank 111, and then flows back into the water washing liquid tank 511 through the water washing pipe 531. This not only improves the use efficiency of the washing liquid and reduces the waste of cleaning media, but also ensures that the shoes can always be exposed to a sufficient amount of cleaning media during the cleaning process, which helps to improve the cleaning effect. Furthermore, during the process of spraying the shoes with the washing liquid or after the spraying is completed, the brush head 33 can be moved along the surface of the shoes under the drive of the mechanical arm 31 to remove stains.

[0064] Furthermore, a plurality of water-washing nozzles 521 are provided. The water-washing nozzles 521 can be divided into a first portion of nozzles 5211 and a second portion of nozzles 5212, so that the washing liquid can cover various parts of the shoes more comprehensively and accurately, thereby achieving a more efficient cleaning effect. Among them, the first portion of nozzles 5211 is located on the side wall 1132, and the first portion of nozzles 5211 is at least flush with or higher than the top of the bracket 13 in the height direction to ensure that the washing liquid sprayed by the water-washing nozzles 521 can cover the shoes. The second portion of nozzles 5212 is located below the bracket 13 in the height direction, and the second portion of nozzles 5212 is tilted toward the bracket 13 to tilt the washing liquid to the shoes on the bracket 13. The second portion of nozzles 5212 can be located at the connection between two adjacent side walls 1132 to avoid interference with the bracket 13 or other components.

[0065] Furthermore, the spray assembly 50 may further include a filter 533 , which is disposed in the water washing pipe 531 . The filter 533 is used to filter impurities in the refluxed washing liquid to prevent the cleaning nozzle 52 from being blocked.

[0066] like Figure 3 and Figure 6 As shown, in some embodiments, the cleaning medium includes dry cleaning liquid, and the injection assembly 50 includes a dry cleaning tube 541 and a dry cleaning pump 542. One end of the dry cleaning tube 541 is connected to the liquid storage tank 51, and the other end of the dry cleaning tube 541 is provided with a cleaning nozzle 52. The dry cleaning pump 542 is used to cause the dry cleaning liquid in the liquid storage tank 51 to be sprayed toward the brush head 33 through the dry cleaning tube 541 and the cleaning nozzle 52.

[0067] Specifically, the shoe cleaning device may have a dry cleaning mode. The liquid storage tank 51 may include a dry cleaning liquid tank 512. The cleaning nozzle 52 includes a dry cleaning nozzle 522. In the dry cleaning mode, the dry cleaning pump 542 can extract the dry cleaning liquid from the dry cleaning liquid tank 512 and transport it to the cleaning nozzle 52 through the dry cleaning pipe 541. The cleaning nozzle 52 sprays the dry cleaning liquid onto the surface of the brush head 33 at an appropriate flow rate and pressure. Driven by the robotic arm 31, the brush head 33 moves along the surface of the shoe and uses the cleaning effect of the dry cleaning liquid to remove stains. Due to the high volatility of the dry cleaning liquid, after cleaning is completed, the residual dry cleaning liquid on the surface of the shoe will evaporate quickly, leaving no obvious traces or dampness, thereby achieving a fast and efficient dry cleaning effect.

[0068] It can be imagined that the shoe cleaning device provided by the present invention can scrub the shoes by cooperating with the brush head and dry cleaning liquid during the dry cleaning mode, which can not only ensure the cleaning quality but also improve the cleaning efficiency.

[0069] Furthermore, the spray assembly 50 also includes a foamer 543, which is arranged on the dry cleaning pipe 541. The foamer 543 is used to cause the dry cleaning fluid to generate foam, thereby reducing the amount of dry cleaning fluid used while achieving the same cleaning effect, which helps to reduce cleaning costs.

[0070] In some embodiments, the injection assembly 50 also includes a curing agent tank 551, a curing nozzle 552, a curing pipeline 553 and a curing pump 554. The curing agent tank 551, the curing nozzle 552, the curing pipeline 553 and the curing pump 554 are all arranged in the box body 10. The two ends of the curing pipeline 553 are connected to the curing agent tank 551 and the curing nozzle 552. The curing pump 554 is arranged in the curing pipeline 553. The curing pump 554 is used to cause the curing agent in the curing agent tank 551 to be sprayed to the brush head 33 through the curing pipeline 553 and the curing nozzle 552.

[0071] Specifically, the shoe cleaning device may have a maintenance mode. In maintenance mode, the user can select an appropriate maintenance agent based on the shoe material and maintenance requirements and pour it into the maintenance agent tank 551. When maintenance mode is activated, the maintenance pump 554 begins to operate, pumping the maintenance agent from the maintenance agent tank 551 and delivering it to the maintenance nozzle 552 through the maintenance pipeline 553. The maintenance nozzle 552 sprays the maintenance agent in the form of a mist or fine stream onto the brush head 33 or the shoe surface.

[0072] Driven by the brush assembly 30, the brush head 33 moves along the surface of the shoe, evenly spreading the sprayed conditioner. For areas requiring specific care, such as the leather upper, heel, or shoe edge, the spray angle and flow rate of the conditioner nozzle 552 can be adjusted to provide more thorough care. The conditioner forms a protective film on the shoe surface, effectively preventing stains, reducing wear, and maintaining the shoe's gloss and softness.

[0073] like Figure 3 and Figure 7 As shown, in some embodiments, the shoe cleaning device also includes a drying component 60, the drying component 60 includes an air duct 61, a heat exchanger 62 and a fan 63, the heat exchanger 62 is arranged in the air duct 61, the air duct 61 has an exhaust port 611, the exhaust port 611 is arranged on the inner wall of the shoe washing chamber 111, and the fan 63 is used to promote the gas in the air duct 61 after heat exchange by the heat exchanger 62 to flow into the shoe washing chamber 111.

[0074] Specifically, the shoe cleaning device may have a drying mode. In drying mode, the fan 63 operates, drawing air from the outside and delivering it into the air duct 61. As the air passes through the heat exchanger 62 within the air duct 61, it absorbs heat and heats up, generating hot air. The hot air then enters the shoe washing chamber 111 through the exhaust vent 611, directly acting on the surface and interior of the shoes. During the drying process, the hot air removes moisture from the surface and interior of the shoes, gradually drying them.

[0075] Furthermore, the exhaust vent 611 has a first vent 6111 and a second vent 6112, which are spaced apart on the inner wall of the shoe washing chamber 111 around the bracket 13, so that the hot air can be more evenly distributed in the entire shoe washing chamber 111, thereby improving the drying effect of the shoes.

[0076] Furthermore, the temperature and volume of the hot air can be adjusted based on the material of the shoes and the drying requirements. For example, for leather shoes, the temperature can be set between 40-50 degrees Celsius to prevent deformation or damage to the leather due to high temperatures; while for canvas shoes or sneakers, the temperature can be increased to 50-60 degrees Celsius to speed up drying. The air volume of fan 63 can also be adjusted based on the size and material of the shoes to ensure that the hot air evenly covers all parts of the shoes.

[0077] In this embodiment, the heat exchanger 62 may include an electric heating wire, which has the advantages of simple structure, high heating efficiency, and fast response speed, and can well meet the demand for hot air in the drying mode of the shoe cleaning device.

[0078] In summary, the shoe cleaning device provided by the present invention can have one or more modes: a water wash mode, a dry clean mode, a maintenance mode, and a drying mode, achieving an integrated cleaning, maintenance, and drying operation, which helps to enhance the user experience. In this embodiment, the shoe cleaning device integrates all of the following modes: a water wash mode, a dry clean mode, a maintenance mode, and a drying mode. The water wash mode, the dry clean mode, the maintenance mode, and the drying mode can be used in combination or individually as needed. For example, after the water wash mode or the dry clean mode is completed, the drying mode can be executed to speed up the drying of the shoes; or after the dry clean mode is completed, the maintenance mode can be executed to maintain the shoes and extend their service life.

[0079] Furthermore, the control component 70 also includes a control panel having a plurality of touch parts, which correspond one to one with the water washing mode, dry cleaning mode, maintenance mode and drying mode to facilitate user selection.

[0080] Furthermore, the touch portion can be set as a button, so that the user can start or switch different modes of the shoe cleaning device (such as water washing mode, dry cleaning mode, maintenance mode and drying mode) by a simple pressing action.

