Control method of cleaning equipment, cleaning equipment and computer readable storage medium

Abstract

The invention provides a control method of cleaning equipment, the cleaning equipment and a computer readable storage medium, the cleaning equipment comprises a rack, a rotary cleaning piece and a shielding mechanism, the rotary cleaning piece has a first rotating direction and a second rotating direction, and the rotary cleaning piece comprises a first connecting piece; the shielding mechanism comprises a shielding piece which can be folded and unfolded under the driving of the shielding mechanism; the shielding piece comprises a second connecting piece; the control method comprises the steps that the shielding mechanism is controlled to lower the shielding piece, so that the second connecting piece is connected with the first connecting piece on the motion path of the first connecting piece; the rotary cleaning piece is driven to move in the first rotating direction, and the shielding piece is driven to continue to descend through connection of the first connecting piece and the second connecting piece so as to shield the side, facing the to-be-cleaned surface, of the rotary cleaning piece; the second rotation direction is the rotation direction when the rotary cleaning piece executes the wet cleaning task and is opposite to the first rotation direction. The technical problem that when the cleaning equipment passes through a specific obstacle, pollution is likely to be caused to a passing area can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a control method of a cleaning equipment, the cleaning equipment and a computer readable storage medium. BACKGROUND

[0002] In the application scenario of the cleaning equipment, the cleaning equipment usually passes through some specific obstacles during the execution of the wet cleaning operation. The specific obstacles can be obstacles slightly protruding from the ground (such as low doorsteps, ground decorations, etc.), guide plates on the base station, etc. When the cleaning equipment passes through the obstacles, due to the limitation of the obstacle avoidance mechanism of the cleaning equipment, the cleaning equipment usually directly passes over the obstacles, which can cause the sewage on the cleaning piece to be scraped off by the obstacles, and the sewage can flow to the ground, thereby causing pollution to the ground of the passing area. In addition, the carpet is also one of the specific obstacles. When the wet cleaning piece passes through the carpet, the carpet is easily wetted, and the sewage can penetrate into the fibers of the carpet, thereby causing pollution to the carpet.

[0003] Therefore, how to effectively improve the problem that the cleaning equipment easily causes pollution to the passing area when passing through the specific obstacles during the walking process is a technical problem that needs to be solved in the field. SUMMARY

[0004] The present application provides a control method of a cleaning equipment, the cleaning equipment and a computer readable storage medium to improve the technical problem that the cleaning equipment easily causes pollution to the passing area when passing through the specific obstacles during the walking process.

[0005] The control method of the cleaning equipment provided by the present application, the cleaning equipment includes a rack, a rotary cleaning piece and a shielding mechanism, the rotary cleaning piece is installed at the bottom of the rack, and has a first rotation direction and a second rotation direction, the rotary cleaning piece includes a first connecting piece linked with the rotary cleaning piece; the shielding mechanism is installed on the rack and includes a shielding piece, the shielding piece can be retracted and extended under the drive of the shielding mechanism; to expose or shield the side of the rotary cleaning piece facing the surface to be cleaned; the shielding piece includes a second connecting piece; when it is needed to shield the side of the rotary cleaning piece facing the surface to be cleaned by the shielding piece, the control method includes:

[0006] controlling the shielding mechanism to retract the shielding piece, so that the second connecting piece meets and connects the first connecting piece on the movement path of the first connecting piece;

[0007] driving the rotary cleaning piece to move along the first rotation direction, and driving the shielding piece to continue to retract to shield the side of the rotary cleaning piece facing the surface to be cleaned through the connection of the first connecting piece and the second connecting piece;

[0008] wherein the second rotation direction is the rotation direction of the rotary cleaning piece when performing the wet cleaning task, and the first rotation direction is opposite to the second rotation direction.

[0009] The beneficial effect of such an arrangement is that, in the control method in this embodiment, when the cleaning device needs to pass through a specific obstacle (such as a threshold or a carpet) during movement, the shielding mechanism is controlled to lower the shielding member, so that the second connecting member is connected with the first connecting member; then the rotary cleaning member is driven to move in the first rotation direction, and the shielding member is further lowered by the connection between the first connecting member and the second connecting member, so as to shield the side of the rotary cleaning member facing the surface to be cleaned, thereby isolating the rotary cleaning member from the ground. Therefore, the probability that the wet rotary cleaning member will cause pollution in the passing area when passing through a specific obstacle can be reduced. In particular, the probability that the wet rotary cleaning member will drop sewage onto the carpet and the probability that the long hair on the carpet will come into contact with the rotary cleaning member when the rotary cleaning member passes through the carpet can be reduced, thereby reducing the risk of pollution to the carpet.

[0010] In addition, since the second rotation direction is the rotation direction of the rotary cleaning member when performing a wet cleaning task, the first rotation direction is opposite to the second rotation direction. Such an arrangement can ensure that the shielding action is triggered only when the rotary cleaning member does not perform a wet cleaning task (i.e., when it moves in a direction other than the second rotation direction). In this way, the risk of interference between the shielding member and the normally rotating rotary cleaning member due to accidental lowering of the shielding member during normal wet cleaning operation can be avoided, thereby ensuring normal wet cleaning operation of the rotary cleaning member.

[0011] In an embodiment of the present application, the shielding mechanism is controlled to lower the shielding member so that the second connecting member is connected with the first connecting member in the movement path of the first connecting member, comprising:

[0012] The rotary cleaning member is driven to move in the first rotation direction, so that the first connecting member moves in the first rotation direction driven by the rotary cleaning member;

[0013] The shielding mechanism is controlled to lower the shielding member, so that the second connecting member moves to the movement path of the first connecting member, and the second connecting member is connected with the first connecting member in the movement path of the first connecting member during movement of the first connecting member in the first rotation direction.

[0014] The beneficial effect of such an arrangement is that, by first driving the rotary cleaning member to put the first connecting member into a moving state, and then controlling the shielding mechanism to lower the second connecting member into the movement path of the first connecting member. Such an arrangement can use this timing control to complete the dynamic docking of the second connecting member with the first connecting member during the movement of the first connecting member. This not only shortens the response time of the connection between the first connecting member and the second connecting member, but also makes the connection action between the first connecting member and the second connecting member more smooth and natural, thereby facilitating the improvement of the connection efficiency of the first connecting member and the second connecting member.

[0015] In an embodiment of the present application, the control of the shielding mechanism to lower the shielding piece to make the second connecting piece meet and connect the first connecting piece in the movement path of the first connecting piece comprises:

[0016] The control of the shielding mechanism to lower the shielding piece to make the second connecting piece move to the movement path of the first connecting piece;

[0017] The driving of the rotary cleaning piece to move in the first rotation direction to make the rotary cleaning piece drive the first connecting piece to move in the first rotation direction, and in the process of the first connecting piece moving in the first rotation direction, the second connecting piece connects with the first connecting piece in the movement path of the first connecting piece.

[0018] The beneficial effect of such an arrangement is that by first running the second connecting piece to the movement path of the first connecting piece and then controlling the movement of the first connecting piece to realize the connection with the second connecting piece, such control is conducive to ensuring the accurate positioning of the second connecting piece and avoiding the movement interference between the second connecting piece and the first connecting piece during the running process, thereby facilitating the improvement of the docking position precision between the first connecting piece and the second connecting piece and reducing the risk of connection failure between the first connecting piece and the second connecting piece.

[0019] In an embodiment of the present application, the linear speed of the first connecting piece moving in the first rotation direction is greater than or equal to the speed of the shielding mechanism lowering the shielding piece.

[0020] The beneficial effect of such an arrangement is that during the continuous lowering of the shielding piece, since the linear speed of the first connecting piece moving in the first rotation direction is always greater than or equal to the speed of the shielding mechanism lowering the shielding piece, this speed relationship can make the shielding piece always in a "tensioned" state. Therefore, the shielding piece will not appear a relaxation section during the entire lowering process, effectively reducing the risk of scratching or winding that may be caused by the sagging of the shielding piece. At the same time, this tensioned state also helps to ensure the continuity and stability of the shielding piece lowering action, thereby improving the reliability and stability of the shielding piece performing the shielding action.

[0021] In an embodiment of the present application, in the advancing direction of the cleaning device, one end of the cleaning device is the front end and the other end is the rear end; the shielding piece is retracted and extended at the front end; the rotary cleaning piece comprises a first arc segment, a second arc segment, a first plane segment and a second plane segment, the first arc segment and the second arc segment are sequentially distributed along the direction from the front end to the rear end, the first plane segment is connected between the first arc segment and the second arc segment and is arranged close to the surface to be cleaned, and the second plane segment is connected between the first arc segment and the second arc segment and is located on the side away from the surface to be cleaned.

[0022] The rotating cleaning piece is driven to move in a first rotating direction, and the shielding piece is driven to continue to move downward to shield the side of the rotating cleaning piece facing the surface to be cleaned through the connection of the first connecting piece and the second connecting piece, comprising:

[0023] The shielding piece sequentially passes through and shields the first arc segment, the first plane segment, and the second arc segment.

[0024] The beneficial effect of such an arrangement is that the shielding piece can sequentially cover the contours of the first arc segment, the first plane segment, and the second arc segment during the shielding of the rotating cleaning piece, and finally stay at a position corresponding to the second arc segment. In this state, a matching arc-shaped shielding structure can be formed between the shielding piece and the second arc segment. The arc-shaped shielding structure can effectively collect the sewage dripping on the corresponding second arc segment of the rotating cleaning piece and fold it inside the shielding piece, thereby improving the shielding effect of the shielding piece on the side of the rotating cleaning piece facing the surface to be cleaned. At the same time, the arc-shaped shielding structure can also reduce the risk of leakage of the sewage collected inside the shielding piece during the movement of the cleaning device, further enhancing the shielding effect of the shielding piece on the side of the rotating cleaning piece facing the surface to be cleaned.

[0025] In an embodiment of the present application, after the side of the rotating cleaning piece facing the surface to be cleaned is shielded by the shielding piece, when it is necessary to expose the side of the rotating cleaning piece facing the surface to be cleaned, the control method further comprises:

[0026] The rotating cleaning piece is driven to move in a second rotating direction, and the shielding mechanism is controlled to retract the shielding piece until the side of the rotating cleaning piece facing the surface to be cleaned is exposed.

[0027] The second rotating direction is opposite to the first rotating direction, and the second rotating direction is consistent with the rotating direction of the rotating cleaning piece when performing a cleaning task.

[0028] The beneficial effect of such an arrangement is that since the rotating cleaning piece can only perform a cleaning task when the side facing the surface to be cleaned is exposed, in the present embodiment, the second rotating direction is set to be consistent with the rotating direction of the rotating cleaning piece when performing a cleaning task, which means that when the shielding piece is retracted, the rotating cleaning piece has already rotated in the second rotating direction required for performing a cleaning task. Such an arrangement allows the rotating cleaning piece to immediately perform a cleaning task as soon as the side facing the surface to be cleaned is exposed, without the need for a reversing operation. Therefore, the control logic of the operation of the cleaning device can be simplified, and the cleaning efficiency of the cleaning device can be improved.

[0029] In an embodiment of the present application, the linear speed of the first connecting piece moving in the second rotating direction is less than or equal to the speed of the shielding mechanism retracting the shielding piece.

[0030] The beneficial effect of such an arrangement is that, since the linear speed of the first connecting member in the second rotational direction is always less than or equal to the speed at which the shielding mechanism retracts the shielding member, this speed relationship enables the shielding member to be kept in a state of being "tensioned" at all times. Thus, the shielding member does not have a slack section during the entire retraction process, effectively reducing the risk of scratching or entanglement that can be caused by the shielding member sagging. At the same time, this tensioned state also helps to ensure the continuity and stability of the retraction action of the shielding member, thereby improving the reliability and consistency of the shielding member in performing the retraction action.

[0031] In an embodiment of the present application, the control method further comprises, after driving the rotary cleaning member to move in the second rotational direction and controlling the shielding mechanism to retract the shielding member until the shielding member exposes the side of the rotary cleaning member facing the surface to be cleaned:

[0032] continuing to drive the rotary cleaning member to move in the second rotational direction and controlling the shielding mechanism to continue retracting the shielding member until the first connecting member and the second connecting member are disengaged.

[0033] The beneficial effect of such an arrangement is that it enables the first connecting member and the second connecting member to be automatically disengaged during the movement of the rotary cleaning member in the second rotational direction. This process does not require the introduction of additional operations or complex control instructions, thus simplifying the control logic of the control system. At the same time, since the first connecting member and the second connecting member are disengaged from each other, the rotational movement of the rotary cleaning member and the retraction action of the shielding member are completely decoupled, becoming two independent movement processes. This enables the rotary cleaning member to continue to operate in the second rotational direction (i.e. the cleaning direction) without being affected by the retraction action of the shielding member, effectively avoiding interruptions, speed fluctuations or operational failures that can be caused by linkage restrictions, thereby significantly improving the continuity of the cleaning process and the overall operational efficiency.

[0034] In an embodiment of the present application, in the forward direction of the cleaning device, one end of the cleaning device is the front end and the other end is the rear end; the shielding member is retracted and extended at the front end; the rotary cleaning member comprises a first arc segment, a second arc segment, a first flat segment and a second flat segment, the first arc segment and the second arc segment are arranged in sequence along the direction from the front end to the rear end, the first flat segment is connected between the first arc segment and the second arc segment and is arranged close to the surface to be cleaned, and the second flat segment is connected between the first arc segment and the second arc segment and is arranged on the side of the first flat segment away from the surface to be cleaned;

[0035] The control method further comprises, after driving the rotary cleaning member to move in the second rotational direction and controlling the shielding mechanism to retract the shielding member until the shielding member exposes the side of the rotary cleaning member facing the surface to be cleaned:

[0036] The shielding member successively moves away from and exposes the second arc segment, the first flat segment and the first arc segment.

[0037] The beneficial effect of such an arrangement is that, since the shielding member is arranged to be sequentially distanced from and expose the second arc segment, the first plane segment and the first arc segment during the retraction of the shielding member, such an arrangement ensures that the rotary cleaning member is completely exposed on the side facing the surface to be cleaned, which means that the shielding member does not interfere with the cleaning function of the rotary cleaning member during normal cleaning operation, thereby ensuring the efficiency and cleaning effect of the cleaning operation.

[0038] In an embodiment of the present application, the cleaning device further comprises a sensor system configured to identify image information and / or three-dimensional information of the obstacle, and the control method further comprises:

[0039] detecting the image information and / or three-dimensional information of the obstacle by using the sensor system, and determining the type of the obstacle according to the image information and / or three-dimensional information of the obstacle;

[0040] determining whether the rotary cleaning member needs to be shielded according to the type of the obstacle.

[0041] The beneficial effect of such an arrangement is that, by arranging the sensor system on the cleaning device, and the sensor system being configured to identify image information and / or three-dimensional information of the obstacle, such an arrangement enables the cleaning device to automatically and accurately determine the type of the obstacle, and determine whether the rotary cleaning member needs to be shielded based on the determination, and therefore, such an arrangement is conducive to improving the intelligent level, safety and adaptability of the cleaning operation process.

[0042] The present application further provides a cleaning device, which comprises a processor and a memory, the processor is in communication connection with the memory, the memory stores a plurality of instructions, and the processor realizes the control method described in any of the above embodiments by executing the plurality of instructions.

[0043] The present application provides a computer readable storage medium, which is used for a cleaning device, and the computer readable storage medium stores a plurality of instructions, and the cleaning device realizes the control method described in any of the above embodiments by executing the plurality of instructions. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. It is to be understood that the drawings are only schematic and that they do not necessarily represent a definitive structure or architecture of the present application, and additionally, the drawings of the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0045] In the drawings:

[0046] Figure 1This is a partial structural diagram of a cleaning device provided in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram showing the first connector and the second connector in a disengaged state according to an embodiment of the present invention;

[0048] Figure 3 for Figure 2 Top view of the embodiment shown;

[0049] Figure 4 for Figure 3 Cross-sectional view along the BB direction;

[0050] Figure 5 for Figure 2 A magnified view of a portion of region A in the middle;

[0051] Figure 6 This is a schematic diagram showing the first connector and the second connector connected in one embodiment of the present invention;

[0052] Figure 7 This is a schematic diagram showing the shielding member in a shielding state according to one embodiment of the present invention;

[0053] Figure 8 This is a schematic diagram of the overall structure of the rotary cleaning component provided in one embodiment of the present invention;

[0054] Figure 9 for Figure 8 A magnified view of a portion of region D in the middle;

[0055] Figure 10 This is a schematic diagram showing the installation position between the shielding mechanism and the rotary cleaning component after the protective cover is removed in one embodiment of the present invention.

[0056] Figure 11 This is a partial schematic diagram of a shielding mechanism provided in one embodiment of the present invention;

[0057] Figure 12 for Figure 11 Side view of the embodiment shown;

[0058] Figure 13 This is a schematic diagram of a partial structure of a cleaning device provided in an embodiment of the present invention from another angle.

[0059] Figure 14 for Figure 13 A magnified view of a portion of region E in the middle;

[0060] Figure 15 This is a schematic diagram of the shielding mechanism installed on the mounting base according to an embodiment of the present invention;

[0061] Figure 16 forFigure 15 A partial enlarged view of region F;

[0062] Figure 17 A partial enlarged view of region C; Figure 4 A partial enlarged view of region C;

[0063] Figure 18 A schematic view of the overall structure of the mounting seat provided by an embodiment of the present application;

[0064] Figure 19 A partial enlarged view of region G; Figure 18 A partial enlarged view of region G;

[0065] Figure 20 A partial enlarged view of region H; Figure 18 A partial enlarged view of region H;

[0066] Figure 21 A schematic view of the partial structure of the shielding mechanism provided by an embodiment of the present application;

[0067] Figure 22 A partial enlarged view of region I; Figure 21 A partial enlarged view of region I;

[0068] Figure 23 A schematic view of the structure of the embodiment shown in another angle; Figure 21 A schematic view of the structure of the embodiment shown in another angle;

[0069] Figure 24 A partial enlarged view of region J; Figure 23 A partial enlarged view of region J;

[0070] Figure 25 A schematic view of the structure of the guiding camber on the rack and the matching surface on the second connecting piece in cooperation with each other in an embodiment of the present application;

[0071] Figure 26 A schematic view of the structure of the second connecting piece and the first connecting piece in cooperation with each other and the guiding camber on the rack in an embodiment of the present application;

[0072] Figure 27 A schematic view of the structure of the driving assembly provided on the shielding mechanism in an embodiment of the present application;

[0073] Figure 28 A partial enlarged view of region K; Figure 27 A partial enlarged view of region K;

[0074] Figure 29 A schematic view of the structure of the embodiment shown in another angle; Figure 27 A schematic view of the structure of the embodiment shown in another angle;

[0075] Figure 30 A partial enlarged view of region L; Figure 29 A partial enlarged view of region L;

[0076] Figure 31 A structure diagram of a mounting cavity of a shield without a driving member in an embodiment of the present application;

[0077] Figure 32 A structure diagram of a mounting cavity with a driving member in an embodiment of the present application;

[0078] Figure 33 A structure diagram of a mounting seat with a stop member in an embodiment of the present application;

[0079] Figure 34 A flow diagram of a control method of a cleaning device provided in an embodiment of the present application;

[0080] Figure 35 A flow diagram of step S1 provided in an embodiment of the present application;

[0081] Figure 36 Another flow diagram of step S1 provided in an embodiment of the present application.

[0082] Reference signs are as follows:

[0083] 10, frame; 12, guide member; 121, first guide surface; 1211, starting end; 1212, extending end; 122, second guide surface; 123, third guide surface; 1231, first end; 1232, second end; 20, rotary cleaning member; 201, first arc surface segment; 202, second arc surface segment; 203, first plane segment; 204, second plane segment; 205, cleaning member body; 2051, first end portion; 2052, second end portion; 206, annular portion; 21, first connecting member; 211, hook portion; 30, shielding mechanism; 31, shielding member; 311, second connecting member; 3111, clamping groove portion; 3112, mating surface; 3113, mounting portion; 312, free end; 3121, sleeve; 3122, connecting rod; 313, first side; 314, second side; 32, driving assembly; 322, driving member; 3221, rotary driving end; 323, transmission assembly; 3231, first gear; 3232, second gear; 33, reel; 34, shield; 341, extending portion; 342, first connecting portion; 343, second clamping interface; 344, receiving cavity; 345, guide passage; 346, shield body; 347, accommodating groove; 35, bracket; 351, mounting cavity; 352, second connecting portion; 353, through hole; 40, inner supporting mechanism; 50, mounting seat; 501, accommodating cavity; 51, first clamping interface; 52, supporting hole; 53, guide arc surface; 54, stop member; 55, protruding block; 551, insertion portion; 60, moving mechanism. DETAILED DESCRIPTION

[0084] The advantages and effects of the present application, which are apparent from the present disclosure, can be easily understood by persons skilled in the art with reference to the following specific examples. The present application can be implemented or applied in other different specific embodiments, and the details in the present disclosure can be modified or changed based on different views and applications without departing from the spirit of the present application. In the case of no conflict, the following examples and the features in the examples can be combined with each other.

[0085] It should be noted that the drawings provided in the following examples only schematically illustrate the basic concept of the present application, and the drawings only show the components related to the present application, not the number, shape and size of the components when actually implemented. The shape, number and proportion of each component when actually implemented can be arbitrarily changed, and the layout pattern of the components can be more complex.

[0086] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application, however, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details, and in other embodiments, the well-known structures and devices are shown in the form of block diagrams rather than in the form of details to avoid making the embodiments of the present application difficult to understand.

[0087] Please refer to Figures 1 to 33The present application provides a cleaning device, which is provided with a shielding piece 31 and can control the linkage relationship between the shielding piece 31 and the rotary cleaning piece 20 through connection and disconnection between the first connecting piece 21 and the second connecting piece 311. When the first connecting piece 21 and the second connecting piece 311 are in the connected state, the rotary cleaning piece 20 can drive the shielding piece 31 to switch from the first state to the second state, so that the side of the rotary cleaning piece 20 facing the surface to be cleaned is shielded; when the first connecting piece 21 and the second connecting piece 311 are in the disengaged state, the linkage relationship between the rotary cleaning piece 20 and the shielding piece 31 is removed, the shielding piece 31 is in the first state, and the side of the rotary cleaning piece 20 facing the surface to be cleaned is exposed, so that the rotary cleaning piece 20 can normally perform the cleaning operation. In this way, when the rotary cleaning piece 20 passes through a specific obstacle during the operation of the cleaning device, the linkage between the rotary cleaning piece 20 and the shielding piece 31 can be realized through the connection between the first connecting piece 21 and the second connecting piece 311, so that the shielding piece 31 can shield the side of the rotary cleaning piece 20 facing the surface to be cleaned, thereby isolating the rotary cleaning piece 20 from the ground. Therefore, the probability that the wet rotary cleaning piece 20 will cause pollution to the passing area when it passes through a specific obstacle can be reduced. In particular, the probability that the wet rotary cleaning piece 20 will drop sewage onto the carpet and the probability that the long hair on the carpet will come into contact with the rotary cleaning piece 20 can be reduced, thereby reducing the risk of pollution to the carpet.

[0088] Please refer to Figures 1 to 4 The cleaning device includes a chassis 10, a rotary cleaning piece 20, an inner supporting mechanism 40 and a shielding piece 31. The cleaning device can be a scrubber, a sweeper, a cleaning robot or any cleaning device capable of self-walking and mopping. For ease of description, the present application will be described by taking a cleaning robot as an example.

[0089] The chassis 10 has an accommodation space inside for accommodating various components of the cleaning device. The shape of the chassis 10 can be any shape, for example, the shape of the chassis 10 can be circular, oval or D-shaped, etc. The cleaning device also includes a conventional driving system provided on the existing cleaning device, which is arranged below the chassis 10 to drive the cleaning device to realize self-walking. The specific structure of the driving system and the connection structure between the driving system and the chassis 10 can be described with reference to the related structure in the existing cleaning device, which will not be described here.

[0090] The inner supporting mechanism 40 is mounted on the frame 10, and the rotary cleaning member 20 is sleeved on the outer periphery of the inner supporting mechanism 40. The inner supporting mechanism 40 is used to drive the rotary cleaning member 20 to rotate to realize the cleaning operation. The inner supporting mechanism 40 can adopt different supporting structures such as a roller type or a track type, as long as it can drive the rotary cleaning member 20 to rotate to perform the cleaning operation. Specifically, if the inner supporting mechanism 40 is a roller type structure, the rotary cleaning member 20 sleeved on the outer periphery of the inner supporting mechanism 40 can form a roller type wiping cloth structure. If the inner supporting mechanism 40 is a track type supporting structure, the rotary cleaning member 20 sleeved on the outer periphery of the inner supporting mechanism 40 can form a track type wiping cloth structure.

[0091] Optionally, in the embodiment, as shown in Figure 2 , the inner supporting mechanism 40 is a track type supporting structure, and the rotary cleaning member 20 is sleeved on the outer periphery of the track type supporting structure to form a track type wiping cloth structure. The specific structure of the track type supporting mechanism is not limited. For example, in an embodiment, the track type supporting mechanism includes a motor and two supporting rollers connected to each other through a support. The two supporting rollers are rotationally connected to the support, and the motor drives one of the supporting rollers to rotate. The rotary cleaning member 20 is sleeved on the outer periphery of the two supporting rollers. The motor drives the supporting rollers to rotate, thereby driving the rotary cleaning member 20 to rotate. Of course, in other embodiments, the track type supporting mechanism can also be other existing structures, and the present embodiment does not limit this.

[0092] It should be noted that the inner supporting mechanism 40 can be directly mounted on the frame 10 or indirectly connected to the frame 10 through other structural members connected to the frame 10.

[0093] Optionally, referring to Figure 2 and Figure 3 , in an embodiment, the frame 10 can also be provided with a mounting seat 50 and a moving mechanism 60. The inner supporting mechanism 40 is connected to the mounting seat 50, and the mounting seat 50 is connected to the frame 10 through the moving mechanism 60, so as to realize the connection between the inner supporting mechanism 40 and the frame 10. In an embodiment, the moving mechanism 60 can drive the mounting seat 50 to move up and down relative to the frame 10, thereby driving the rotary cleaning member 20 to move between the raised position and the lowered position relative to the frame 10. In another embodiment, the moving mechanism 60 can also be capable of driving the mounting seat 50 to stretch and contract in the horizontal direction relative to the frame 10, thereby driving the rotary cleaning member 20 to move between the inner retracted position and the outer swinging position. In other embodiments, the moving mechanism 60 can also be capable of driving the mounting seat 50 to stretch and contract in the horizontal direction relative to the frame 10 and to move up and down relative to the frame 10, that is, the rotary cleaning member 20 can move between the raised position and the lowered position and can also move between the inner retracted position and the outer swinging position.

[0094] The structure type of the moving mechanism 60 is not limited in the embodiment, including but not limited to a linkage mechanism, a linear actuator, a pulley lifting assembly, etc. The specific connection structure between the moving mechanism 60 and the rack 10 and the mounting seat 50 can refer to the related structure in the existing cleaning equipment, which will not be described here.

[0095] Please refer to Figure 2 and Figure 4 , the shielding mechanism 30 includes a shielding piece 31, which is retractably mounted on the rack 10. Specifically, the shielding piece 31 is retractably mounted on the mounting seat 50. Of course, in other embodiments, the shielding piece 31 can also be retractably mounted on the rack 10. The shielding piece 31 has a first state and a second state. As shown in Figure 2 , in the first state, the shielding piece 31 is in a retracted state, so that the rotary cleaning piece 20 is exposed to the side of the surface to be cleaned, so that the rotary cleaning piece 20 can perform normal cleaning work. As shown in Figure 7 , in the second state, the shielding piece 31 is in a lowered and unfolded state, and can shield the side of the rotary cleaning piece 20 facing the surface to be cleaned, so as to isolate the rotary cleaning piece 20 from the surface to be cleaned. It can be understood that in the embodiment, the rotary cleaning piece 20 can be in any position such as the lifted position, the lowered position, the retracted position or the swung-out position when the shielding piece 31 switches between the first state and the second state.