[0081] Of course, in some embodiments, the control component 70 can also realize automatic selection of water washing mode, dry cleaning mode, maintenance mode and drying mode by identifying characteristics such as the material, shoe shape or stains of the shoes.

[0082] like Figure 3 、 Figure 5 and Figure 8 As shown, in some embodiments, the robotic arm 31 is detachably connected to the brush head 33, and the brush assembly 30 further includes a brush box 351, which is rotatably mounted on the housing 10. The brush box 351 has at least two fixing portions 3511, which are used to hold the brush head 33. In other words, during operation of the shoe cleaning device 100, when the brush head 33 needs to be replaced or installed, the brush box 351 can be rotated relative to the housing 10 to expose the brush head 33 at the fixing portion 3511, and the robotic arm 31 can be moved to the corresponding fixing portion 3511 to achieve disassembly and installation of the brush head 33.

[0083] Furthermore, the brush assembly 30 also includes a first driver 352, the output end of which is connected to the brush box 351. A first opening 1111 is provided on the inner wall of the shoe washing chamber 111. The brush box 351 is rotatably disposed within the equipment cavity 115 and can be moved into or out of the equipment cavity 115 through the first opening 1111. In other words, the brush box 351 has a storage position and a replacement position during its rotation relative to the housing 10. In the storage position, the brush box 351 is concealed within the equipment cavity 115; in the replacement position, the fixing portion 3511 is exposed to the shoe washing chamber 111, making it easier for the robotic arm 31 to replace the brush head 33.

[0084] Furthermore, at least one fixing portion 3511 of the brush box 351 is in an empty state, that is, no brush head 33 is placed on it. In order to facilitate the replacement of the brush head 33, there are at least multiple replacement positions, and the replacement positions are set in a one-to-one correspondence with the fixing portions 3511.

[0085] In this embodiment, if Figure 3 、 Figure 5 and Figure 8 As shown, two fixing parts 3511 are provided on the brush box 351, one of the two fixing parts 3511 can be used to accommodate and fix the brush head 33 being used, and the other can be used to accommodate and fix the brush head 33 to be replaced. The two fixing parts 3511 are arranged in the same direction on the brush box 351, so that when the fixing part 3511 is rotated to the replacement position, the brush heads 33 on the fixing part 3511 are all facing upward, so as to facilitate connection or separation with the robotic arm 31.

[0086] During the process of the robotic arm 31 replacing the brush head 33, the first driver 352 can drive the brush box 351 to move from the storage position to the replacement position (the replacement position corresponds to the vacant fixed part 3511). Correspondingly, the robotic arm 31 can drive the brush head 33 to move to the replacement position as well. At this time, the robotic arm 31 can insert the brush head 33 on it into the vacant fixed part 3511 on the brush box 351, and separate the robotic arm 31 from the brush head 33. At this time, the first driver 352 can drive the brush box 351 to rotate again, so that the brush box 351 rotates to the replacement position opposite to the fixed part 3511 where the brush head 33 is placed; then the robotic arm 31 moves to the replacement position to realize the connection between the robotic arm 31 and the brush head 33, thereby completing the replacement of the brush head 33.

[0087] like Figure 8As shown, in some embodiments, the brush head 33 has a connecting portion 331, and the fixing portion 3511 includes a guide channel 35111 and a fixing hole 35112. When the fixing portion 3511 and the robotic arm 31 are both moved to the replacement position, the connecting portion 331 of the brush head 33 is exactly located in the fixing hole 35112. The guide channel 35111 is used to connect the edge of the brush box 351 and the fixing hole 35112. When the brush head 33 is inserted into the fixing portion 3511, the connecting portion 331 on the brush head 33 can pass through the guide channel 35111 horizontally into the fixing hole 35112. When the brush head 33 is removed from the fixing portion 3511, the connecting portion 331 on the brush head 33 can move horizontally and exit the fixing hole 35112 through the guide channel 35111. The fixing hole 35112 is used to securely support the connecting portion 331, allowing the brush head 33 to be placed in the brush box 351.

[0088] Optionally, the shape of the fixing hole 35112 is set to be a long hole, the shape of the connecting portion 331 is adapted to the shape of the fixing hole 35112, and the side wall 1132 of the fixing hole 35112 is set to be inclined, that is, a shape with a small bottom and a large top, so that when the connecting portion 331 is placed in the fixing hole 35112, due to the action of gravity, the connecting portion 331 will be coaxial with the fixing hole 35112, so that the robotic arm 31 can be connected to the connecting portion 331 in the fixing hole 35112 in a centering manner.

[0089] In this embodiment, the brush box 351 includes side panels 3512, a top panel 3513, and a bottom panel 3514. The fixing portion 3511 is provided on the bottom panel 3514. The top panel 3513 and the bottom panel 3514 are arranged opposite each other and located on the same side of the side panel 3512. The top panel 3513 and the bottom panel 3514 are semicircular in shape. When the brush box 351 is in the storage position, the side panels 3512 are flush with the inner wall of the shoe washing chamber 111, and the top panel 3513 and the bottom panel 3514 are located within the equipment cavity 115.

[0090] Furthermore, if Figure 3 、 Figure 5 and Figure 8 As shown, the brush box 351 rotates in the horizontal direction, and a fixing portion 3511 is provided on both sides of the rotation center of the brush box 351. Of course, in other embodiments, the brush box 351 rotates in the vertical direction, that is, the rotation axis of the brush box 351 is set in the horizontal direction, which will not be repeated here.

[0091] like Figure 1 and Figure 9As shown, in some embodiments, the brush assembly 30 further includes a rotary joint 371, which is disposed at the output end of the robotic arm 31. The rotary joint 371 has an external thread, and the bottom of the brush head 33 has an internal thread that matches the external thread. During the replacement of the brush head 33, the robotic arm 31 drives the rotary joint 371 to rotate forward, allowing the rotary joint 371 to be screwed into the brush head 33, thereby connecting the robotic arm 31 and the brush head 33. The robotic arm 31 rotates backward, allowing the rotary joint 371 to be screwed out of the brush head 33, thereby separating the robotic arm 31 and the brush head 33.

[0092] It should be noted that when the robotic arm 31 is connected to the brush head 33, the robotic arm 31 rotates forward while moving upward; when the robotic arm 31 is separated from the brush head 33, the robotic arm 31 rotates backward while moving downward, ensuring that the brush head 33 is stationary within the fixing portion 3511, making it easier to connect and disconnect the robotic arm 31 and the brush head 33. Of course, in some embodiments, the robotic arm 31 can also achieve a detachable connection with the brush through a magnetic structure, which is within the scope of protection of the present invention.

[0093] In this embodiment, the brush assembly 30 further includes a fourth driver 372, which is disposed at the movable end of the robotic arm 31, and a rotary joint 371 disposed at the output end of the fourth driver 372. During assembly and disassembly of the robotic arm 31 and the brush head 33, the rotary joint 371 can be driven by the fourth driver 372 to rotate.

[0094] In summary, the shoe cleaning device provided by the present invention can realize the automatic replacement of the brush head 33, which can cope with different shoe brushing processes. From the time the shoes are placed in the shoe cleaning device 100 until a pair of dry shoes are taken out of the machine, no other manual operations are required in the middle, completely freeing people's hands, making it more convenient and easy to use. For example, when dry cleaning shoes, you can first brush the shoes with a relatively hard brush, then replace the brush and use a relatively soft brush to wipe off the foam on the shoes. Of course, the shoe cleaning device can also be used for shoe maintenance. For example, when maintaining leather shoes, you can first use a relatively hard brush to brush off the dust on the shoes, then replace the brush, use a relatively soft brush to pick up shoe polish, apply it to the surface of the leather shoes, and finally rotate the brush at high speed to complete the polishing of the leather shoes.

[0095] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 9 、 Figure 10 and Figure 11As shown, in some embodiments, the robotic arm 31 includes a rotating mechanism 311 and a connecting rod mechanism 313. The rotating mechanism 311 includes a rotating frame 3111 and a second driver 3112. The rotating frame 3111 is rotatable horizontally relative to the housing 10. The output end of the second driver 3112 is in transmission connection with the rotating frame 3111. The connecting rod mechanism 313 includes a brush frame 3131, a first connecting rod 3132, a second connecting rod 3133, and a third driver 3134. The first connecting rod 3132 and the second connecting rod 3133 are arranged parallel to each other and have equal lengths. One end of the first connecting rod 3132 is rotatably connected to the rotating frame 3111, and the other end of the first connecting rod 3132 is rotatably connected to the brush frame 3131. One end of the second connecting rod 3133 is rotatably connected to the rotating frame 3111, and the other end of the second connecting rod 3133 is rotatably connected to the brush frame 3131. The brush holder 3131 is used to install the brush head 33, and the third driver 3134 is used to drive the first connecting rod 3132 or the second connecting rod 3133 to rotate relative to the rotating frame 3111 around the straight line in the second direction, so as to drive the brush holder 3131 and the brush head 33 to move in the shoe washing chamber 111.