[0096] In the embodiment, the retracting mode of the shielding piece 31 is not limited. For example, in an embodiment, the shielding mechanism 30 can also include a reel and a driving assembly. The reel is rotatably mounted on the mounting seat 50, the driving assembly is used to drive the reel to rotate, the shielding piece 31 is wound on the reel to form a roller shutter structure. By driving the reel to rotate by the driving assembly, the retracting of the shielding piece 31 can be realized. In other embodiments, the shielding mechanism 30 can also include a sliding mechanism, which is slidingly mounted on the mounting seat 50, and the shielding piece 31 is made of flexible material (such as canvas). One end of the shielding piece 31 is fixed to the mounting seat 50, and the other end is connected to the sliding mechanism. Under the drive of the sliding mechanism, the shielding piece 31 can be retracted in the rack 10 in a flat state, or the whole can slide out of the rack 10 to realize the lowering and unfolding.

[0097] Please refer to Figure 5 and Figure 6 , the rotary cleaning piece 20 includes a first connecting piece 21 linked with the rotary cleaning piece 20, the shielding piece 31 includes a second connecting piece 311, and the first connecting piece 21 and the second connecting piece 311 have a connected state (as shown in Figure 6 ) and a disengaged state (as shown in Figure 5The first connecting member 21 can be directly fixedly connected to the rotary cleaning member 20, or indirectly fixedly connected to the rotary cleaning member 20 through other structural members, as long as linkage with the rotary cleaning member 20 can be achieved. It should be noted that in the embodiment, the linkage of the first connecting member 21 with the rotary cleaning member 20 specifically means that the first connecting member 21 can rotate synchronously with the rotary cleaning member 20 during rotation of the rotary cleaning member 20.

[0098] In the connected state, the shielding member 31 is linked with the rotary cleaning member 20, that is, rotation of the rotary cleaning member 20 can drive the shielding member 31 to move synchronously, so as to switch the shielding member 31 between the first state and the second state. In the disengaged state, the first connecting member 21 is disengaged from the second connecting member 311, so as to disengage the linkage between the shielding member 31 and the rotary cleaning member 20, and realize independent operation of the rotary cleaning member 20 and the shielding member 31.

[0099] Specifically, when the shielding member 31 needs to be switched from the first state to the second state, the first connecting member 21 is connected with the second connecting member 311, so as to form the connected state, so that when the rotary cleaning member 20 operates, the rotary cleaning member 20 drives the shielding member 31 to gradually lower and expand until the side of the rotary cleaning member 20 facing the surface to be cleaned is completely shielded. At this time, the rotary cleaning member 20 stops operating. When the shielding member 31 needs to be switched from the second state to the first state, the rotary cleaning member 20 is operated in the reverse direction, and the shielding member 31 gradually shrinks until the side of the rotary cleaning member 20 facing the surface to be cleaned is completely exposed. At this time, the first connecting member 21 and the second connecting member 311 are disengaged from each other, and the rotary cleaning member 20 can resume normal operation to prepare for normal cleaning operation. It should be noted that when the shielding member 31 is in the first state, the first connecting member 21 and the second connecting member 311 are in the disengaged state. When the shielding member 31 is in the second state, the first connecting member 21 and the second connecting member 311 are in the connected state.

[0100] In the embodiment, the connection between the first connecting member 21 and the second connecting member 311 is not limited, for example, the first connecting member 21 and the second connecting member 311 can be connected through the engagement of the hooks and the slots, or can be connected through the magnetic attraction between the magnet and the magnetic attraction member. It should be noted that the first connecting member 21 and the second connecting member 311 can be connected and separated through manual operation, or can be automatically connected and disengaged through the change of the relative operating posture of the rotary cleaning member 20 and the shielding member 31 during operation.

[0101] In this embodiment, the cleaning device is provided with the shielding member 31, and the linkage relationship between the shielding member 31 and the rotary cleaning member 20 can be controlled by connecting and disconnecting between the first connecting member 21 and the second connecting member 311. When the first connecting member 21 and the second connecting member 311 are in the connected state, the rotary cleaning member 20 can drive the shielding member 31 to switch from the first state to the second state, so that the side of the rotary cleaning member 20 facing the surface to be cleaned is shielded; when in the disengaged state, the linkage between the rotary cleaning member 20 and the shielding member 31 is removed, the shielding member 31 is in the first state, and the side of the rotary cleaning member 20 facing the surface to be cleaned is exposed, so that the rotary cleaning member 20 can perform normal cleaning work. In this way, on the one hand, when the rotary cleaning member 20 passes through a specific obstacle during the operation of the cleaning device, the shielding member 31 can be placed in the second state to shield the side of the rotary cleaning member 20 facing the surface to be cleaned, thereby isolating the rotary cleaning member 20 from the ground. Therefore, it can reduce the probability that the wet-state rotary cleaning member 20 will cause pollution to the passing area when it passes through a specific obstacle. Especially, it can reduce the probability that the wet-state rotary cleaning member 20 will drop sewage on the carpet and the probability that the long hair on the carpet will come into contact with the rotary cleaning member 20, thereby reducing the risk of pollution to the carpet. At the same time, when the cleaning device passes through other areas that are not suitable for wet cleaning (such as cleaned areas, areas under furniture, or dry wood floor areas), the above structure can also reduce the probability of sewage falling into such areas, thereby reducing the possibility of pollution to them.

[0102] On the other hand, by controlling the connection and disconnection of the first connecting member 21 and the second connecting member 311, the linkage between the shielding member 31 and the rotary cleaning member 20 can be achieved, and the shielding member 31 can be automatically switched between the first state and the second state. Therefore, based on this linkage mechanism, an automatic pulling end can be formed at one end of the shielding member 31, so that it is not necessary to additionally provide a pulling mechanism or a pushing mechanism and other structures, thereby facilitating the simplification of the structural design of the cleaning device and reducing the production cost.

[0103] Please participate Figure 6 and Figure 7In an embodiment of the present application, the rotary cleaning member 20 has a first rotation direction and a second rotation direction, the first rotation direction and the second rotation direction are opposite, when the shielding member 31 is switched from the first state to the second state, the rotary cleaning member 20 rotates in the first rotation direction; when the shielding member 31 is switched from the second state to the first state, the rotary cleaning member 20 rotates in the second rotation direction. Since the switching of the shielding member 31 between the first state and the second state can be realized by controlling the rotation direction of the rotary cleaning member 20, therefore, this mode can simplify the control logic of the operation action of the shielding member 31, so that the operator or the control system does not need to additionally process complex steering actions, and further can reduce the operation difficulty and error probability of the shielding member 31 in realizing the switching between different states, thereby being beneficial to improve the ease of use and reliability of the cleaning equipment.

[0104] The implementation mode of the shielding member 31 switched from the first state to the second state can be various. For example, in an embodiment, the shielding mechanism 30 is provided with a second driving source (such as a motor, a hydraulic motor), when the shielding member 31 needs to be switched from the first state to the second state, the second driving source is controlled to operate, and drives the shielding member 31 to gradually lower. At the same time, the inner supporting mechanism 40 is provided with a first driving source (such as a motor, a hydraulic motor), the first driving source is forward rotated, drives the rotary cleaning member 20 to rotate in the first rotation direction, and realizes the lowering action of the shielding member 31 by means of the rotation of the rotary cleaning member 20, and realizes the switching of the shielding member 31 from the first state to the second state.

[0105] In another embodiment, when the shielding member 31 needs to be switched from the first state to the second state, the first driving source of the inner supporting mechanism 40 is forward rotated, drives the rotary cleaning member 20 to rotate in the first rotation direction, and gradually lowers the shielding member 31 by means of the rotation of the rotary cleaning member 20. At this time, the second driving source on the shielding mechanism 30 is in a stop operating mode, and only relies on the pulling of the rotary cleaning member 20 to realize the switching of the shielding member 31 from the first state to the second state.

[0106] Similarly, the implementation mode of the shielding member 31 switched from the second state to the first state can also be various. For example, in an embodiment, when the shielding member 31 needs to be switched from the second state to the first state, the second driving source of the shielding mechanism 30 is controlled to operate, and drives the shielding member 31 to gradually shrink. At the same time, the first driving source of the inner supporting mechanism 40 drives the rotary cleaning member 20 to rotate in the second rotation direction, cooperates with the shrinking action of the shielding member 31, and realizes the switching of the shielding member 31 from the second state to the first state.

[0107] In another embodiment, when the shielding member 31 needs to switch from the second state to the first state, only the second drive source of the shielding mechanism 30 is controlled to operate, driving the shielding member 31 to gradually retract. The first drive source of the inner support mechanism 40 is in a stopped operation mode. Only the retraction pulling action of the second drive source on the shielding member 31 drives the rotary cleaning member 20 to rotate in the second rotation direction, so as to realize the switching of the shielding member 31 from the second state to the first state.

[0108] It should be noted that, in this embodiment, the second rotation direction is the cleaning direction of the rotary cleaning component 20 (e.g., ...). Figure 6 As shown in the N1 direction, the first rotation direction is the non-cleaning direction opposite to the cleaning direction when the rotary cleaning component 20 performs wet cleaning operations. Since the rotary cleaning component 20 can only perform cleaning tasks in the exposed state, setting the second rotation direction as the cleaning direction of the rotary cleaning component 20 means that when the shielding component 31 switches from the second state to the first state, the rotary cleaning component 20 does not need to change its rotation direction; it can continue to rotate along the second rotation direction to perform the cleaning task, thus reducing unnecessary turning movements. This not only simplifies the control logic of the cleaning equipment's operation but also helps improve the cleaning efficiency of the cleaning equipment. Of course, if the above-mentioned beneficial effects are not considered, in other embodiments, the first rotation direction can also be the cleaning direction of the rotary cleaning component 20, and the second rotation direction can be the non-cleaning direction opposite to the cleaning direction.

[0109] In one embodiment of the present invention, the rotary cleaning component 20 includes a first arcuate segment 201, a second arcuate segment 202, a first planar segment 203, and a second planar segment 204. The first arcuate segment 201 and the second arcuate segment 202 are distributed along the horizontal direction and along the forward direction of the cleaning device (e.g., ...). Figure 6The first arc segment 201 is close to the front end of the cleaning device, and the second arc segment 202 is close to the rear end of the cleaning device. The first plane segment 203 is connected between the first arc segment 201 and the second arc segment 202 and is arranged close to the surface to be cleaned. The second plane segment 204 is connected between the first arc segment 201 and the second arc segment 202 and is arranged on the side of the first plane segment 203 away from the surface to be cleaned. The first plane segment 203 is parallel to or substantially parallel to the second plane segment 204. When the shielding member 31 is switched from the first state to the second state, the shielding member 31 passes through and shields the first arc segment 201, the first plane segment 203, and the second arc segment 202 in sequence. When the shielding member 31 is switched from the second state to the first state, the shielding member 31 is away from and exposes the second arc segment 202, the first plane segment 203, and the first arc segment 201 in sequence. In the embodiment, the rotary cleaning member 20 is tensioned on the track-type support structure to form the first arc segment 201, the second arc segment 202, the first plane segment 203, and the second plane segment 204.

[0110] Specifically, referring to Figure 6 The mounting seat 50 is provided with a receiving cavity 501, and the rotary cleaning member 20 is mounted in the receiving cavity 501. The shielding mechanism 30 is arranged outside the receiving cavity 501. Along the advancing direction of the cleaning device, when the shielding member 31 is in the first state, the shielding member 31 is located at the front end of the rotary cleaning member 20 and is arranged close to the first arc segment 201.

[0111] Referring to Figure 6 When the shielding member 31 needs to be switched from the first state to the second state, the second connecting member 311 on the shielding member 31 is connected with the first connecting member 21 on the rotary cleaning member 20 at a region close to the first arc segment 201, so that the shielding member 31 is guided to pass through and shield the first arc segment 201, the first plane segment 203, and the second arc segment 202 in sequence during the rotation of the rotary cleaning member 20. Referring to Figure 7 When the shielding member 31 is in the second state, the first connecting member 21 and the second connecting member 311 in the connected state are located at a region close to the second arc segment 202. It should be noted that the shielding member 31 can shield the entire second arc segment 202 or only shield a part of the second arc segment 202 close to the first plane segment 203. When the shielding member 31 is switched from the second state to the first state, the rotary cleaning member 20 is linked with the shielding member 31 to make the shielding member 31 away from and expose the second arc segment 202, the first plane segment 203, and the first arc segment 201 in sequence.

[0112] In the embodiment, when the shielding piece 31 is switched from the first state to the second state, the shielding piece 31 passes through and shields the first arc segment 201, the first plane segment 203 and the second arc segment 202 in sequence. When the shielding piece 31 is switched from the second state to the first state, the shielding piece 31 is away from and exposes the second arc segment 202, the first plane segment 203 and the first arc segment 201 in sequence. In this way, on the one hand, in the first state, the shielding piece 31 can completely expose the side of the rotary cleaning piece 20 facing the surface to be cleaned. This means that during normal cleaning operation, the shielding piece 31 will not interfere with the cleaning function of the rotary cleaning piece 20, and the efficiency and cleaning effect of the cleaning operation can be ensured. On the other hand, in the second state, the shielding piece 31 can have an arc surface structure on the side close to the second arc segment 202 to shield the outer periphery of the cleaning piece. In this way, the water droplets falling on the rotary cleaning piece 20 can be effectively collected on the shielding piece 31, thereby reducing the risk of water leakage in the shielding state. In this way, the shielding piece 31 can better isolate the rotary cleaning piece 20 from the surface to be cleaned, and improve the isolation effect.

[0113] Please refer to Figure 8 and Figure 9 In an embodiment of the present application, the rotary cleaning piece 20 includes a cleaning piece body 205 and a ring-shaped portion 206. The cleaning piece body 205 is used to clean the surface to be cleaned, and the ring-shaped portion 206 is arranged at the end of the cleaning piece body 205. The first connecting piece 21 is connected to the ring-shaped portion 206. Specifically, the outer periphery of the cleaning piece body 205 can be provided with a water absorption layer, which is in contact with the surface to be cleaned to clean the surface to be cleaned during rotation of the rotary cleaning piece 20.