[0096] In this embodiment, Figure 3 As shown, the first direction is the height direction of the box 10 (i.e., the up-down direction of the box 10), and the second direction is the horizontal direction of the box 10 (i.e., the direction of the horizontal plane on which the box 10 is located). The horizontal direction includes the front-to-back direction and the left-to-right direction. During operation, the second driver 3112 drives the rotating frame 3111 to swing horizontally relative to the box 10, and the third driver 3134 drives the first connecting rod 3132 or the second connecting rod 3133 to swing vertically of the box 10.

[0097] Specifically, the connecting rod mechanism 313 is mounted on the housing 10 via the rotating mechanism 311. Driven by the second driver 3112 and the third driver 3134, the brush head 33 can move freely within the shoe washing chamber 111 to reach any position within the shoe washing chamber 111, thereby effectively cleaning the shoes within the shoe washing chamber 111. That is, during the shoe cleaning process, especially when cleaning a specific area of ​​the shoe (such as the toe, shoelace holes, or other dirty areas), the second driver 3112 and the third driver 3134 can drive the brush head 33 to move to that area via the rotating frame 3111 and the connecting rod mechanism 313, thereby effectively cleaning the specific area. This allows for more flexible and precise adaptation to shoe cleaning needs, thereby improving cleaning efficiency and effectiveness.

[0098] Furthermore, the rotating frame 3111, the first connecting rod 3132, the brush holder 3131, and the second connecting rod 3133 can form a parallelogram structure, allowing the brush head 33 to maintain a stable movement trajectory. Specifically, the first connecting rod 3132 and the second connecting rod 3133 are disposed between the rotating frame 3111 and the brush holder 3131, with the first and second connecting rods 3132 and 3133 connected at their ends to the rotating frame 3111 and the brush holder 3131, respectively. During operation, the third driver 3134 can drive the brush holder 3131 to translate in the first direction via the first and second connecting rods 3132 and 3133, ensuring that the brush head 33 always maintains a fixed orientation, thus ensuring stable operation of the brush head 33.

[0099] In this embodiment, the rotating frame 3111 is located at the junction of two adjacent side walls 1132 of the housing 10. This fully utilizes the space within the housing 10 and allows the rotating frame 3111 to have a larger range of motion during rotation, thereby driving the connecting rod mechanism 313 to achieve more flexible and comprehensive movement within the shoe washing chamber 111. This also prevents interference between the rotating frame 3111 and other components within the housing 10 during rotation, ensuring stable and reliable operation.

[0100] Specifically, when the second driver 3112 drives the rotating frame 3111 to rotate about a straight line in the first direction, since the rotating frame 3111 is located at a corner of the housing 10, its rotation can drive the connecting rod mechanism 313 to form a larger sweeping area within the shoe washing chamber 111, thereby ensuring that the brush head 33 can cover every part of the shoe. At the same time, the third driver 3134 drives the first connecting rod 3132 or the second connecting rod 3133 to rotate about a straight line in the second direction relative to the rotating frame 3111, further adjusting the position and angle of the brush frame 3131 and the brush head 33 so that they can more accurately fit the shape of the shoe and the distribution of dirt.

[0101] like Figure 9 、 Figure 10 and Figure 11 As shown, in some embodiments, the rotating frame 3111 is provided with a first rotating shaft 31111, which extends along a line in the second direction. Both the first connecting rod 3132 and the second connecting rod 3133 have a rotating hole 31321, into which the first rotating shaft 31111 passes. At least one of the first connecting rod 3132 and the second connecting rod 3133 is provided with a first gear 31325. A second gear 31341 is provided at the output end of the third driver 3134. The first gear 31325 and the second gear 31341 mesh with each other, helping to improve transmission accuracy.

[0102] Specifically, when the position or angle of the brush head 33 needs to be adjusted, the third driver 3134 is activated and drives the second gear 31341 to rotate. Due to the meshing relationship between the second gear 31341 and the first gear 31325, the first gear 31325 rotates accordingly, driving the first connecting rod 3132 or the second connecting rod 3133 to rotate around the first rotating shaft 31111, thereby driving the brush holder 3131 and the brush head 33 to move within the shoe washing compartment 111, achieving precise cleaning of different parts of the shoe by the brush head 33.

[0103] Furthermore, the first gear 31325 is configured as a first sector gear, the curvature of which is at least equal to the rotation angle of the first connecting rod 3132. In other words, the tooth surface of the first sector gear only covers a portion of the circumference, forming a specific curvature. When the third driver 3134 drives the second gear 31341 to rotate, the second gear 31341 meshes with the first sector gear. Due to the curvature of the tooth surface of the first sector gear, the rotation angle of the first connecting rod 3132 is strictly limited to a preset range. The preset range can be set according to actual needs, for example, 0° to 30°, 0° to 60°, etc.

[0104] Furthermore, the physical limit created by the first sector gear ensures that the movement range of the brush head 33 within the shoe washing chamber 111 is effectively controlled. During the shoe washing process, the brush head 33 needs to cover all parts of the shoe, but does not require unlimited rotation. By setting the arc of the first sector gear, the maximum rotation angle of the brush head 33 can be precisely controlled to prevent it from exceeding the required working range, thereby improving cleaning efficiency and reducing unnecessary energy consumption.

[0105] Furthermore, the first gear 31325 is also a face gear, so that the rotational motion of the second gear 31341 can be converted into the swinging motion of the first connecting rod 3132 or the second connecting rod 3133, and the impact and vibration during the transmission process can be reduced.

[0106] In this embodiment, the first connecting rod 3132 is located above the second connecting rod 3133 in the height direction of the housing 10, and the first gear 31325 is provided on the first connecting rod 3132. The first gear 31325 can be detachably mounted on the first connecting rod 3132 via a threaded structure. Of course, in some embodiments, the first gear 31325 and the first connecting rod 3132 can be integrally formed; or the first gear 31325 and the first connecting rod 313232 can be connected via a snap fit, welding, or other means.

[0107] Furthermore, the first connecting rod 3132 includes a rod body 31322, a boss 31323 and a stud. The boss 31323 is provided with a threaded hole 31324, and the second gear 31341 is provided with a through hole. One end of the stud can pass through the through hole and be threadedly connected to the threaded hole 31324, thereby realizing the connection between the first gear 31325 and the first connecting rod 3132, which is not only firmly fixed but also easy to disassemble.

[0108] like Figure 9 、 Figure 10 and Figure 11 As shown, the rotating frame 3111 includes a first plate 31112 and a second plate 31113 arranged opposite to each other, and a accommodating cavity 31114 is provided between the first plate 31112 and the second plate 31113. The first rotating shaft 31111 is provided in the accommodating cavity 31114, and the two ends of the first rotating shaft 31111 are correspondingly connected to the first plate 31112 and the second plate 31113, so that the ends of the first connecting rod 3132 and the second connecting rod 3133 are both accommodated in the accommodating cavity 31114.

[0109] Optionally, the first plate 31112 and the second plate 31113 can be joined together by threaded connection.

[0110] like Figure 9 、 Figure 10 and Figure 11 As shown, in some embodiments, the housing 10 is provided with a mounting platform 14, which is provided with a second rotating shaft 141. The second rotating shaft 141 extends along a straight line in the first direction. The rotating frame 3111 also includes a third gear 31115, which is sleeved on the second rotating shaft 141. The output end of the second driver 3112 is provided with a fourth gear 31121, and the third gear 31115 meshes with the fourth gear 31121.

[0111] Specifically, when a specific area of ​​the shoe needs to be cleaned, the second driver 3112 is activated and drives the fourth gear 31121 to rotate. The fourth gear 31121 transmits power to the rotating frame 3111 through meshing with the third gear 31115, causing the rotating frame 3111 to swing around the second rotating shaft 141, thereby driving the connecting rod mechanism 313 (including the brush head 33) to move synchronously within the shoe washing chamber 111, thereby accurately moving the brush head 33 to the area to be cleaned, achieving precise cleaning of different parts of the shoe, and helping to improve cleaning effect and efficiency.

[0112] Furthermore, the third gear 31115 is configured as a second sector gear, the arc of which is greater than or equal to the rotation angle of the rotating frame 3111. Similar to the first sector gear provided in the aforementioned embodiment, the second sector gear's tooth surface only covers a portion of the circumference, forming a specific arc. This means that when the fourth gear 31121 drives the second sector gear to rotate, the rotation range of the rotating frame 3111 is strictly limited to a preset angle. Similarly, the second sector gear can be configured as needed, for example, from 0° to 30°, 0° to 60°, etc.

[0113] In this embodiment, a plug-in block 31116 is provided on the first plate 31112 of the rotating frame 3111, and a slot 31117 is provided on the third gear 31115 to mate with the plug-in block 31116. The plug-in block 31116 is designed in an elongated strip shape, providing sufficient contact area and friction, effectively preventing loosening or slipping during relative motion. Furthermore, the elongated strip shape helps disperse stress, reducing the risk of structural damage caused by excessive localized force.

[0114] like Figure 9 、 Figure 10 and Figure 11 As shown, in some embodiments, the housing 10 is further provided with a limiting platform 15, which is arranged corresponding to the mounting platform 14. The limiting platform 15 is provided with a limiting hole 151, and the rotating frame 3111 has a third rotating shaft 3113, which is disposed within the limiting hole 151. In other words, in the height direction of the housing 10, the limiting platform 15 is located above the mounting platform 14, thereby limiting the height of the rotating frame 3111 and ensuring stable rotation of the rotating frame 3111. In this embodiment, the third rotating shaft 3113 is disposed on the second plate 31113.

[0115] Furthermore, the limiting platform 15 is provided with a rotating bearing 152, part of which can be positioned within the limiting hole 151. The third rotating shaft 3113, which passes through the inner hole of the rotating bearing 152, not only reduces energy loss due to friction, lowers the wear rate of mechanical components, and extends service life, but also enhances the stability of the rotating frame 3111 during operation. Furthermore, due to the support provided by the bearing, the rotating frame 3111 can maintain a more stable posture when rotating about the third rotating shaft 3113, reducing noise and vibration caused by shaking or deviation. This not only improves overall performance but also provides a more comfortable user experience.

[0116] In this embodiment, a limit platform 15 is located at the top of the housing 10. The upper end of the rotating frame 3111 is positioned against the limit platform 15, while the lower end of the rotating frame 3111 is positioned against the mounting platform 14. This not only ensures stable support of the rotating frame 3111 in the height direction, but also effectively prevents the rotating frame 3111 from shaking or shifting during operation through the friction between the limit platform 15 and the rotating frame 3111. Furthermore, the limit platform 15 also serves as a precise limiter, limiting the range of motion of the rotating frame 3111 in the height direction, thereby ensuring that the rotating frame 3111 can rotate smoothly along a predetermined trajectory.

[0117] Optionally, the mounting platform 14 and the limiting platform 15 are flat-plate structures that can be attached to the inner shell 113 via threaded mounting. Specifically, threaded holes are provided in the inner shell 113, and studs are used to securely attach the mounting platform 14 and the limiting platform 15 to the threaded holes in the inner shell 113. This method is not only simple and quick, but also ensures that the mounting platform 14 and the limiting platform 15 maintain stable performance over extended use, effectively preventing mechanical failures caused by loosening or falling off.

[0118] like Figure 9 、 Figure 10 and Figure 11 As shown, in some embodiments, the robotic arm 31 also includes a limit module 315, which is electrically connected to the second driver 3112. The limit module 315 includes a first position sensor 3151 and a second position sensor 3152. The first position sensor 3151 and the second position sensor 3152 are spaced apart on the mounting table 14 around the second rotating shaft 141. This not only ensures that the sensor can fully and accurately capture the position changes of the rotating frame 3111 during the rotation process, but also effectively avoids blind spots or errors that may be caused by a single sensor through its spaced arrangement.

[0119] The first position sensor 3151 and the second position sensor 3152 can accurately detect the rotation angle and position of the rotating frame 3111 around the second rotation axis 141 in real time. When the rotating frame 3111 rotates to a preset position during the cleaning process, the sensor immediately feeds this information back to the second driver 3112. The second driver 3112 then rapidly adjusts its output state based on the received signal, thereby controlling the rotation speed, direction, or stop position of the rotating frame 3111. This improves the control precision of the cleaning process and helps enhance cleaning effectiveness and efficiency.

[0120] Optionally, the first position sensor 3151 and the second position sensor 3152 may be configured as limit switches or inductive grating sensors. When the first position sensor 3151 and the second position sensor 3152 are configured as limit switches, the first position sensor 3151 and the second position sensor 3152 may be respectively located at the first and second limit positions of the rotating frame 3111 in the horizontal direction to prevent the rotating frame 3111 from excessively rotating.

[0121] In some embodiments, the brush holder 3131 has a mounting tube 3136, and the fourth driver 372 is installed in the mounting tube 3136. The brush head 33 may include a spherical brush. The spherical brush can adapt to irregular surfaces on the shoes, such as the toe, heel, side of the shoe and other parts of the curved surface changes, and can effectively remove stubborn stains along the gaps and textures of the shoes.

[0122] The fourth actuator 372 not only detaches and assembles the brush head 33 but also drives the spherical brush to rotate, improving shoe cleaning efficiency. Especially for heavily soiled areas, the fourth actuator 372 drives the spherical brush to rotate, enabling continuous, high-intensity rotational cleaning of the area. This targeted cleaning method concentrates cleaning power, precisely targeting stubborn stains, significantly improving cleaning efficiency and effectiveness.

[0123] like Figure 1 、 Figure 2 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 、 Figure 18 and Figure 19 As shown, in some embodiments, the bracket 13 includes a shoe stretcher 17, which is used to be inserted into the shoe. The shoe stretcher 17 is provided with a plurality of spray holes 171, and the spray holes 171 are connected to the liquid storage tank 51 through a pipeline. The spray holes 171 are used to spray the cleaning medium (water washing liquid) in the liquid storage tank 51 into the shoe to clean the stains in the shoe.

[0124] In this embodiment, the shoe tree 17 can be inserted into the shoe cavity to support the shoe and prevent the shoe from changing during the cleaning process. The shoe tree 17 may include a support body 172, which includes a heel portion 1721, a middle portion 1722, and a toe portion 1723 connected to each other. The heel portion 1721, the middle portion 1722, and the toe portion 1723 each have a hollow cavity for storing cleaning medium. The surfaces of the heel portion 1721, the middle portion 1722, and the toe portion 1723 are evenly distributed with spray holes 171. The spray holes 171 are used to spray the cleaning medium in the hollow cavities into the shoe cavity to clean the stains inside the shoe.

[0125] That is, when the shoe cleaning device 100 is in the water washing mode, the washing liquid in the liquid storage tank 51 can enter the hollow cavity through the pipeline, and then be sprayed into the shoe cavity of the shoe through the spray hole 171, and evenly cover the shoe cavity of the shoe, thereby achieving comprehensive cleaning of the stains in the shoe cavity, which not only improves the efficiency of cleaning the inside of the shoe, but also ensures that the cleaning process is more uniform and thorough, so that the shoes can be restored to a clean and tidy state after cleaning.

[0126] In this embodiment, the heel portion 1721 and the toe portion 1723 are disposed on opposite sides of the middle portion 1722. At least one of the heel portion 1721 and the toe portion 1723 is movable relative to the middle portion 1722, allowing the shoe stretcher 17 to more flexibly adjust its overall shape and length to better conform to the contours of the shoe. For example, when the shoe stretcher 17 is inserted into a shoe, if the toe portion 1723 is narrow or wide, the toe portion 1723 can be adjusted accordingly to ensure that the shoe stretcher 17 closely conforms to the shape of the toe. Similarly, the heel portion 1721 can also be adjusted appropriately to adjust to the shape of the shoe's heel, thereby improving the fit of the shoe stretcher 17 within the shoe.