[0114] When the second connecting piece 311 is arranged on one side of the length direction of the shielding piece 31, the ring-shaped portion 206 can be arranged only at one end of the length direction of the cleaning piece body 205, and the first connecting piece 21 is connected to the ring-shaped portion 206. Of course, the ring-shaped portion 206 can also be arranged at both ends of the length direction of the cleaning piece body 205, and the first connecting piece 21 is arranged only on the side corresponding to the second connecting piece 311. When the second connecting piece 311 is arranged on both sides of the length direction of the shielding piece 31, the ring-shaped portion 206 can be arranged at both ends of the length direction of the cleaning piece body 205, and the first connecting piece 21 is arranged on both ring-shaped portions 206 to be connected to the corresponding second connecting piece 311.

[0115] In the embodiment, the ring-shaped portion 206 is arranged at the end of the cleaning member body 205, and the first connecting member 21 is connected to the ring-shaped portion 206. In this way, the mounting position of the first connecting member 21 relative to the cleaning member body 205 can be flexibly adjusted by adjusting the shape and size of the ring-shaped portion 206, and the possibility of interference between the first connecting member 21 and the cleaning member body 205 in the height or width direction can be reduced. At the same time, this design also helps to reduce the occupation or influence of the first connecting member 21 on the effective cleaning surface of the cleaning member body 205, thereby optimizing the overall structure layout of the rotary cleaning member 20 and improving the compactness of the structure design of the rotary cleaning member 20.

[0116] Under the premise of ensuring the connection strength requirement between the ring-shaped portion 206 and the cleaning member body 205, the connection mode between the ring-shaped portion 206 and the cleaning member body 205 can be various. Alternatively, in an embodiment of the present application, please refer to Figure 9 , the ring-shaped portion 206 is fixedly connected with the cleaning member body 205, and the cleaning member body 205 drives the ring-shaped portion 206 to rotate synchronously in the rotating process. The fixed connection mode can be an integral molding connection. Specifically, the cleaning member body 205 further includes a rubber layer, and the water absorption layer is wrapped around the outer periphery of the rubber layer. The ring-shaped portion 206 is integrally injection molded and connected with the rubber layer. The fixed connection mode can also be a clamping fixed connection or a bolt fixed connection, etc. In the embodiment, since the ring-shaped portion 206 is fixedly connected with the cleaning member body 205, there is no relative displacement between the two during the rotating process of the rotary cleaning member 20, and the motion synchronization is better, which is more conducive to ensuring the switching precision between the connected state and the disengaged state of the first connecting member 21 and the second connecting member 311.

[0117] In another embodiment of the present application, the ring-shaped portion 206 and the cleaning member body 205 are separately arranged, and the inner supporting mechanism 40 drives the cleaning member body 205 and the ring-shaped portion 206 to rotate synchronously. The ring-shaped portion 206 and the cleaning member body 205 can be arranged in contact with each other or in non-contact. The embodiment does not limit this, and the actual structure requirements can be flexibly selected. In the embodiment, since the ring-shaped portion 206 and the cleaning member body 205 adopt a separate design, they can be independently mounted on the inner supporting mechanism 40. This structure design enables the ring-shaped portion 206 and the cleaning member body 205 to be independently operated when they need to be replaced, without replacing the entire rotary cleaning member 20, thereby reducing the maintenance difficulty and cost.

[0118] In an embodiment of the present application, along the direction perpendicular to the advancing direction of the cleaning equipment, that is, the length direction of the rotary cleaning member 20 (such as Figure 10The annular portion 206 is arranged protruding from the cleaning member body 205. The length L2 of the shielding member 31 is greater than or equal to the length of the cleaning member body 205 and less than the maximum length L1 of the rotary cleaning member 20. It is to be noted that, please refer to Figure 6 and Figure 9 the projection of the annular portion 206 is within the projection outer contour of the cleaning member body 205. Further, the projection outer contour of the annular portion 206 and the projection outer contour of the first connecting member 21 are both within the projection outer contour of the cleaning member body 205. In this way, the arrangement of the annular portion 206 and the first connecting member 21 will not affect the effective cleaning area of the cleaning member body 205. In the present embodiment, the length direction of the shielding member 31 is consistent with the length direction of the cleaning member body 205. When the annular portion 206 is arranged at both ends of the cleaning member body 205, the maximum length of the rotary cleaning member 20 refers to the distance between the outer edges of the two annular portions 206 along the length direction of the cleaning member body 205, i.e. Figure 10 the dimension L1 marked in the figure. When the annular portion 206 is arranged at one end of the cleaning member body 205, the maximum length of the rotary cleaning member 20 refers to the distance between the outer edge of the cleaning member body 205 without the annular portion 206 and the outer edge of the annular portion 206 along the length direction of the cleaning member body 205.

[0119] In the present embodiment, since the length of the shielding member 31 is greater than or equal to the length of the cleaning member body 205 and less than the maximum length of the rotary cleaning member 20, in this way, on the one hand, it can ensure that the shielding member 31 can fully cover the cleaning member body 205 when it is in the shielding state, effectively prevent the water on the cleaning member body 205 from falling onto the surface to be cleaned, and ensure the shielding effect of the shielding member 31. On the other hand, since the length of the shielding member 31 does not exceed the maximum length of the rotary cleaning member 20, it can avoid occupying additional installation space of the rotary cleaning member 20 in the length direction due to the arrangement of the shielding member 31, which is beneficial to ensuring the compactness of the overall structure of the cleaning device, and also provides a space for the mutual connection or disconnection of the first connecting member 21 and the second connecting member 311.

[0120] In consideration of the stability of the shielding member 31 when switching between the first state and the second state, optionally, please refer to Figure 10, in an embodiment of the present application, along the direction perpendicular to the advancing direction of the cleaning device, the cleaning member body 205 comprises a first end 2051 and a second end 2052, and the shielding member 31 comprises a first side 313 and a second side 314. The annular portion 206 is provided with at least one on the first end 2051 and the second end 2052 respectively, and the second connecting member 311 is provided with at least one on the first side 313 and the second side 314 respectively. In order to further optimize the manufacturing cost and simplify the design structure, it is optional to refer to Figure 8 and Figure 9 In the present embodiment, the first end 2051 and the second end 2052 of the cleaning member body 205 are each provided with one annular portion 206, and the first side 313 and the second side 314 of the shielding member 31 are each provided with one second connecting member 311. It should be noted that the annular portion 206 is provided with at least one first connecting member 21, which can be connected or disconnected with the corresponding second connecting member 311.

[0121] In the present embodiment, since the two ends of the cleaning member body 205 are each provided with one annular portion 206, and the two sides of the shielding member 31 are each provided with one second connecting member 311, this arrangement can form a state in which one first connecting member 21 and one second connecting member 311 are connected on both sides of the shielding member 31. In this way, the connecting force can be uniformly transmitted to the cleaning member body 205 from both sides. This two-sided connection design can reduce the phenomenon of local stress concentration of the cleaning member body 205 caused by unilateral stress, ensure the uniformity of compression, and thus ensure the stability of the cleaning effect. At the same time, this design can effectively reduce the problems of distortion, deviation or connection failure of the shielding member 31 caused by uneven stress, thereby facilitating the improvement of the stability of the shielding member 31 in operation.

[0122] In another embodiment of the present application, the annular portion 206 is provided with at least one on the first end 2051 or the second end 2052, and the second connecting member 311 is provided with at least one on the first side 313 or the second side 314 corresponding to the annular portion 206. Compared with the scheme in which the annular portion 206 is provided on both sides of the cleaning member body 205, the present embodiment adopts the way of configuring the annular portion 206 and the second connecting member 311 on one side. In this way, on the basis of ensuring the basic function, the structure is simplified, the manufacturing and assembly efficiency is improved, and the material cost is reduced. This design is particularly suitable for application occasions with strict limitations on installation space or manufacturing cost, and can provide greater flexibility for the overall layout of the cleaning device while maintaining the stability of the shielding member 31 in operation and the uniformity of the cleaning member in compression.

[0123] Please refer to Figures 7 to 9In an embodiment of the present application, the first connecting member 21 is provided in plurality on the annular portion 206, the plurality of first connecting members 21 are arranged at intervals along the outer periphery of the annular portion 206, and each of the first connecting members 21 can form a connected state or a disengaged state with the second connecting member 311. The plurality of first connecting members 21 can be arranged at equal intervals along the outer periphery of the annular portion 206, or can be arranged at unequal intervals along the outer periphery of the annular portion 206. Alternatively, in the present embodiment, the plurality of first connecting members 21 are arranged at equal intervals along the outer periphery of the annular portion 206, which not only facilitates the molding positioning of the plurality of first connecting members 21 on the annular portion 206, but also facilitates the consistency of assembly.

[0124] Compared with the scheme in which one first connecting member 21 is provided on the annular portion 206, in the present embodiment, by arranging the plurality of first connecting members 21 along the outer periphery of the annular portion 206, when the first connecting member 21 needs to be connected with the second connecting member 311, only a small angle of rotation of the rotary cleaning member 20 is needed to quickly bring one first connecting member 21 close to the second connecting member 311 and form a reliable connection. Therefore, this layout mode can improve the efficiency of switching the shielding member 31 between the first state and the second state, and enhance the convenience and response speed of operation.

[0125] Please refer to Figure 13 and Figure 14 In an embodiment of the present application, the cleaning device further comprises a guide member 12 arranged on the rack 10, and the rack 10 comprises a mounting seat 50. Therefore, the guide member 12 can be arranged on other positions of the rack 10 except the mounting seat 50, or can be arranged on the mounting seat 50. The guide member 12 is located at the outer periphery of the rotary cleaning member 20. Specifically, the guide member 12 is arranged at the outer periphery of the annular portion 206 and close to the first arc segment 201 in the circumferential direction of the rotary cleaning member 20. The guide member 12 can be integrally formed with the rack 10, or can be fixedly connected by bolts or other fasteners. The guide member 12 is used to guide the second connecting member 311 to approach the rotary cleaning member 20 during the lowering process of the shielding member 31, so as to realize the connection with the first connecting member 21 during the rotation of the rotary cleaning member 20. The specific structural form of the guide member 12 can be selected according to actual needs. For example, the guide member 12 can be a chute, a protrusion or any structure that can guide the movement of the second connecting member 311 during the lowering process of the shielding member 31, so as to enable the second connecting member 311 to approach and connect to the first connecting member 21.

[0126] In the embodiment, the second connecting member 311 can be guided by the guide member 12 to approach the rotary cleaning member 20 during the lowering of the shielding member 31, so that the second connecting member 311 can be accurately connected with the first connecting member 21. Since the guide member 12 can constrain and guide the movement path of the second connecting member 311 during the lowering of the shielding member 31, the probability of failure in connecting the second connecting member 311 with the first connecting member 21 due to the deviation of the movement position of the second connecting member 311 can be reduced, and thus the reliability of the connection between the first connecting member 21 and the second connecting member 311 can be improved. Meanwhile, since the guide member 12 can reduce the position error of the second connecting member 311 during the movement, the stability and consistency of the connection process can be ensured, and thus the repeated operation accuracy of the shielding member 31 during the multiple switching between the first state and the second state can be improved.

[0127] Please refer to Figure 14 In an embodiment of the present application, the side of the guide member 12 facing the rotary cleaning member 20 comprises a first guide surface 121. Along the height direction of the cleaning device, one end of the first guide surface 121 is a starting end 1211, and the other end is an extending end 1212. The starting end 1211 is located above the extending end 1212, and the first guide surface 121 gradually extends towards the rotary cleaning member 20 along the direction from the starting end 1211 to the extending end 1212. During the lowering of the shielding member 31, the second connecting member 311 can slide along the first guide surface 121 to gradually approach the first connecting member 21, and thus the connection with the first connecting member 21 can be achieved.

[0128] The specific structure of the first guide surface 121 is not limited, which can be, for example, a slope structure or a circular arc surface structure. As long as the second connecting member 311 can be guided to gradually approach the first connecting member 21 during the lowering of the shielding member 31, and thus the connection with the first connecting member 21 can be achieved. Alternatively, in the embodiment, the first guide surface 121 is a slope structure. The upper end of the slope structure forms the starting end 1211, and the lower end forms the extending end 1212. The slope structure gradually extends obliquely towards the rotary cleaning member 20 from the starting end 1211 to the extending end 1212.

[0129] In the embodiment, the first guide surface 121 is arranged to ensure that the second connecting piece 311 smoothly slides along a predetermined path during the downward movement and gradually approaches the first connecting piece 21 to achieve connection with the first connecting piece 21. This design can reduce the probability of connection failure caused by the position deviation of the second connecting piece 311, thereby improving the reliability of the connection. At the same time, since the first guide surface 121 gradually extends towards the rotary cleaning piece 20 from the starting end 1211 to the extending end 1212, it enables the second connecting piece 311 to smoothly transition in the moving position during the downward movement, thereby reducing the impact or shaking caused by the position mutation. This smooth transition can ensure the stability of the position of the second connecting piece 311 when it approaches the first connecting piece 21, and thereby facilitate the rapid connection between the second connecting piece 311 and the first connecting piece 21.

[0130] Referring to Figure 14 In an embodiment of the present application, the side of the guide piece 12 towards the rotary cleaning piece 20 further comprises a second guide surface 122. In the height direction of the cleaning device, the second guide surface 122 is arranged above the first guide surface 121 and is connected with the starting end 1211. During the contraction of the shielding piece 31, the second connecting piece 311 can slide along the second guide surface 122 to guide the second connecting piece 311 after being separated from the first connecting piece 21 to move to the contracted position with the shielding piece 31. By arranging the second guide surface 122, the probability of deviation of the second connecting piece 311 during the movement after being separated from the first connecting piece 21 can be reduced, thereby reducing the problems such as jamming, abnormal sound or component wear caused by the deviation of the movement track of the second connecting piece 311 during the contraction movement of the shielding piece 31. This not only ensures the accuracy of the contracted position of the shielding piece 31, but also facilitates the improvement of the service life of the parts.

[0131] Referring to Figure 14In an embodiment of the present application, the side of the guide member 12 facing the rotary cleaning member 20 further comprises a third guide surface 123. In the height direction of the cleaning device, one end of the third guide surface 123 is a first end 1231, and the other end is a second end 1232, which is arranged below the first end 1231, and the first end 1231 is connected to the extension end 1212. The third guide surface 123 gradually extends away from the rotary cleaning member 20 in the direction from the first end 1231 to the second end 1232. During the contraction of the shielding member 31, the second connecting member 311 can slide along the third guide surface 123 to guide the second connecting member 311 to slide onto the first guide surface 121. Because the distance between the extension end 1212 of the first guide surface 121 and the rotary cleaning member 20 is relatively close, the cross section of the channel formed between them is relatively narrow. Under this working condition, during the contraction of the shielding member 31, when the second connecting member 311 enters and exits the channel, it is easy to cause problems such as jamming, which will affect the smoothness of the second connecting member 311 passing through. In this embodiment, by arranging the third guide surface 123, the second connecting member 311 can be adjusted in running posture through the third guide surface 123 before entering the above-mentioned channel, so that it can pass through the above-mentioned channel more smoothly, thereby further improving the smoothness of the second connecting member 311 during the contraction of the shielding member 31.

[0132] For reference Figure 6 and Figure 7 In an embodiment of the present application, one of the first connecting member 21 and the second connecting member 311 is provided with a clamping groove portion 3111, and the other is provided with a clamping hook portion 211; when the clamping groove portion 3111 and the clamping hook portion 211 are engaged, the first connecting member 21 and the second connecting member 311 are in a connected state; when the clamping groove portion 3111 and the clamping hook portion 211 are disengaged, the first connecting member 21 and the second connecting member 311 are in a disengaged state. Specifically, in this embodiment, the first connecting member 21 is provided with the clamping hook portion 211, and the second connecting member 311 is provided with the clamping groove portion 3111. Of course, in another embodiment, the second connecting member 311 can be provided with the clamping hook portion 211, and the first connecting member 21 can be provided with the clamping groove portion 3111. The specific structural shape of the clamping hook portion 211 is not limited, for example, it can be a wedge-shaped hook, an L-shaped hook, or a single ratchet tooth, etc. The shape of the clamping groove portion 3111 matches the shape of the clamping hook portion 211, and the specific shape needs to be determined according to the shape of the clamping hook portion 211.

[0133] In the embodiment, the connection and disconnection of the first connecting member 21 and the second connecting member 311 are realized by the setting of the clamping groove part 3111 and the clamping hook part 211. Since the mechanical engagement connection can be formed between the clamping hook part 211 and the clamping groove part 3111, once the engagement connection is formed, the mutual disconnection due to the vibration or accidental collision during the operation of the cleaning device is not easy, and thus the stability of the connection state between the first connecting member 21 and the second connecting member 311 can be ensured.

[0134] In the embodiment, the specific process of the mutual engagement or disengagement of the clamping groove part 3111 and the clamping hook part 211 is as follows: when the first connecting member 21 and the second connecting member 311 need to be connected to each other, the shielding member 31 is gradually lowered. With the downward movement of the shielding member 31, the second connecting member 311 also gradually approaches the first connecting member 21. During the rotation of the rotary cleaning member 20, the clamping hook part 211 and the clamping groove part 3111 are engaged with each other, thereby realizing the connection of the first connecting member 21 and the second connecting member 311. This connection enables the shielding member 31 to be switched from the first state to the second state when the rotary cleaning member 20 rotates. When the shielding member 31 needs to be switched from the second state to the first state, the rotary cleaning member 20 is reversely rotated. At this time, the clamping hook part 211 and the clamping groove part 3111 remain in the engaged state to realize the contraction of the shielding member 31. When the shielding member 31 approaches the position close to the contracted position, at this time, since the shielding member 31 is stretched in the direction substantially tangent to the rotary cleaning member 20, and the rotary cleaning member 20 continues to be reversely rotated, this will cause the clamping hook part 211 and the clamping groove part 3111 to move away from each other. During this movement, the clamping hook part 211 gradually disengages from the clamping groove part 3111, thereby realizing the disconnection between the first connecting member 21 and the second connecting member 311.

[0135] In an embodiment of the present application, at least part of the first connecting member 21 is composed of a magnet, and at least part of the second connecting member 311 is composed of a magnet or a magnetic body; or, at least part of the second connecting member 311 is composed of a magnet, and at least part of the first connecting member 21 is composed of a magnet or a magnetic body; when the magnet and the magnetic body are attracted to each other, or the magnet and the magnet are attracted to each other, the first connecting member 21 and the second connecting member 311 are in the connected state; when the magnet and the magnetic body are separated from each other, or the magnet and the magnet are separated from each other, the first connecting member 21 and the second connecting member 311 are in the disconnected state.

[0136] Specifically, in an embodiment, at least part of the first connecting member 21 is composed of a magnet. At least part of the second connecting member 311 is composed of a magnetic body (such as iron, steel, silicon steel, etc.) that can be attracted by the magnet. When the magnet and the magnetic body are attracted to each other, the first connecting member 21 and the second connecting member 311 are in the connected state; when the magnet and the magnetic body are separated from each other, the first connecting member 21 and the second connecting member 311 are in the disconnected state.

[0137] In another embodiment, at least a portion of the first connecting member 21 is made of a magnet, at least a portion of the second connecting member 311 is also made of a magnet, and the magnet constituting the first connecting member 21 and the magnet constituting the second connecting member 311 have opposite magnetic polarities. When the magnet of the first connecting member 21 and the magnet of the second connecting member 311 are attracted to each other, the first connecting member 21 and the second connecting member 311 are in a connected state; when the magnet of the first connecting member 21 and the magnet of the second connecting member 311 are separated from each other, the first connecting member 21 and the second connecting member 311 are in a disconnected state.

[0138] In another embodiment, at least a portion of the second connecting member 311 is made of a magnet, at least a portion of the first connecting member 21 is made of a magnetic attractor; when the magnet and the magnetic attractor are attracted to each other, the first connecting member 21 and the second connecting member 311 are in a connected state; when the magnet and the magnetic attractor are separated from each other, the first connecting member 21 and the second connecting member 311 are in a disconnected state.

[0139] In the above embodiments, at least a portion of the first connecting member 21 is made of a magnet, and at least a portion of the second connecting member 311 is made of a magnet or a magnetic attractor. This design enables the first connecting member 21 and the second connecting member 311 to be connected by magnetic attraction. When the magnet and the magnetic attractor (or another magnet) enter the effective magnetic field range, they will be actively attracted to each other under the action of magnetic force, thereby automatically correcting the positional deviation when they are close to each other. This can reduce the probability of connection failure due to a large positional deviation between the first connecting member 21 and the second connecting member 311. At the same time, since the magnet and the magnetic attractor can be designed to have a small shape or volume, this connection structure is more suitable for installation environments with limited space, and helps to improve the overall structural compactness of the cleaning device.

[0140] In an embodiment of the present application, one side of the first connecting member 21 corresponding to the second connecting member 311 has a first adhesive portion, and one side of the second connecting member 311 corresponding to the first connecting member 21 has a second adhesive portion. When the first adhesive portion and the second adhesive portion are adhered to each other, the first connecting member 21 and the second connecting member 311 are in a connected state; when the first adhesive portion and the second adhesive portion are separated from each other, the first connecting member 21 and the second connecting member 311 are in a disconnected state.

[0141] Specifically, in an embodiment, one side of the first connecting member 21 corresponding to the second connecting member 311 has a first adhesive portion, and one side of the second connecting member 311 corresponding to the first connecting member 21 has a second adhesive portion. In another embodiment, one side of the first connecting member 21 corresponding to the second connecting member 311 has a second adhesive portion, and one side of the second connecting member 311 corresponding to the first connecting member 21 has a first adhesive portion.

[0142] The specific material of the first and second adhesive parts is not limited. For example, in an embodiment, the first adhesive part can be made of high-adhesion pressure-sensitive adhesive, and the surface thereof can be designed with microstructures, such as micro-bumps or micro-grooves. The second adhesive part can also be made of high-adhesion pressure-sensitive adhesive matching the first adhesive part, and the surface thereof can be designed with corresponding microstructures to achieve mutual matching with the microstructures of the first adhesive part. In another embodiment, the first and second adhesive parts can also be in other repeatable adhesive structures, such as Velcro.

[0143] Since the first and second adhesive parts can achieve the connection between the first connecting piece 21 and the second connecting piece 311 through adhesive connection, the scheme does not need complex mechanical interlocking members, such as hooks, slots, etc., and thus has a relatively simple structure. Meanwhile, since the first and second adhesive parts can be obtained by outsourcing conventional adhesive parts, no additional complex processing and manufacturing procedures are needed, and thus the production and processing cost is reduced. Meanwhile, the adhesive connection itself does not significantly increase the thickness at the connection position, which is conducive to achieving the compact design of the cleaning device.

[0144] Please refer to Figure 11 , Figure 12 , Figure 15 and Figure 16 In an embodiment of the present application, the shielding mechanism 30 further comprises a driving assembly 32 and a spool 33. The spool 33 is rotatably arranged on the frame 10, and the driving assembly 32 is arranged on the frame 10 and has a rotary output end connected with the spool 33. Specifically, the spool 33 is rotatably mounted on the mounting seat 50 and arranged on the wall body of the mounting seat 50 away from the rotary cleaning piece 20. The rotatable mounting manner can be through shaft hole cooperation connection or through rotary bearing rotation connection. The length direction of the spool 33 is consistent with the length direction of the mounting seat 50. The driving assembly 32 is arranged on the frame 10. The driving assembly 32 can be directly mounted on the frame 10, or the driving assembly 32 is mounted on the mounting seat 50 and indirectly connected with the frame 10 through the connection of the mounting seat 50 and the frame 10. Alternatively, in the present embodiment, the driving assembly 32 is mounted on the mounting seat 50 and arranged at a position close to the end of the spool 33. The driving assembly 32 can be any structure capable of having a rotary output end, such as a combination structure of a motor and a gear assembly, a combination structure of a motor and a pulley assembly, etc.

[0145] Please refer to Figure 17 and Figure 24, one end of the shielding piece 31 is wound around the winding shaft 33, the other end of the shielding piece 31 is a free end 312, and the second connecting piece 311 is arranged on the free end 312. The driving assembly 32 is used to drive the winding shaft 33 to rotate, so as to realize the winding and unwinding of the shielding piece 31. Specifically, the rotating output end of the driving assembly 32 is fixedly connected with the winding shaft 33, and when the rotating output end rotates, the winding shaft 33 rotates synchronously, thereby realizing the winding and unwinding of the shielding piece 31 on the winding shaft 33. The free end 312 of the shielding piece 31 comprises a sleeve 3121 and a connecting rod 3122, the connecting rod 3122 is arranged in the sleeve 3121 and is fixedly connected with the sleeve 3121, and the two side ends of the connecting rod 3122 extend to the outside of the two side ends of the sleeve 3121, respectively. The second connecting piece 311 is fixedly installed on the connecting rod 3122 and is located outside the end of the sleeve 3121. The fixed installation direction is not limited, for example, it can be fixedly connected through shaft hole tight fit, pin shaft and pin shaft fixed connection, clamping fixed connection and the like.

[0146] In the embodiment, by arranging the driving assembly 32 and the winding shaft 33, the driving assembly 32 can drive the winding shaft 33 to rotate, thereby realizing the automatic winding and unwinding of the shielding piece 31. By adopting the structure, on the one hand, the complete automation operation of the winding and unwinding process of the shielding piece 31 can be realized, so that the operation convenience can be improved, the manual intervention in the winding and unwinding process of the shielding piece 31 is reduced, and the user experience is improved. On the other hand, the shielding piece 31 adopts the winding storage mode, which is beneficial to saving the internal installation space occupied by the shielding piece 31 after being contracted, and is more conducive to the layout optimization of the internal installation space of the rack 10.

[0147] In an embodiment of the present application, please refer to Figures 15 to 17The shielding mechanism 30 further comprises a shroud 34 mounted on the rack 10, the shroud 34 having a receiving cavity 344 in which the shielding member 31 is wound. The shroud 34 can be directly connected to the rack 10 except for the mounting seat 50, or can be fixedly connected to the mounting seat 50. Alternatively, in the embodiment, the shroud 34 is fixedly mounted on the mounting seat 50, and the length direction of the shroud 34 is consistent with the length direction of the mounting seat 50. The shroud 34 covers the shielding member 31 from above, so that the shielding member 31 is wound in the receiving cavity 344. The fixing manner between the shroud 34 and the mounting seat 50 is not limited, including but not limited to bolted connection. In order to reduce the installation space occupied by the shroud 34 in the length direction, further, in an embodiment, both ends of the shroud 34 in the length direction do not exceed both ends of the mounting seat 50 in the length direction. By arranging the shroud 34 and winding the shielding member 31 in the receiving cavity 344 of the shroud 34, this design enables the shroud 34 to effectively prevent dust, moisture and other impurities from entering the receiving cavity 344, so as to protect the shielding member 31 in the receiving cavity 344 from being contaminated, thereby facilitating to prolong the service life of the shielding member 31. At the same time, the shroud 34 can also provide protection for the shielding member 31, reducing the probability of damage to the shielding member 31 caused by accidental impact during operation or maintenance of the cleaning equipment.

[0148] Please refer to Figures 18 to 24 In an embodiment of the present application, the side of the rack 10 facing the shroud 34 is provided with a first clamping interface 51, and the side of the shroud 34 facing the rack 10 is provided with a second clamping interface 343. The first clamping interface 51 and the second clamping interface 343 are connected to each other in a butt joint manner, and a support hole 52 for supporting the reel 33 is formed, and the reel 33 is rotatably mounted in the support hole 52 (as shown in Figure 16 Specifically, the first clamping interface 51 and the second clamping interface 343 are each provided with two, and are respectively located at both ends of the length direction of the shroud 34. Each first clamping interface 51 is connected to a corresponding second clamping interface 343 in a butt joint manner, and together forms a support hole 52. Both ends of the reel 33 are rotatably mounted in the two support holes 52.

[0149] In this embodiment, the support hole 52 for supporting the reel 33 is formed by the mutual docking of the first clamping interface 51 and the second clamping interface 343 arranged on the rack 10 and the shroud 34. In the assembly process, the complete support hole 52 can be automatically formed by simply aligning and fastening the rack 10 and the shroud 34, so that the additional installation of independent bearing seats or support frames can be omitted, thereby simplifying the assembly process, reducing the assembly complexity, and improving the assembly efficiency. When the reel 33 needs to be replaced or maintained, the shroud 34 can be separated from the rack 10, the first clamping interface 51 and the second clamping interface 343 are disconnected, the support hole 52 is opened, and the reel 33 can be directly taken out. The entire operation process does not require the use of special tools and does not need to be disassembled from the complex internal structure, so as to facilitate the reduction of the difficulty of later maintenance.