[0127] Furthermore, the shoe stretcher 17 further includes a side support assembly 173, which includes a support rod 1731, a first side support frame 1732, and a second side support frame 1733. The support rod 1731 extends along the height direction of the support body 172 and is connected to the support body 172. The first side support frame 1732 and the second side support frame 1733 are respectively disposed on opposite sides of the width direction of the support body 172. The first side support frame 1732 and the second side support frame 1733 each include a swing rod 1734 and a support plate 1735. The two ends of the swing rod 1734 are respectively connected to the support rod 1731 and the support plate 1735. The support plates 1735 are used to support the side of the shoe. When a force is applied to one of the first side support frame 1732 and the second side support frame 1733, the two support plates 1735 can swing toward or away from each other to adjust the width of the side support assembly 173, thereby better fitting the shoe cavity and helping to improve the support strength of the shoe.

[0128] Optionally, when the shoe is narrow, the two support plates 1735 can swing toward each other, thereby reducing the spread width and better fitting the shoe; and when the shoe is wide, the two support plates 1735 can swing away from each other, increasing the spread width to accommodate the width of the shoe. In this way, the side support assembly 173 can flexibly adjust the spread width to better accommodate shoes of different widths, thereby providing stable support for the shoe and ensuring that the shoe remains fixed during cleaning or other operations, avoiding poor cleaning results or damage to the shoe due to shaking.

[0129] In some embodiments, the swing rod 1734 is rotatably connected to the support rod 1731, and the swing rod 1734 is provided with a synchronous meshing tooth 1736. The synchronous meshing tooth 1736 of the first side support frame 1732 is engaged with the synchronous meshing tooth 1736 of the second side support frame 1733, so that the first side support frame 1732 and the second side support frame 1733 swing synchronously, ensuring that the support plates 1735 of the first side support frame 1732 and the second side support frame 1733 always maintain a consistent movement state during the swinging process.

[0130] In other words, when a user applies an external force to the first side support 1732 to cause it to swing, the second side support 1733 will also swing simultaneously with the same amplitude and direction through the meshing transmission of the synchronous meshing teeth 1736. Conversely, when an external force is applied to the second side support 1733, the first side support 1732 will also respond synchronously. This synchronized swing design not only improves operational convenience but also ensures stability and consistency when adjusting the width of the side support assembly 173.

[0131] For example, when cleaning shoes, if the width of the side support assembly 173 needs to be adjusted to accommodate the width of the shoes, the user only needs to apply appropriate external force to one bracket 13, and the other bracket 13 will automatically swing in sync with it. This design avoids uneven force on the side of the shoe or the side support assembly 173 not being able to fit tightly against the side of the shoe due to inconsistent swinging of the two brackets 13, thereby improving the support effect and fixing stability of the shoe stretcher 17 on the shoe.

[0132] Optionally, the synchronous meshing teeth 1736 on the swing rod 1734 can be arranged in a fan shape.

[0133] In this embodiment, the first side support frame 1732 and the second side support frame 1733 also include a guide bar 1737 and an adjustment member 1738. The guide bar 1737 is connected to the support plate 1735. The middle part 1722 is provided with a guide groove 17222, and the guide bar 1737 can be movably inserted into the guide groove 17222.

[0134] Furthermore, a plug hole 17371 is defined on the guide bar 1737 , and one end of the adjustment member 1738 in the first side support 1732 passes through the plug hole 17371 to abut against the guide bar 1737 of the second side support 1733 .

[0135] Optionally, the plug hole 17371 can be set as a threaded hole, and the adjustment member 1738 can be set as a threaded column.

[0136] like Figure 12 、 Figure 16 、 Figure 17 and Figure 18As shown, in some embodiments, the side support assembly 173 further includes an adjustment sleeve 1739, which is slidably mounted on the support rod 1731. The adjustment sleeve 1739 has a first position and a second position relative to the support rod 1731. When the adjustment sleeve 1739 is in the first position, at least a portion of the swing rod 1734 is inserted into the adjustment sleeve 1739, and the expansion width between the first side support frame 1732 and the second side support frame 1733 is A. When the adjustment sleeve 1739 is in the second position, the expansion angle between the first side support frame 1732 and the second side support frame 1733 is B, and A is less than B. In other words, the expansion width of the side support assembly 173 can be adjusted by moving the adjustment sleeve 1739 up and down along the length of the support rod 1731.

[0137] Furthermore, the side support assembly 173 also includes a latch 1741 and a first elastic member 1742. The latch 1741 is rotatably connected to the adjustment sleeve 1739. The latch 1741 has a latching head 17411. The support rod 1731 is provided with a latching slot 17311 that matches the latching head 17411. The two ends of the first elastic member 1742 are correspondingly connected to the latch 1741 and the adjustment sleeve 1739. When the adjustment sleeve 1739 is in the first position, the latching head 17411 is latched into the latching slot 17311 to ensure the stability of the side support assembly 173 in this position.

[0138] Furthermore, the latch 1741 also includes a rotating shaft 17412 and a pressing portion 17413. The pressing portion 17413 and the engaging head 17411 are located on either side of the rotating shaft 17412, respectively. The rotating shaft 17412 is connected to the adjustment sleeve 1739. To adjust the width of the side support assembly 173, the user simply presses the pressing portion 17413, and the engaging head 17411 disengages from the slot 17311 on the support rod 1731. The adjustment sleeve 1739 can now slide freely along the support rod 1731, allowing the user to move it to the desired position. When the adjustment sleeve 1739 reaches the desired position, the user releases the pressing portion 17413, and the engaging head 17411 automatically rebounds under the action of the first elastic member 1742 and reengages the slot 17311, thereby securing the adjustment sleeve 1739 in its new position.

[0139] In this embodiment, the adjustment sleeve 1739 includes a first sliding sleeve 17391 and a second sliding sleeve 17392, the first sliding sleeve 17391 has a small diameter portion 17393, the second sliding sleeve 17392 is sleeved on the outside of the small diameter portion 17393, the small diameter portion 17393 has a receiving groove 17394, the fastener 1741 is rotatably arranged in the receiving groove 17394, one end of the first elastic member 1742 abuts against the fastener 1741, and the other end of the first elastic member 1742 abuts against the inner wall of the second sliding sleeve 17392.

[0140] In some embodiments, support rod 1731 is provided with a guide ridge 17312 extending along the length of support rod 1731. Adjustment sleeve 1739 is provided with a guide groove 17395 that cooperates with guide ridge 17312. The sliding engagement between guide groove 17395 and guide ridge 17312 allows adjustment sleeve 1739 to move, thereby improving smoothness and precision of movement. In this embodiment, two guide ridges 17312 are provided, one on each opposite side of support rod 1731, corresponding to two guide grooves 17395.

[0141] In some embodiments, at least one of the heel portion 1721 and the toe portion 1723 is provided with a guide block 1724 having a first guide slope 17241. The adjustment sleeve 1739 is provided with a second guide slope 17396 that mates with the first guide slope 17241. When the adjustment sleeve 1739 moves from the second position to the first position, the adjustment sleeve 1739 moves toward the support body 172, and the second guide slope 17396 pushes against the first guide slope 17241, causing the toe portion 1723 and the heel portion 1721 to move toward each other. In other words, during the movement of the adjustment sleeve 1739, the relative movement of the heel portion 1721 and the toe portion 1723 can precisely adjust the overall length of the shoe stretcher 17, thereby better accommodating different shoe shapes and sizes. This adjustment method not only improves the flexibility of the shoe stretcher 17, but also ensures a smooth and reliable adjustment process.

[0142] In this embodiment, the guide block 1724 is arranged on the heel portion 1721, and the guide block 1724 has a high end 17242 and a low end 17243 on the first guide slope 17241. The high end 17242 is located above the low end 17243, and the second point is relatively far away from the middle portion 1722 relative to the high end 17242.

[0143] Furthermore, if Figure 16 、 Figure 19 and Figure 20 As shown, the middle part 1722 is provided with a synchronous gear 17221, the heel part 1721 is provided with a first rack 17211, and the toe part 1723 is provided with a second rack 17231. The first rack 17211 and the second rack 17231 are arranged on opposite sides of the synchronous gear 17221, and the first rack 17211 and the second rack 17231 are both engaged with the synchronous gear 17221.

[0144] Furthermore, the support body 172 further includes a second elastic member 1725 , one end of the second elastic member 1725 is connected to the middle portion 1722 , and the other end of the second elastic member 1725 is connected to the heel portion 1721 and / or the toe portion 1723 .