[0150] Please refer to Figure 16 and Figure 17 In an embodiment of the present application, the shroud 34 includes a shroud body 346 and an extension 341. The shroud body 346 is fixedly connected with the mounting seat 50 and covers the upper side of the shielding member 31. Along the width direction of the mounting seat 50, the extension 341 is arranged on one side of the shroud body 346 in the width direction and located outside the mounting seat 50 in the width direction (as indicated by the X1 direction in Figure 15 Along the height direction of the cleaning device, one end of the extension 341 is connected with the shroud body 346, and the other end extends toward the side close to the rotary cleaning member 20. The extension 341 and the rack 10 form a guide channel 345 in communication with the receiving cavity 344. Specifically, the guide channel 345 is formed between the extension 341 and the outer side wall of the mounting seat 50 and extends along the width direction of the shielding member 31. The free end 312 of the shielding member 31 extends to the outside of the receiving cavity 344 through the guide channel 345.

[0151] By arranging the guide channel 345 in communication with the receiving cavity 344 and making the free end 312 of the shielding member 31 extend to the outside of the receiving cavity 344 through the channel, the design makes the guide channel 345 play a guiding role in the storage and release process of the shielding member 31. Specifically, the guide channel 345 can effectively guide the shielding member 31 to enter and exit the receiving cavity 344, reduce the unstable phenomena such as lateral deflection and up-down shaking of the shielding member 31 during operation, and further help to ensure the accuracy and reliability of the storage and release action of the shielding member 31.

[0152] Please refer to Figure 16 and Figure 17In an embodiment of the present application, the free end 312 and / or the second connecting member 311 can abut against the extension 341 to stop the free end 312 and the second connecting member 311 outside the receiving cavity 344 when the shielding member 31 is contracted. In an embodiment, the second connecting member 311 does not abut against the extension 341, but the abutment of the free end 312 against the extension 341 can stop the free end 312 and the second connecting member 311 outside the receiving cavity 344 when the shielding member 31 is contracted. Specifically, the abutment of the free end 312 against the extension 341 means that the outer circumferential surface of the connecting rod 3122 sleeved in the sleeve 3121 abuts against the extension 341 through the sleeve 3121. In another embodiment, the free end 312 does not abut against the extension 341, but the second connecting member 311 can abut against the extension 341 to stop the free end 312 and the second connecting member 311 outside the receiving cavity 344 when the shielding member 31 is contracted. In other embodiments, both the second connecting member 311 and the free end 312 can abut against the extension 341 to stop the free end 312 and the second connecting member 311 outside the receiving cavity 344 when the shielding member 31 is contracted.

[0153] In Figure 14 In the embodiment shown in the drawings, when the guide member 12 is provided with the second guide surface 122, the second guide surface 122 is arranged below the extension 341 in the height direction of the cleaning device. During the contraction operation of the shielding member 31, the second guide surface 122 can guide the second connecting member 311 and / or the free end 312 to the position abutting against the extension 341, thereby improving the positioning accuracy of the shielding member 31 at the contracted position.

[0154] Since the free end 312 and / or the second connecting member 311 can abut against the extension 341, the free end 312 and the second connecting member 311 can be stably stopped outside the receiving cavity 344 when the shielding member 31 is contracted. In this way, on the one hand, a pulling force can be provided to the shielding member 31 in the contracted state at all times, thereby preventing the shielding member 31 wound on the winding shaft 33 from loosening and ensuring the tightness of the shielding member 31. On the other hand, this design can also ensure the repeated positioning accuracy of the shielding member 31 each time it is contracted, thereby being beneficial to ensuring the switching accuracy and efficiency of the shielding member 31 between the first state and the second state.

[0155] Please refer to Figure 25 and Figure 26In an embodiment of the present application, the frame 10 is provided with a guide arc surface 53 on the side close to the second connecting member 311, and the second connecting member 311 is provided with a matching surface 3112. After the first connecting member 21 and the second connecting member 311 are separated, the guide arc surface 53 and the matching surface 3112 are matched with each other to guide the second connecting member 311 to move along the contraction direction of the shielding member 31 to the position abutting against the extension part 341. The matching surface 3112 can be an arc surface structure, or a slope surface structure, etc., any surface body capable of being in contact with the first guide arc surface 53 to form a matching relationship. The guide arc surface 53 can be directly arranged on the frame 10 at a position other than the mounting seat 50, or can be arranged on the mounting seat 50. Alternatively, in the present embodiment, the guide arc surface 53 is arranged on the mounting seat 50, and is located at a position of the mounting seat 50 close to the position where the first connecting member 21 and the second connecting member 311 are separated from each other. Specifically, in the present embodiment, the mounting seat 50 is provided with a protrusion 55, and the guide arc surface 53 is formed on the outer side surface of the protrusion 55. The second connecting member 311 comprises a clamping groove part 3111 and a mounting part 3113, the clamping groove part 3111 is arranged on the end of the mounting part 3113 away from the extension part 341, the mounting part 3113 is provided with a mounting hole, the mounting hole is matched with the shaft end of the connecting rod 3122 to realize the connection with the connecting rod 3122. The outer peripheral surface of the mounting part 3113 is a circular arc surface, which forms the above-mentioned matching surface 3112.

[0156] It should be noted that, please refer to Figure 26 When the second connecting member 311 abuts against the extension part 341, the guide arc surface 53 at least partially abuts against the matching surface 3112, i.e., the two are still in the matching state. In this way, not only can the second connecting member 311 be guided to move to the position abutting against the extension part 341 after being separated from the first connecting member 21, but also the guiding effect can be continuously provided in the initial stage of the downward movement of the second connecting member 311 from the abutting position, so that the possibility of the second connecting member 311 being deflected or stuck in the initial downward movement can be reduced.

[0157] Since the second connecting piece 311 is in a free or semi-free state after being separated from the first connecting piece 21, it is easy to shake or deviate during movement, which further affects the position accuracy of the abutment with the extension 341. Based on this, the second connecting piece 311 is provided with a cooperating surface 3112, and the guide arc surface 53 is arranged on the side of the rack 10 close to the second connecting piece 311. When the first connecting piece 21 is separated from the second connecting piece 311, the guide arc surface 53 and the cooperating surface 3112 cooperate with each other to guide the second connecting piece 311 to move to the position abutting with the extension 341 in the contraction direction of the shielding piece 31. Through this cooperation, the movement track of the second connecting piece 311 can be effectively constrained to accurately move along the preset path, and finally accurately reach the predetermined position abutting with the extension 341, thereby improving the abutment accuracy between the second connecting piece 311 and the extension 341.

[0158] It should be noted that in other embodiments, the abutment between the free end 312 and / or the second connecting piece 311 and the extension 341 can not be used to achieve the contraction of the shielding piece 31 to the position. For example, please refer to Figure 33 In an embodiment, a stop piece 54 can be arranged on the mounting seat 50, and the stop piece 54 at least partially extends to the contraction path of the second connecting piece 311. During the contraction of the shielding piece 31, the stop piece 54 can form a stop with the second connecting piece 311, thereby ensuring that the shielding piece 31 is contracted to the position. During the lowering of the shielding piece 31, the stop piece 54 can be out of the stop relationship with the second connecting piece 311, thereby ensuring that the shielding piece 31 can be smoothly lowered.

[0159] The specific structure of the stop piece 54 is not limited, for example, it can be a protrusion structure, a groove structure, etc., as long as it can form a stop relationship with the second connecting piece. Specifically, in the present embodiment, the stop piece 54 is the protrusion 55 in the above embodiment. The side of the protrusion 55 facing the second connecting piece 311 is provided with a plug-in part 551, and the plug-in part 551 can be mutually clamped with the clamping groove part 3111 on the second connecting piece 311 to form a stop relationship.

[0160] Further, in another embodiment, when the guide 12 is provided with a second guide surface 122, the second guide surface 122 is arranged below the stop piece 54 in the height direction of the cleaning equipment. During the contraction of the shielding piece 31, the second guide surface 122 can guide the second connecting piece 311 to the position clamped with the plug-in part 551 on the protrusion 55, thereby improving the to-position accuracy of the shielding piece 31 at the contraction position.

[0161] Please refer to Figures 27 to 30In an embodiment of the present application, the driving assembly 32 comprises a driving member 322 and a transmission assembly 323, and the driving member 322 is installed on the shroud 34. In other embodiments, the driving member 322 can also be installed on the frame 10. The driving member 322 has a rotary driving end 3221. The driving member 322 can be an electric motor, a hydraulic motor or any other driving mechanism having a rotary driving end 3221. In this embodiment, the driving member 322 is an electric motor. The power input end of the transmission assembly 323 is connected with the rotary driving end 3221, and the power output end of the transmission assembly 323 forms a rotary output end.

[0162] The transmission assembly 323 can be a gear transmission assembly, a belt transmission assembly or the like. In this embodiment, the transmission assembly 323 comprises a first gear 3231 and a second gear 3232, the first gear 3231 is fixedly connected with the rotary driving end 3221 and forms the power input end, and the second gear 3232 is fixedly connected with the end of the reel 33 in a manner of shaft hole tight fit, clamping connection or the like. The second gear 3232 is meshingly connected with the first gear 3231 and forms the power output end. Figure 28

[0163] In this embodiment, the structure of the combination of the driving member 322 and the transmission assembly 323 can be flexibly selected according to the requirements, and the transmission assembly 323 of different transmission forms can be selected. This design can effectively adjust the output speed and torque of the driving member 322, so that the required driving torque and running speed of the shielding member 31 during the folding and unfolding process can be more accurately matched. This can not only ensure the stability and power of the shielding member 31, but also better meet the specific requirements for driving performance under different working conditions.

[0164] In this embodiment, as long as the driving requirements of the reel 33 are met, the specific arrangement position of the driving member 322 on the mounting seat 50 is not limited. For example, the rotary axis of the rotary driving end 3221 of the driving member 322 can be parallel to the height direction of the cleaning device, or can be parallel to the direction perpendicular to the height direction of the cleaning device (i.e. the horizontal direction). In an embodiment of the present application, the rotary axis of the rotary driving end 3221 is parallel to the horizontal direction, so that the driving member 322 is transversely arranged on the frame 10 (i.e. transversely arranged on the mounting seat 50). Specifically, the rotary axis of the rotary driving end 3221 can be parallel to the length direction, the width direction or any direction on the horizontal plane of the mounting seat 50. By transversely arranging the driving member 322 on the frame 10, the space occupied by the driving member 322 in the height direction of the frame 10 can be effectively reduced. This arrangement helps to reduce the overall height of the cleaning device, so that the lightweight design of the device can be more easily realized. Figure 29 Figure 30

[0165] ​​​Optionally, in the embodiment, please refer to Figure 29 and Figure 30 , the rotation axis of the rotary driving end 3221 is parallel to the length direction of the mounting base 50, and the rotary driving end 3221 extends to the outside of the length direction of the mounting base 50 to be connected with the first gear 3231. This arrangement not only can reduce the space occupied by the driving member 322 in the height direction of the cleaning device, but also can reduce the installation space required by the driving member 322 in the width direction of the mounting base 50, so that the space layout of the whole machine can be further optimized, and the space utilization is improved.

[0166] Please refer to Figure 22 , in an embodiment of the present application, the side of the shroud 34 away from the rotary cleaning member 20 is provided with a containing groove 347 in the height direction of the cleaning device, and the driving member 322 is at least partially located in the containing groove 347. In an embodiment, the depth of the containing groove 347 can be less than the height of the driving member 322, so that part of the driving member 322 is located in the containing groove 347. In another embodiment, the depth of the containing groove 347 can be equal to or greater than the height of the driving member 322, so that the driving member 322 can be completely located in the containing groove 347. The slot of the containing groove 347 can also be provided with a detachable cover plate to protect the installation of the driving member 322. By setting the containing groove 347 and at least partially locating the driving member 322 in the containing groove 347, the space occupied by the driving member 322 above the mounting base 50 can be effectively reduced, and the design height of the whole cleaning device can be reduced, which is beneficial to realize the light and thin design of the cleaning device.

[0167] Please refer to Figure 30 and Figure 32 , in an embodiment of the present application, the shroud 34 is connected with a bracket 35, and the bracket 35 and the shroud 34 can be connected in various ways such as clamping fixed connection and bolt fixed connection. The bracket 35 and the shroud 34 surround to form a mounting cavity 351, and the driving member 322 is accommodated in the mounting cavity 351, and the rotary driving end 3221 extends to the outside of the mounting cavity 351 to be connected with the power input end of the transmission assembly 323. The mounting cavity 351 can be a closed cavity structure, or a semi-closed cavity structure, etc., which is not limited in the embodiment. The bracket 35 can be a U-shaped bracket 35, an L-shaped bracket 35 or other suitable shapes, as long as it can be connected with the shroud 34 to form the mounting cavity 351. By setting the bracket 35 and making the bracket 35 and the shroud 34 cooperate to form the mounting cavity 351, the driving member 322 can be arranged in the mounting cavity 351, which not only can reduce the probability of direct contact of external dust, liquid and other impurities with the driving member 322, but also can form mechanical protection for the driving member 322, and reduce the risk of damage of the driving member 322 caused by external collision or interference.

[0168] It should be noted that, please refer toFigure 31 When the accommodating groove 347 is arranged on the shroud 34, the bracket 35 is located above the accommodating groove 347 and covers the slot, so as to form the mounting cavity 351 in cooperation with the accommodating groove 347.