[0145] like Figure 16 and Figure 20 As shown, in some embodiments, the support body 172 also includes a shoe upper support 1726 and a third elastic member 1727. The shoe upper support 1726 is rotatably connected to the toe portion 1723, one end of the third elastic member 1727 abuts against the shoe upper support 1726, and the other end of the third elastic member 1727 abuts against the toe portion 1723.

[0146] Furthermore, the upper support 1726 includes a first connector 17261, a second connector 17262 and a connector 17263. The first connector 17261 is rotatably connected to the toe portion 1723. The first connector 17261 is provided with a positioning groove 17264. The second connector 17262 is provided with a plug-in portion 17265 that cooperates with the positioning groove 17264. The connector 17263 connects the first connector 17261 and the second connector 17262 to achieve fixation of the two.

[0147] Optionally, the connecting member 17263 can be set as a threaded column, and the first connecting body 17261 is provided with a threaded hole that matches the threaded column. The threaded holes can be set in multiple numbers and arranged at intervals along the extension direction of the positioning groove.

[0148] In this embodiment, the support rod 1731 can be detachably connected to the middle portion 1722. The support rod 1731 can be provided with a threaded section, and the middle portion 1722 can be provided with a threaded hole 31324 that matches the threaded section of the support rod 1731. During installation of the shoe stretcher 17, the threaded hole 31324 and the threaded section cooperate to achieve installation of the shoe stretcher 17.

[0149] like Figure 4 、 Figure 5 、 Figure 7 、 Figure 12 、 Figure 13 and Figure 21 As shown, in some embodiments, the bracket 13 also includes a rotating disk 191 and a fifth driver 192. The rotating disk 191 is rotatably connected to the box 10, the support rod 1731 is connected to the rotating disk 191, and the output end of the fifth driver 192 is transmission-connected to the rotating disk 191, so that the rotating disk 191 can rotate freely in the box 10, thereby driving the entire bracket 13 to perform circular motion, which helps to provide a more uniform and comprehensive cleaning effect for the cleaning of shoes.

[0150] Furthermore, a first pulley 193 is provided on the rotating disk 191, and a second pulley 194 is provided on the output end of the fifth driver 192. The first pulley 193 and the second pulley 194 are connected by a belt. The belt drive has a certain elastic buffering effect, which can absorb and disperse the impact and vibration during the transmission process to a certain extent, thereby improving the stability and reliability of the entire transmission system.

[0151] Furthermore, two shoe trees 17 are provided, with a rotating disk 191 disposed at the bottom of the housing 10. The rotating disk 191 has a first protrusion 1911 and a second protrusion 1912, which are symmetrically arranged around a rotation axis 17412 of the rotating disk 191. The two shoe trees 17 are connected to the first protrusion 1911 and the second protrusion 1912, respectively, via a support rod 1731. Furthermore, the two shoe trees 17 are arranged in the same direction, with the toe portion 1723 of one shoe tree 17 relatively close to the heel portion 1721 of the other shoe tree 17.

[0152] It should be noted that in the present application, the rotational connection between each component can be achieved by a bearing structure, thereby achieving the purpose of reducing wear and improving rotational stability. In the embodiment provided in the present application, the first driver 352, the second driver 3112, the third driver 3134, the third driver 3134, the fourth driver 372 and the fifth driver 192 can be configured as components such as motors and pneumatic motors.

[0153] like Figure 22 As shown, in some embodiments, the control component 70 includes an image acquisition module 71 and a path planning module. The image acquisition module 71 is set toward the bracket 13. The image acquisition module 71 is used to capture images of the shoes to be cleaned. The path planning module is used to perform feature recognition based on the images captured by the image acquisition module 71 and plan the movement path of the cleaning brush along the shoes. The feature recognition includes at least stain recognition and material recognition.

[0154] Furthermore, the path planning module may include a stain detection module 73 and a path generation module 74. The stain detection module 73 is configured to use an image recognition algorithm to detect stains on the preprocessed image and generate stain quantification data, which includes a quantified value of the stain degree, a stain area percentage, and the coordinate values ​​of the stain location. The path generation module 74 is configured to generate a cleaning plan and movement path for the shoe brush head 33 based on the stain quantification data and the shoe's characteristic data, which includes the shoe's shape and material.

[0155] Furthermore, the control component 70 also includes an image processing module 72, which is used to pre-process the collected shoe surface image, and the pre-processing includes image denoising, image enhancement and other methods.

[0156] Specifically, in this embodiment, the image processing module 72 pre-processes the captured shoe surface image. The stain detection module 73 then performs stain detection on the pre-processed image to generate stain quantification data. Finally, the path planning module generates a cleaning plan and movement path for the shoe brush head 33 based on the stain quantification data and the shoe's characteristic data, which includes the shoe's shape and material. This allows for a personalized shoe cleaning path to be planned based on the severity and location of the stain. This increases cleaning time and intensity for heavily stained areas, while reducing cleaning effort for lightly stained areas. This significantly improves cleaning effectiveness and meets the diverse cleaning needs of different shoes. Furthermore, through intelligent planning of the brush head 33's path, the amount of cleaning fluid sprayed and the water pressure are precisely controlled, ensuring that only the necessary areas and levels of cleaning are targeted. For example, this reduces the use of cleaning fluid in lightly stained areas, avoiding unnecessary wear on the shoe's upper material and reducing resource consumption and shoe cleaning costs in multiple ways. This allows for a single, centralized cleaning of heavily stained areas, while utilizing a faster path for minor stains. If a small, serious stain is found on the shoe surface, focus on cleaning that area first, and then clean the shoe surface normally. This will greatly shorten the shoe washing time and better meet the efficiency requirements of large-scale shoe washing.

[0157] like Figure 1 and Figure 3 As shown, in this embodiment, the image acquisition module 71 may include a camera assembly 711, which is located at the connection between the side wall of the inner shell and the bottom plate, and the camera assembly 711 is set toward the shoe upper on the bracket to ensure that the external features of the shoe can be fully photographed and collected.

[0158] In some other embodiments of the present invention, Figure 3 As shown, the image collection module 71 includes at least one camera assembly 711 located inside the door 114. When the door 114 rotates to close the opening 1121, the camera assembly 711 can be positioned toward the bracket to facilitate capturing and identifying shoe features. Furthermore, the positioning of the camera assembly 711 above the bracket ensures clarity and prevents cleaning media or water from blurring the camera assembly 711 and affecting the image quality.

[0159] Optionally, the camera assembly 711 can be located on the side of the door away from the rotating shaft, so that the camera assembly 711 is as far away from the cleaning chamber as possible when the door is open, allowing the camera assembly 711 to dry quickly and preventing water from entering or adhering to the camera assembly 711 and affecting the shooting results. At the same time, when the door is open, the user can more easily observe the status of the camera assembly 711 (whether there are water stains that affect the shooting), making it easier for the operator to clean the camera assembly 711, which helps to improve the clarity of the shooting.

[0160] It should be noted that the camera assembly 711 can be installed at the connection between the side wall and the bottom plate of the inner shell or on the door body 114 as needed. Of course, in some embodiments, multiple camera assemblies 711 can also be provided, and camera assemblies can be installed at the connection between the side wall and the bottom plate of the inner shell and on the door body 114.

[0161] In addition, the control component 70 may include the following steps to plan a shoe washing path by identifying the degree of stain on the shoes:

[0162] S10: Acquire a shoe surface image and pre-process the acquired shoe surface image.

[0163] In this embodiment, shoe surface images include images of the upper, sole, and shoe body captured by a camera installed in the automated cleaning device, as well as images of designated shoe locations based on cleaning requirements. In practice, using a high-resolution, color-reproducible color camera to capture shoe surface images facilitates providing high-quality metadata for stain detection. The camera's location in the corner of the shoe compartment within the automated cleaning device results in a fan-shaped field of view, allowing for maximum shoe information to be captured in a single image, facilitating identification of the upper and lower frames. Within the shoe cleaning device 100, the color camera is mounted at the bottom, providing a full field of view covering all shoes placed in the cleaning area. The camera lens features a special design, such as a nano-waterproof coating on the camera's imaging area, ensuring stable operation in humid environments and preventing splashes from affecting the lens during cleaning. Images captured by the camera are transmitted via data to a system that plans the shoe cleaning route based on the severity of the stain. Upon receiving the image information, the system performs pre-processing to remove noise.

[0164] In some embodiments, the specific implementation of step S10 includes:

[0165] First, the pixel values ​​of the image are mapped to the range of [0,1] to obtain the normalized image pixel values;

[0166] Then, the pixels in the image area are weighted averaged by the Gaussian function to obtain the noise-removed image.

[0167] This embodiment maps the pixel values ​​of the image to [0,1], which can speed up the convergence of the model and help reduce the impact caused by the large difference in pixel value ranges between different images; at the same time, the pixels in the neighborhood are weighted averaged according to the Gaussian function, which can better retain the edge information of the image while removing noise. The Gaussian function, also known as the normal distribution function, is an important continuous probability distribution function in mathematics and statistics. Its core characteristic is that it is a bell-shaped curve, symmetrical about the mean position, and the width and height of the curve are controlled by the standard deviation. By substituting the pixel values ​​of the image into the Gaussian function, the weight of the Gaussian kernel is generated, and then the image is smoothed by the Gaussian kernel to remove noise and enhance image clarity, so as to improve the accuracy of subsequent stain detection on the image.

[0168] Furthermore, the image processing module 72 can also perform feature recognition and extraction on the collected image through step S10. The features may include physical parameters such as the shape and material of the shoe.

[0169] S20 , using an image recognition algorithm to perform stain detection on the pre-processed image to generate stain quantification data, where the stain quantification data includes: a stain degree quantification value, a stain area ratio, and a stain position coordinate value.

[0170] In practice, image recognition algorithms are used to detect stains in preprocessed images. Specifically, the color information in the image is analyzed to determine the severity and type of the stain. Image recognition technology is also used to determine the specific location of the stain on the shoe, providing data support for subsequent shoe cleaning path planning. The quantified stain severity value is defined according to pre-set stain assessment criteria, based on the severity of the stain, or the difficulty and type of cleaning. The stain area ratio is the ratio of the stain area to the overall surface area of ​​the shoe. The stain location coordinates are generated by constructing a spatial coordinate system on the shoe surface to determine the coordinates of the stain's location.

[0171] In some implementations, step S20 is implemented as follows:

[0172] The degree of stain and the type of stain are obtained according to the color information in the pre-processed image;

[0173] Generate a quantitative value of the degree of stain and the proportion of the stain area according to the set quantitative evaluation standards based on the degree of stain and the type of stain;

[0174] According to the shape of the shoe and the preprocessed image, the specific position coordinates of the stain on the shoe are determined to generate the stain position coordinate value.

[0175] In practice, the set quantitative evaluation standard can be the system default standard or a customized quantitative evaluation standard based on factors such as shoe shape, material, and surface pattern. For example, in one application scenario, the stain quantization value range is [1, 10]. For a stain detected on the shoe upper, based on its color, shape, and other characteristics such as the upper material and color, if it is assessed as a severe stain, the stain degree is quantitatively assessed as 8; for moderate stains, the stain degree is quantitatively assessed as 4; for light stains, the stain degree is quantitatively assessed as 2. The total area of ​​the shoe is defined as 1, and the stain area ratio is calculated based on the detected stain area and the total shoe area.

[0176] This embodiment quantifies the degree, type, and location of stains to generate specific numerical values, converting abstract image recognition and analysis into specific data information, providing an accurate data basis for shoe washing path planning, and ensuring the effectiveness and rationality of shoe washing path planning.

[0177] S30 , generating a cleaning scheme and a moving path of the shoe brush head 33 based on the stain quantification data and the characteristic data of the shoe, wherein the characteristic data of the shoe includes the shape and material of the shoe.

[0178] Among them, the cleaning scheme of the shoe brush head 33 includes but is not limited to: the rotation speed of the brush head 33, the selection of the hardness of the bristles, the amount of cleaning liquid sprayed, the water flow pressure and other settings of the brush head 33 that affect the cleaning effect of shoe stains; the moving path of the brush head 33 includes but is not limited to: the position of the brush head 33 on the shoe when it starts working, and the route of moving to the next stain after cleaning each stain and the order of stain cleaning, etc.

[0179] In some implementations, the specific implementation method of step S30 includes:

[0180] Calculate the cleaning intensity coefficient and cleaning time coefficient at different positions on the shoe surface based on the stain quantification data;

[0181] The cleaning scheme and moving path of the shoe brush head 33 are generated according to the cleaning force coefficient, the cleaning time coefficient and the stain position coordinate value.

[0182] In practice, when the shoe cleaning device is operating, the cleaning force and cleaning time of the brush head 33 are set according to the shoe washing scenario. In the prior art, the operator mainly sets a fixed cleaning force and cleaning time based on the observed stains to complete the entire shoe cleaning process. This application sets the cleaning force coefficient and the cleaning time coefficient, so that the system can map the corresponding cleaning plan through the coefficients, allowing the shoe cleaning device to flexibly adjust the shoe washing plan and the movement path of the brush head 33 according to the actual shoe washing needs, thereby improving the working efficiency of the automated equipment.

[0183] In some embodiments, the above-mentioned calculation of the cleaning force coefficient and the cleaning time coefficient at different locations on the shoe surface based on the stain quantification data includes:

[0184] Based on the quantified value of the degree of stain, a relationship between the degree of stain and the cleaning intensity is constructed to calculate the cleaning intensity coefficient of the stain at different positions on the shoe surface;

[0185] Based on the quantified value of the stain degree and the proportion of the stain area, a relationship between the stain degree and the cleaning time is constructed, and the stain cleaning time coefficient at different positions on the shoe surface is calculated.

[0186] In actual application scenarios, assuming that the shoes to be cleaned require cleaning of the upper, sole, and upper, the image data of these three parts are focused on and the stain detection data is quantified to obtain the stain degree quantification value and stain area ratio data as follows:

[0187] Assume that the pre-set soiling evaluation criteria based on the cleaning scenario are: the soiling degree quantification value range is [1, 10], the quantification value range for light soiling is [1, 3], the quantification value range for moderate soiling is [4, 6], and the quantification value range for severe soiling is [7, 10]. For ease of calculation, the total area of ​​the shoe is set to 1. The quantification process is as follows:

[0188] Upper: The quantitative assessment value of the stain degree is 8 (severe stains), and the area ratio is 0.3;

[0189] Sole: The quantitative assessment of the degree of stain is 2 (light stain), and the area ratio is 0.4;

[0190] Upper: The quantitative assessment of the degree of stains is 4 (moderate stains), and the area accounts for 0.3.

[0191] An embodiment of calculating the cleaning force coefficient and the cleaning time coefficient at different positions on the shoe surface based on the above-mentioned stain quantification data may be:

[0192] Based on the quantified stain level, a relationship between stain level and cleaning intensity is constructed. The cleaning intensity coefficient k is set to be proportional to the quantified stain level. The constructed relationship is k = n / 10, where n is the quantified stain level assessment value. Based on the quantified stain level and the stain area percentage, a relationship between stain level and cleaning time is constructed. The cleaning time coefficient t is set to be proportional to the product of the quantified stain level and the stain area percentage. The constructed relationship is t = α × n × s, where α is the proportional constant. In practice, the value of α is set according to the shoe washing scenario. Here, α = 1 is assumed; s is the stain area percentage. The cleaning intensity coefficient and cleaning time coefficient are calculated for the upper, sole, and shoe upper respectively as follows:

[0193] The cleaning intensity coefficient of the shoe upper is kface = 8 / 10 = 0.8; the cleaning time coefficient is tface = 1×8×0.3 = 2.4.

[0194] The cleaning force coefficient of the sole is kface = 2 / 10 = 0.2; the cleaning time coefficient is tface = 1×2×0.4 = 0.8.

[0195] The cleaning intensity coefficient of the shoe upper is kface=4 / 10=0.4; the cleaning time coefficient is tface=1×4×0.3=1.2.

[0196] In this embodiment, a relationship between the degree of stain and the cleaning intensity is constructed, and a relationship between the degree of stain and the cleaning time is constructed by the quantitative value of the degree of stain and the proportion of the stain area. The shoe washing plan design is converted into a specific mathematical calculation problem, providing accurate data preparation for generating the optimal shoe washing planning path.