[0169] Please refer to Figure 31 and Figure 32 In an embodiment of the present application, the side of the shroud 34 facing the bracket 35 is provided with a first connecting part 342, and the side of the bracket 35 facing the shroud 34 is provided with a second connecting part 352. The first connecting part 342 and the second connecting part 352 are fixedly connected to each other and jointly form a through hole 353 for the rotating driving end 3221 to extend out. Specifically, a semicircular arc hole is arranged symmetrically on the first connecting part 342 and the second connecting part 352. When the two are fixedly connected, the corresponding semicircular arc holes are in butt joint with each other, forming a complete through hole 353. It should be noted that the fixed connection between the bracket 35 and the shroud 34 can only rely on the clamping connection between the first connecting part 342 and the second connecting part 352, or other fixing positions (such as bolt connection holes or additional clamping structures) can be additionally provided to further improve the stability and reliability of the connection. The specific clamping structure of the first connecting part 342 and the second connecting part 352 is not limited, for example, a clamping groove structure can be arranged on the first connecting part 342, and a clamping block structure matched with the clamping groove structure is arranged on the second connecting part 352, so as to realize the fixed connection by the mutual clamping of the clamping groove and the clamping block. Alternatively, the first connecting part 342 and the second connecting part 352 can be jointly enclosed into a plug-in hole structure after being in butt joint, and a positioning pin fastener is inserted into the plug-in hole to realize the reliable fixation of the two.

[0170] In the present embodiment, the first connecting part 342 and the second connecting part 352 are arranged to be clamped to each other, and jointly form the through hole 353 for the rotating driving end 3221 to extend out. On the one hand, the clamping structure of the first connecting part 342 and the second connecting part 352 can improve the positioning efficiency between the bracket 35 and the shroud 34, thereby helping to improve the assembly efficiency. On the other hand, when the driving member 322 needs to be disassembled, only the bracket 35 needs to be disassembled and the connection between the driving member 322 and the shroud 34 needs to be disassembled, and then the driving member 322 can be taken out along the height direction of the cleaning device, without the need for horizontal movement, which is beneficial to reduce the design size of the mounting cavity 351 in the horizontal direction, and thereby helps to reduce the design size of the bracket 35.

[0171] Please refer to Figure 34The application provides a control method of a cleaning device, which can control the operation of the cleaning device in the above embodiments. The control method controls the shielding mechanism 30 to lower the shielding piece 31, so that the second connecting piece 311 is connected with the first connecting piece 21, and then drives the rotary cleaning piece 20 to move in the first rotating direction, so as to drive the shielding piece 31 to continue to lower and shield the side of the rotary cleaning piece 20 facing the surface to be cleaned. In this way, when the rotary cleaning piece 20 passes through a specific obstacle during the movement of the cleaning device, the shielding piece 31 can shield the side of the rotary cleaning piece 20 facing the surface to be cleaned, so as to isolate the rotary cleaning piece 20 from the ground, thereby reducing the probability that the sewage on the rotary cleaning piece 20 falls and pollutes the ground, especially reducing the probability that the sewage of the wet rotary cleaning piece 20 drops and the long hair of the carpet contacts the rotary cleaning piece 20 when the wet rotary cleaning piece 20 passes through the carpet, and reducing the risk of pollution of the carpet. At the same time, since the first rotating direction is opposite to the second rotating direction of the wet rotary cleaning piece 20 when performing a cleaning task, the shielding action can be triggered only when the rotary cleaning piece 20 does not perform a wet cleaning task, so as to avoid the risk that the shielding piece 31 is lowered accidentally and interferes with the rotating rotary cleaning piece 20 during normal wet cleaning operation, thereby ensuring the normal wet cleaning operation of the rotary cleaning piece 20.

[0172] When it is necessary to shield the side of the rotary cleaning piece 20 facing the surface to be cleaned by the shielding piece 31, the control method comprises the following steps:

[0173] S1: controlling the shielding mechanism 30 to lower the shielding piece 31, so that the second connecting piece 311 is connected with the first connecting piece 21.

[0174] In this step, during the process that the second connecting piece 311 is connected with the first connecting piece 21 on the movement path of the first connecting piece 21, the rotary cleaning piece 20 can be kept in a moving state in the first rotating direction, so as to drive the first connecting piece 21 to move in the first rotating direction, and then realize the connection between the first connecting piece 21 and the second connecting piece 311 lowered on the movement path of the first connecting piece 21. The rotary cleaning piece 20 can also start to move in the first rotating direction after the second connecting piece 311 is lowered on the movement path of the first connecting piece 21, so as to drive the first connecting piece 21 to move in the first rotating direction and realize the connection with the second connecting piece 311. As long as the first connecting piece 21 can be connected with the first connecting piece 21 during the lowering process of the shielding piece 31, the present embodiment does not make any limitation.

[0175] S2: drive the rotary cleaning member 20 to move in the first rotation direction, and drive the shielding member 31 to continue to drop by the connection of the first connecting member 21 and the second connecting member 311, so as to shield the side of the rotary cleaning member 20 facing the surface to be cleaned.

[0176] In this step, after the connection of the first connecting member 21 and the second connecting member 311, the shielding member 31 continues to drop. In an embodiment, the driving assembly 32 driving the shielding member 31 to drop continues to operate, and continues to provide the dropping power, so as to realize the dropping of the shielding member. The dropping action cooperates with the rotation of the rotary cleaning member 20 in the first rotation direction, and acts on the shielding member 31 together, so as to realize the continuous dropping of the shielding member 31. In another embodiment, the driving assembly 32 driving the shielding member 31 to drop stops operating, and at this time, only the rotation of the rotary cleaning member 20 in the first rotation direction is used to pull the shielding member 31 alone, so as to realize the continuous dropping of the shielding member 31. It should be noted that the driving assembly 32 driving the shielding member 31 to drop stops operating, which means that the driving assembly 32 no longer actively drives the shielding member 31 to drop, but when the shielding member 31 is pulled, the shielding member 31 can still drive the output shaft of the driving assembly 32 to rotate, that is, after the driving assembly 32 stops operating, the output shaft of the driving assembly 32 will not be braked, and under the action of external force, the output shaft of the driving assembly 32 can still be driven to rotate passively.

[0177] In the above steps, the second rotation direction is the rotation direction of the rotary cleaning member 20 when performing the wet cleaning task, and the first rotation direction is opposite to the second rotation direction, that is, the first rotation direction is the non-cleaning operation direction of the rotary cleaning member 20.

[0178] It should be noted that the action of driving the shielding member 31 to drop and the action of driving the rotary cleaning member 20 to rotate are both controlled and executed by the control system of the cleaning device.

[0179] By using the control method in this embodiment, when the cleaning device needs to pass through a specific obstacle (such as a threshold or a carpet) during walking, the shielding member 31 can be dropped by controlling the shielding mechanism 30, so that the second connecting member 311 is connected with the first connecting member 21, and then the rotary cleaning member 20 is driven to move in the first rotation direction, and the shielding member 31 is driven to continue to drop by the connection of the first connecting member 21 and the second connecting member 311, so as to shield the side of the rotary cleaning member 20 facing the surface to be cleaned, thereby realizing the isolation between the rotary cleaning member 20 and the ground. Therefore, this can reduce the probability that the wet rotary cleaning member 20 is scraped off when passing through the specific obstacle, and the ground is polluted. Especially, it can reduce the probability that the wet rotary cleaning member 20 drops sewage on the carpet and the probability that the long hair on the carpet contacts the rotary cleaning member 20, and thus the risk of polluting the carpet can be reduced.

[0180] In addition, the first rotation direction is opposite to the second rotation direction, as the second rotation direction is the rotation direction of the swivel cleaning member 20 when performing the wet cleaning task. In this way, the shielding action is triggered only when the swivel cleaning member 20 does not perform the wet cleaning task (i.e., runs in the non-second rotation direction). In this way, the risk of the shielding mechanism 30 accidentally lowering and interfering with the rotating swivel cleaning member 20 during normal wet cleaning operation can be avoided, thereby ensuring the normal wet cleaning operation of the swivel cleaning member 20.

[0181] Referring to Figure 35 In an embodiment of the present application, in step S1, the shielding mechanism 30 is controlled to lower the shielding member 31 so that the second connecting member 311 is in line with and connected to the first connecting member 21 on the movement path of the first connecting member 21, including the following steps:

[0182] S11: The swivel cleaning member 20 is driven to move in the first rotation direction, so that the swivel cleaning member 20 drives the first connecting member 21 to move in the first rotation direction.

[0183] S12: The shielding mechanism 30 is controlled to lower the shielding member 31 so that the second connecting member 311 moves to the movement path of the first connecting member 21, and the second connecting member 311 is connected to the first connecting member 21 on the movement path of the first connecting member 21 during the movement of the first connecting member 21 in the first rotation direction.

[0184] In this embodiment, the swivel cleaning member 20 is first driven to put the first connecting member 21 into a movement state, and then the shielding mechanism 30 is controlled to lower the second connecting member 311 into the movement path of the first connecting member 21. With this timing control, the second connecting member 311 can complete dynamic docking with the first connecting member 21 during the movement of the first connecting member 21. In this way, the connection response time can be shortened, and the connection action between the first connecting member 21 and the second connecting member 311 can be smoother and more natural, thereby facilitating the connection efficiency of the first connecting member 21 and the second connecting member 311.

[0185] Referring to Figure 36 In an embodiment of the present application, in step S1, the shielding mechanism 30 is controlled to lower the shielding member 31 so that the second connecting member 311 is in line with and connected to the first connecting member 21 on the movement path of the first connecting member 21, including the following steps:

[0186] S11: The swivel cleaning member 20 is driven to move in the first rotation direction, so that the swivel cleaning member 20 drives the first connecting member 21 to move in the first rotation direction.

[0187] S12': Drive the rotary cleaning component 20 to move in the first rotation direction, so that the rotary cleaning component 20 drives the first connecting component 21 to move in the first rotation direction. During the movement of the first connecting component 21 in the first rotation direction, the second connecting component 311 is connected to the first connecting component 21 on the movement path of the first connecting component 21.

[0188] In this embodiment, by first moving the second connector 311 onto the movement path of the first connector 21, and then controlling the movement of the first connector 21, it is beneficial to ensure the accurate positioning of the second connector 311 and avoid motion interference between the second connector 311 and the first connector 21 during operation. This helps to improve the docking position accuracy between the first connector 21 and the second connector 311 and reduce the risk of connection failure between the first connector 21 and the second connector 311.

[0189] In one embodiment of the present invention, after the first connecting member 21 and the second connecting member 311 are connected, during the continued lowering of the shielding member 31, the driving component 32 that drives the shielding member 31 to lower continuously operates, continuing to provide lowering power so that the shielding member 31 is lowered. This lowering action cooperates with the rotation of the rotary cleaning member 20 along the first rotation direction, working together on the shielding member 31 to realize the continued lowering of the shielding member 31. During the continued lowering of the shielding member 31, the linear velocity of the first connecting member 21 moving along the first rotation direction is greater than or equal to the speed at which the shielding mechanism 30 lowers the shielding member 31.

[0190] During the continuous lowering of the blocking member 31, since the linear velocity of the first connecting member 21 moving along the first rotational direction is always greater than or equal to the speed at which the blocking mechanism 30 lowers the blocking member 31, this velocity relationship ensures that the blocking member 31 is always in a "taut" state. Therefore, the blocking member 31 will not have any slack sections during the entire lowering process, effectively reducing the risk of scratching or entanglement that may be caused by the slack of the blocking member 31. At the same time, this taut state also helps to ensure the continuity and stability of the lowering action, thereby improving the reliability and stability of the blocking member 31 in performing the blocking action.

[0191] In one embodiment of the present invention, along the forward direction of the cleaning equipment (e.g.) Figure 6 (As shown in the X-axis direction), one end of the cleaning device is the front end, and the other end is the rear end. The blocking member 31 is retracted and extended at the front end. That is, when the blocking member 31 is in the retracted state, it is located at the front end of the cleaning device. When the blocking member 31 needs to perform a blocking action, it is lowered and moves from the front end of the cleaning device towards the rear end of the cleaning device.

[0192] The rotary cleaning piece 20 comprises a first arc segment 201, a second arc segment 202, a first plane segment 203 and a second plane segment 204. The first arc segment 201 and the second arc segment 202 are sequentially arranged along the direction from the front end to the rear end, that is, the first arc segment 201 is arranged close to the front end of the cleaning device, and the second arc segment 202 is arranged close to the rear end of the cleaning device. The first plane segment 203 is connected between the first arc segment 201 and the second arc segment 202, and is arranged close to the surface to be cleaned. The second plane segment 204 is connected between the first arc segment 201 and the second arc segment 202, and is arranged on the side of the first plane segment 203 away from the surface to be cleaned. The first plane segment 203 is parallel or substantially parallel to the second plane segment 204.

[0193] The rotary cleaning piece 20 is driven to move in the first rotation direction, and the shielding piece 31 is driven to continue to drop by the connection of the first connecting piece 21 and the second connecting piece 311 to shield the side of the rotary cleaning piece 20 facing the surface to be cleaned, comprising:

[0194] The shielding piece 31 sequentially passes through and shields the first arc segment 201, the first plane segment 203 and the second arc segment 202.

[0195] In this way, the shielding piece 31 can sequentially cover the contours of the first arc segment 201, the first plane segment 203 and the second arc segment 202 in the process of shielding the rotary cleaning piece 20, and finally stays at a position corresponding to the second arc segment 202. In this state, the shielding piece 31 and the second arc segment 202 can form a matched arc-shaped shielding structure. The arc-shaped shielding structure can effectively receive the sewage dripping on the corresponding second arc segment 202 of the rotary cleaning piece 20 and collect it inside the shielding piece 31, thereby improving the shielding effect of the shielding piece 31 on the side of the rotary cleaning piece 20 facing the surface to be cleaned. At the same time, the arc-shaped shielding structure can also reduce the risk of external leakage of the sewage collected inside the shielding piece 31 during the movement of the cleaning device, further enhancing the shielding effect of the shielding piece 31 on the side of the rotary cleaning piece 20 facing the surface to be cleaned.

[0196] In an embodiment of the present application, after the side of the rotary cleaning piece 20 facing the surface to be cleaned is shielded by the shielding piece 31, when it is necessary to expose the side of the rotary cleaning piece 20 facing the surface to be cleaned, the control method further comprises:

[0197] The rotary cleaning piece 20 is driven to move in the second rotation direction, and the shielding mechanism 30 is controlled to retract the shielding piece 31 until the shielding piece 31 exposes the side of the rotary cleaning piece 20 facing the surface to be cleaned.