[0197] In some embodiments, the cleaning scheme and movement path of the shoe brush head 33 are generated based on the cleaning force coefficient, the cleaning time coefficient, and the stain location coordinate value. The specific implementation method includes:

[0198] The scrubbing force of the brush head 33 at different positions on the shoe surface is set according to the scrubbing force coefficient. The scrubbing force includes the amount of cleaning liquid sprayed and the water pressure at the brush head 33.

[0199] The residence time of the brush head 33 for brushing different positions on the shoe surface is set according to the cleaning time coefficient.

[0200] For example, using the above actual example, based on the above calculation results, the specific scenario of generating the cleaning scheme and moving path of the shoe brush head 33 according to the cleaning force coefficient, cleaning time coefficient and stain position coordinate value can be as follows:

[0201] According to the quantitative results of the above data, since the degree of stains on the shoe upper is the highest (n=8), according to the principle of "prioritizing cleaning of areas with serious stains and increasing the residence time and scrubbing force of the brush head 33", the brush head 33 is planned to give priority to cleaning the shoe upper. Therefore, at this time, the residence time of the brush head 33 on the shoe upper is tface=2.4 time units. In practice, the actual time of one time unit can be set to 1 minute or 5 minutes according to the specific scenario. Here, it is assumed that one time unit is 1 minute; the scrubbing force is kface=0.8. In practice, each scrubbing force value or interval can correspond to a scrubbing scheme. Assuming 1 is the maximum force, the brush head 33 has the highest speed, the cleaning liquid injection dose is the largest, and the water flow pressure is the largest.

[0202] After cleaning the upper, the upper is considered next, because the upper has a higher degree of stain (n=4) than the sole (n=2). The brush head 33 cleans the upper with a dwell time of tface=1.2 time units and a scrubbing force of kface=0.4.

[0203] Finally, the sole is cleaned, the residence time of the brush head 33 is tface=0.8 time units, and the brushing force is kface=0.2.

[0204] This embodiment can map different shoe washing schemes according to the degree of stains at various locations on the shoes, so that during the operation of the shoe cleaning device, the execution parameters of the brush head 33 are dynamically adjusted according to the cleaning force coefficient and cleaning time coefficient of each location, ensuring that the heavily stained areas are fully cleaned while avoiding excessive cleaning of the lightly stained areas, saving resources and protecting shoe materials.

[0205] In some implementations, the specific implementation method of step S30 further includes:

[0206] The starting position and ending position of the brush head 33 for washing shoes are set in descending order according to the quantitative value of the degree of stain;

[0207] A heuristic search algorithm is used to generate an optimal path for the brush head 33 to wash shoes. The optimal path is a path in which the brush head 33 starts brushing at a starting position and moves to a final position with the shortest distance.

[0208] In practice, when the shoe cleaning device is activated, the brush head 33 first determines its starting and ending positions, and then plans the optimal movement path of the brush head 33, thereby reducing ineffective movement paths of the brush head 33 and improving cleaning efficiency. Preferably, in this embodiment, the starting and ending positions of the brush head 33 for shoe cleaning are set in descending order based on the quantified values ​​of the degree of stain. In practice, other settings can also be used based on the needs of the scenario, such as in ascending order based on the quantified values ​​of the degree of stain or in order of cleaning time.

[0209] This embodiment uses a heuristic search algorithm to generate the optimal path for the brush head 33 to wash shoes, and tries to make the brush head 33 pass through the upper, upper and sole of the shoes and other locations where different stains are located in the shoes in the shortest path, avoiding repeated and invalid movements, and reducing the distance that the brush head 33 moves between different parts of the shoes, thereby improving cleaning efficiency.

[0210] It should be noted that during the execution of the step of planning the shoe washing path by identifying the degree of stains on the shoes, the control component 70 may, as needed, use one or more of the corresponding image acquisition module, image processing module, stain detection module and path generation module, which will not be repeated here.

[0211] In addition, an embodiment of the present invention further provides a cleaning device, which includes the shoe cleaning device provided in any of the above embodiments. Optionally, the cleaning device can be configured as a washing machine, a shoe cleaning device, or the like.

[0212] In the description of the present invention, it should be understood that the terms "center", "length", "width", "up", "down", "front", "back", "left", "right", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0213] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0214] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0215] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0216] In the present invention, the terms "one embodiment," "some embodiments," etc., mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0217] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A shoe cleaning device, characterized in that: include: A box body, wherein a shoe washing compartment is provided in the box body, wherein a bracket is provided in the shoe washing compartment, and the bracket is used for placing shoes; A brush assembly, comprising a mechanical arm and a brush head, one end of the mechanical arm being connected to the box, and the other end of the mechanical arm being connected to the brush head; A spray assembly, the spray assembly comprising a liquid storage tank and a plurality of cleaning nozzles, the liquid storage tank being disposed in the housing, the cleaning nozzles being connected to the liquid storage tank, the plurality of cleaning nozzles being spaced around the bracket and disposed on the inner wall of the shoe washing compartment, the liquid storage tank being used to store a cleaning medium, and the cleaning nozzles being used to spray the cleaning medium toward the shoes and / or the brush head; A control component is electrically connected between the control component, the brush component and the spray component. The control component is used to regulate the operation of the brush component and the spray component so that the brush head moves along the surface of the shoe to achieve cleaning.

2. The shoe cleaning device according to claim 1, characterized in that The cleaning medium includes water washing liquid, and the injection assembly includes a water washing pipe and a water washing circulation pump. One end of the water washing pipe has a liquid return port, and the other end of the water washing pipe is connected to the liquid storage tank. The liquid return port is provided at the bottom of the shoe washing tank, and the water washing circulation pump is used to cause the water washing liquid in the shoe washing tank to flow back to the liquid storage tank through the liquid return port and spray toward the shoes through the cleaning nozzle.

3. The shoe cleaning device according to claim 2, characterized in that The bracket includes a shoe tree, which is inserted into the shoe. The shoe tree is provided with a plurality of spray holes, which are connected to the liquid storage tank through a pipeline. The spray holes are used to spray the washing liquid in the liquid storage tank into the shoe.

4. The shoe cleaning device according to claim 1, characterized in that The cleaning medium includes dry cleaning liquid, and the injection assembly includes a dry cleaning tube and a dry cleaning pump. One end of the dry cleaning tube is connected to the liquid storage tank, and the other end of the dry cleaning tube is provided with a cleaning nozzle. The dry cleaning pump is used to cause the dry cleaning liquid in the liquid storage tank to be sprayed toward the brush head through the dry cleaning tube and the cleaning nozzle.

5. The shoe cleaning device according to claim 4, characterized in that: The spray assembly further includes a foamer, which is disposed on the dry cleaning pipe and is used to cause the dry cleaning fluid to generate foam.

6. The shoe cleaning device according to claim 1, characterized in that: The spray assembly further includes a curing agent bin, a curing nozzle, a curing pipeline, and a curing pump. The curing agent bin, the curing nozzle, the curing pipeline, and the curing pump are all arranged in the box body. The two ends of the curing pipeline are connected to the curing agent bin and the curing nozzle. The curing pump is arranged in the curing pipeline and is used to cause the curing agent in the curing agent bin to be sprayed to the brush head through the curing pipeline and the curing nozzle. And / or, the brush assembly further includes a brush box, which is rotatably mounted on the box body, and the brush box has at least two fixing parts, which are used to place the brush head.

7. The shoe cleaning device according to claim 1, characterized in that: It also includes a drying component, which includes an air duct, a heat exchanger and a fan. The heat exchanger is arranged in the air duct, the air duct has an exhaust port, and the exhaust port is arranged on the inner wall of the shoe washing compartment. The fan is used to promote the gas in the air duct that has been heat exchanged by the heat exchanger to flow into the shoe washing compartment.

8. The shoe cleaning device according to claim 7, characterized in that: The air outlet comprises a first air outlet and a second air outlet, and the first air outlet and the second air outlet are arranged around the bracket at intervals on the inner wall of the shoe washing compartment.

9. The shoe cleaning device according to claim 1, characterized in that: The control component includes an image acquisition module and a path planning module. The image acquisition module is arranged toward the bracket and is used to capture images of the shoes to be cleaned. The path planning module is used to perform feature recognition based on the images captured by the image acquisition module and plan the movement path of the cleaning brush along the shoes. The feature recognition includes at least stain recognition and material recognition.

10. A cleaning device, characterized in that: A shoe cleaning device comprising the shoe cleaning device according to any one of claims 1 to 9.

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