[0198] The second rotation direction is opposite to the first rotation direction, and the second rotation direction is consistent with the rotation direction of the rotary cleaning piece 20 when performing the cleaning task.

[0199] Since the rotary cleaning member 20 can only perform the cleaning task when the side facing the surface to be cleaned is exposed, in the embodiment, the second rotation direction is set to be consistent with the rotation direction of the rotary cleaning member 20 when performing the cleaning task, which means that when the shielding member 31 performs the contraction action, the rotary cleaning member 20 has already rotated in the second rotation direction required for performing the cleaning task. In this way, as soon as the side of the rotary cleaning member 20 facing the surface to be cleaned is exposed, the rotary cleaning member 20 can immediately perform the cleaning task without the need for a reversing operation. Therefore, the control logic of the operation of the cleaning device can be simplified, and the cleaning efficiency of the cleaning device can be improved.

[0200] In an embodiment of the present application, during the process of driving the rotary cleaning member 20 to move in the second rotation direction and controlling the shielding mechanism 30 to contract the shielding member 31 until the shielding member 31 exposes the side of the rotary cleaning member 20 facing the surface to be cleaned, the linear speed of the first connecting member 21 moving in the second rotation direction is less than or equal to the speed of the shielding mechanism 30 contracting the shielding member 31.

[0201] Since the linear speed of the first connecting member 21 moving in the second rotation direction is less than or equal to the speed of the shielding mechanism 30 contracting the shielding member 31, this speed relationship can keep the shielding member 31 in a "tensioned" state at all times. Therefore, the shielding member 31 will not have a relaxation segment during the entire contraction process, effectively reducing the risk of scratching or entanglement that may be caused by the sagging of the shielding member 31. At the same time, this tensioned state also helps to ensure the continuity and stability of the contraction action of the shielding member 31, thereby improving the reliability and consistency of the shielding member 31 performing the contraction action.

[0202] In an embodiment of the present application, during the process of driving the rotary cleaning member 20 to move in the second rotation direction and controlling the shielding mechanism 30 to contract the shielding member 31 until the shielding member 31 exposes the side of the rotary cleaning member 20 facing the surface to be cleaned (i.e., exposes the first planar section 203 of the rotary cleaning member 20), the control method further comprises:

[0203] continuing to drive the rotary cleaning member 20 to move in the second rotation direction and controlling the shielding mechanism 30 to continue to contract the shielding member 31 until the first connecting member 21 and the second connecting member 311 are disengaged.

[0204] It should be noted that after the first connecting member 21 and the second connecting member 311 are disengaged, the shielding member 31 will perform the contraction action until the shielding member 31 is contracted in place. The rotary cleaning member 20 continues to move in the second rotation direction to perform the cleaning task.

[0205] In this embodiment, after the shielding member 31 exposes the side of the rotary cleaning member 20 facing the surface to be cleaned, the control system continues to drive the rotary cleaning member 20 to move in the second rotation direction and controls the shielding mechanism 30 to continue to retract the shielding member 31 until the first connecting member 21 and the second connecting member 311 are disengaged. In this way, the automatic disengagement of the first connecting member 21 and the second connecting member 311 during the movement of the rotary cleaning member 20 in the second rotation direction can be achieved. This process does not require the introduction of additional operations or complex control instructions, thereby simplifying the control logic of the control system. At the same time, since the first connecting member 21 and the second connecting member 311 are disengaged from each other, the rotary movement of the rotary cleaning member 20 and the retraction action of the shielding member 31 are completely decoupled and become two independent movement processes. This allows the rotary cleaning member 20 to be unaffected by the retraction action of the shielding member 31 and to continue to operate in the second rotation direction (i.e., the cleaning direction) without interference, effectively avoiding cleaning interruptions, speed fluctuations, or operation failures that may be caused by linkage restrictions, thereby facilitating the continuity of the cleaning process and improving the overall operation efficiency.

[0206] In an embodiment of the present application, along the advancing direction of the cleaning device (as indicated by the X-axis direction in the figure) Figure 6 In this embodiment, the front end of the cleaning device is the front end, and the rear end is the rear end. The shielding member 31 is retracted at the front end. That is, when the shielding member 31 is in the retracted state, it is located at the front end of the cleaning device. When the shielding member 31 needs to perform the shielding action, it is lowered and moves from the front end of the cleaning device to the rear end of the cleaning device.

[0207] The rotary cleaning member 20 includes a first arc segment 201, a second arc segment 202, a first flat segment 203, and a second flat segment 204. The first arc segment 201 and the second arc segment 202 are sequentially arranged along the direction from the front end to the rear end, i.e., the first arc segment 201 is arranged close to the front end of the cleaning device, and the second arc segment 202 is arranged close to the rear end of the cleaning device. The first flat segment 203 is connected between the first arc segment 201 and the second arc segment 202 and is arranged close to the surface to be cleaned. The second flat segment 204 is connected between the first arc segment 201 and the second arc segment 202 and is located on the side of the first flat segment 203 away from the surface to be cleaned.

[0208] Driving the rotary cleaning member 20 to move in the second rotation direction and controlling the shielding mechanism 30 to retract the shielding member 31 until the shielding member 31 exposes the side of the rotary cleaning member 20 facing the surface to be cleaned, includes:

[0209] The shielding member 31 sequentially moves away from and exposes the second arc segment 202, the first flat segment 203, and the first arc segment 201.

[0210] Since the shielding piece 31 is sequentially away from and exposes the second arc segment 202, the first plane segment 203 and the first arc segment 201 during the contraction of the shielding piece 31, the arrangement can ensure that the rotary cleaning piece 20 is completely exposed to the side of the surface to be cleaned, which means that the shielding piece 31 does not interfere with the cleaning function of the rotary cleaning piece 20 during normal cleaning operation, thereby ensuring the efficiency and cleaning effect of the cleaning operation.

[0211] In an embodiment of the present application, the cleaning device is further provided with a sensor system for identifying image information and / or three-dimensional information of the obstacle, and the control method further comprises:

[0212] The sensor system detects the image information and / or three-dimensional information of the obstacle, and determines the type of the obstacle according to the image information and / or three-dimensional information of the obstacle;

[0213] According to the type of the obstacle, it is determined whether the side of the rotary cleaning piece 20 facing the surface to be cleaned needs to be shielded.

[0214] In this step, the sensor system can be a visual sensor such as an RGB camera for collecting image information such as color, texture and shape of the obstacle. The sensor system can also be a depth camera, such as an ultrasonic sensor, a structured light camera, a ToF (Time of Flight) camera, a monocular vision system or a multi-view vision system, for obtaining three-dimensional point cloud data and distance information of the obstacle. The sensor system can also use a multi-sensor fusion scheme, such as combining visual information and depth data, to improve the accuracy of obstacle recognition.

[0215] In this step, it is determined whether the side of the rotary cleaning piece 20 facing the surface to be cleaned needs to be shielded according to the type of the obstacle. Specifically, if the obstacle is determined to be a specific type of obstacle, such as a low-height threshold, a small decorative object on the ground, or a guide plate on the base station of the cleaning device, which is usually allowed to pass normally, the shielding piece 31 needs to shield the side of the rotary cleaning piece 20 facing the surface to be cleaned. Otherwise, if the obstacle type does not belong to the above specific obstacles, the shielding piece 31 does not need to shield the side of the rotary cleaning piece 20 facing the surface to be cleaned.

[0216] In this embodiment, the sensor system is provided on the cleaning device, and the sensor system can be used to identify the image information and / or three-dimensional information of the obstacle. In this way, the cleaning device can automatically and accurately determine the type of the obstacle, and determine whether the shielding piece 31 needs to shield the rotary cleaning piece 20 based on the determination, thereby improving the intelligent level, safety and adaptability of the cleaning operation.

[0217] In an embodiment of the present application, the cleaning device further comprises a processor and a memory, the processor is in communication connection with the memory, the memory stores a plurality of instructions, and the processor implements the control method described in any of the above embodiments by executing the plurality of instructions.

[0218] The present application provides a computer readable storage medium for a cleaning device, the computer readable storage medium stores a plurality of instructions, and the cleaning device implements the control method described in any of the above embodiments by executing the plurality of instructions.

[0219] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical concept disclosed by the present application should be covered by the claims of the present application.

Claims

1. A control method of a cleaning apparatus, characterized by, The cleaning device comprises a frame, a rotary cleaning element and a shielding mechanism, the rotary cleaning element is installed at the bottom of the frame and has a first rotation direction and a second rotation direction, the rotary cleaning element comprises a first connecting element linked with the rotary cleaning element; The shielding mechanism is installed on the frame and comprises a shielding element, the shielding element can be retracted or extended under the drive of the shielding mechanism to expose or shield one side of the rotary cleaning element facing the surface to be cleaned; The shielding element comprises a second connecting element; When it is necessary to shield one side of the rotary cleaning element facing the surface to be cleaned by the shielding element, the control method comprises: Controlling the shielding mechanism to retract the shielding element so that the second connecting element meets and connects the first connecting element on the movement path of the first connecting element; Driving the rotary cleaning element to move in the first rotation direction and driving the shielding element to continue retracting to shield one side of the rotary cleaning element facing the surface to be cleaned through the connection of the first connecting element and the second connecting element; The second rotation direction is the rotation direction of the rotary cleaning element when performing a wet cleaning task, and the first rotation direction is opposite to the second rotation direction.

2. The control method according to claim 1, characterized by, The control of the shielding mechanism to retract the shielding element so that the second connecting element meets and connects the first connecting element on the movement path of the first connecting element comprises: Driving the rotary cleaning element to move in the first rotation direction so that the rotary cleaning element drives the first connecting element to move in the first rotation direction; Controlling the shielding mechanism to retract the shielding element so that the second connecting element moves to the movement path of the first connecting element, and the second connecting element is connected with the first connecting element on the movement path of the first connecting element during the movement of the first connecting element in the first rotation direction.

3. The control method according to claim 1, characterized by, The control of the shielding mechanism to retract the shielding element so that the second connecting element meets and connects the first connecting element on the movement path of the first connecting element comprises: Controlling the shielding mechanism to retract the shielding element so that the second connecting element moves to the movement path of the first connecting element; Driving the rotary cleaning element to move in the first rotation direction so that the rotary cleaning element drives the first connecting element to move in the first rotation direction, and the second connecting element is connected with the first connecting element on the movement path of the first connecting element during the movement of the first connecting element in the first rotation direction.

4. The control method according to claim 1, characterized by, The linear speed of the first connecting element moving in the first rotation direction is greater than or equal to the speed of the shielding mechanism retracting the shielding element.

5. The control method according to claim 1, characterized by, The cleaning device has a front end and a rear end in the advancing direction of the cleaning device, and the shielding member is retracted and extended at the front end; the rotary cleaning member comprises a first arc segment, a second arc segment, a first plane segment and a second plane segment, the first arc segment and the second arc segment are sequentially arranged along the direction from the front end to the rear end, the first plane segment is connected between the first arc segment and the second arc segment and is arranged close to the surface to be cleaned, and the second plane segment is connected between the first arc segment and the second arc segment and is arranged on the side of the first plane segment away from the surface to be cleaned; The driving of the rotary cleaning member in the first rotation direction and the driving of the shielding member to continue to be retracted to shield the side of the rotary cleaning member facing the surface to be cleaned through the connection of the first connecting member and the second connecting member comprise: The shielding member sequentially passes through and shields the first arc segment, the first plane segment and the second arc segment.

6. The control method according to claim 1, characterized by, After the shielding of the side of the rotary cleaning member facing the surface to be cleaned by the shielding member, when it is required to expose the side of the rotary cleaning member facing the surface to be cleaned, the control method further comprises: Driving the rotary cleaning member to move in the second rotation direction and controlling the shielding mechanism to retract the shielding member until the side of the rotary cleaning member facing the surface to be cleaned is exposed; The second rotation direction is opposite to the first rotation direction, and the second rotation direction is consistent with the rotation direction of the rotary cleaning member when the rotary cleaning member performs a cleaning task.

7. The control method according to claim 6, characterized by The linear speed of the first connecting member moving in the second rotation direction is less than or equal to the speed of the shielding mechanism retracting the shielding member.

8. The control method according to claim 6, characterized by, After the driving of the rotary cleaning member in the second rotation direction and the control of the shielding mechanism to retract the shielding member until the side of the rotary cleaning member facing the surface to be cleaned is exposed, the control method further comprises: Continuing to drive the rotary cleaning member to move in the second rotation direction and to control the shielding mechanism to continue to retract the shielding member until the first connecting member and the second connecting member are separated.

9. The control method according to claim 6, characterized by, The cleaning device has a front end and a rear end in the advancing direction of the cleaning device, and the shielding member is retracted and extended at the front end; the rotary cleaning member comprises a first arc segment, a second arc segment, a first plane segment and a second plane segment, the first arc segment and the second arc segment are sequentially arranged along the direction from the front end to the rear end, the first plane segment is connected between the first arc segment and the second arc segment and is arranged close to the surface to be cleaned, and the second plane segment is connected between the first arc segment and the second arc segment and is arranged on the side of the first plane segment away from the surface to be cleaned; The driving of the rotary cleaning member in the second rotation direction and the control of the shielding mechanism to retract the shielding member until the side of the rotary cleaning member facing the surface to be cleaned is exposed, comprise: The shielding member sequentially moves away from and exposes the second arc segment, the first plane segment, and the first arc segment.

10. The control method according to claim 1, characterized by, The cleaning device is further provided with a sensor system for identifying image information and / or three-dimensional information of the obstacle, and the control method further comprises: detecting the image information and / or three-dimensional information of the obstacle by using the sensor system, and determining the type of the obstacle according to the image information and / or three-dimensional information of the obstacle; determining whether the side of the rotary cleaning member facing the surface to be cleaned needs to be shielded according to the type of the obstacle.

11. A cleaning apparatus, characterized by The cleaning device comprises a processor and a memory, the processor is in communication connection with the memory, the memory stores a plurality of instructions, and the processor realizes the control method of any one of claims 1 to 10 by executing the plurality of instructions.

12. A computer-readable storage medium for a cleaning device, characterized in that The computer readable storage medium stores a plurality of instructions, and the cleaning device realizes the control method of any one of claims 1 to 10 by executing the plurality of instructions.

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