Autonomous cleaning device

Abstract

The autonomous cleaning device provided in the application. The autonomous cleaning device comprises a body, an edge sweeping module, a middle sweeping module and a mopping module, wherein the mopping module comprises a roller mop, and a mopping module driving mechanism is arranged to enable the mopping module to move in the height direction and the width direction. The autonomous cleaning device has two working states: single sweeping and sweeping and mopping. When single sweeping, the mopping module is lifted, and the roller mop is stopped; when sweeping and mopping, the mopping module is lowered to the mopping height and located at the retracted or expanded position, and the roller mop rotates. During the switching from single sweeping to sweeping and mopping, the roller mop rotates in advance before the mopping module is lowered to the mopping height. Thus, the roller mop has complete cleaning ability at the moment of contacting the ground, avoiding the uneven cleaning or missed sweeping of the initial area caused by the traditional way of lowering first and then accelerating, improving the cleaning continuity and effect consistency, and improving the user experience.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and more particularly to a self-cleaning device. Background Technology

[0002] Main cleaning devices with roller components, such as robotic vacuum cleaners with roller mops, use a relatively larger amount of water during operation due to the water replenishment and stain removal functions of the roller mop. Therefore, whether or not the roller mop is used has a significant impact on cleaning performance and user experience depending on the environment. For example, the roller mop should be stopped when cleaning carpets, high-end flooring, or water-sensitive materials such as paper or wood. Conversely, the roller mop is necessary for some water-resistant materials. Therefore, the cleaning mode of the device often needs to be switched, such as sweeping mode or sweeping and mopping mode.

[0003] However, in existing technologies, self-cleaning devices reduce cleaning effectiveness and user experience when switching cleaning modes. Summary of the Invention

[0004] The self-cleaning device provided in this application is used to solve the problem that the cleaning efficiency of the self-cleaning device will decrease when switching cleaning modes.

[0005] In a first aspect, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0006] Organism;

[0007] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0008] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0009] A mopping module is provided in a receiving cavity at the bottom of the machine body. The mopping module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0010] A mopping module drive mechanism is used to drive the mopping module to move in the height direction of the machine body. The mopping module can move between a lifting height and a mopping height. The mopping module can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module to move in the width direction of the machine body. The mopping module can move between an inward position and an outward position. In the outward position, the mopping module is further away from the receiving cavity than in the inward position.

[0011] A communication unit, used to receive command signals from the user terminal;

[0012] A voice receiving unit is used to receive the user's voice commands;

[0013] The control unit is used to control the movement of the autonomous cleaning device, and to control the side sweeping module, the center sweeping module, the mopping module, and the mopping module drive mechanism.

[0014] The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module is located at the lifting height, the roller mop stops rotating, and the roller brush and / or side brush rotates. In the sweeping and mopping working state, the mopping module is located at the mopping height and is located in the inward position or the outward position, and the roller mop rotates.

[0015] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module to move to the mopping height, controls the roller mop to start rotating before the mopping module reaches the mopping height, and controls the roller mop to reach a specific rotation speed after contacting the ground.

[0016] In an optional embodiment, controlling the roller mop to begin rotating before the mopping module reaches the mopping height includes:

[0017] After the mopping module begins to descend but before reaching the mopping height, the roller mop is controlled to start rotating. The roller mop reaches a specific speed range of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground.

[0018] In an optional embodiment, controlling the roller mop to begin rotating before the mopping module reaches the mopping height includes:

[0019] Before the mopping module begins to descend, or at the same time as the mopping module begins to descend, the roller mop is driven to start rotating. After the roller mop contacts the ground, the rotation speed reaches a specific range of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0020] In one alternative embodiment, during the switching process, the body is controlled to maintain movement, and the side brush and / or the roller brush is controlled to maintain rotation.

[0021] In an optional embodiment, the autonomous cleaning device is further provided with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module to extend its mopping range, the mopping module is controlled to move outward from the retracted position to the extended position. During the outward movement, the rotation speed of the roller mop is controlled to be greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward movement stops, the rotation speed of the roller mop is controlled to be greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0022] Secondly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0023] Organism;

[0024] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0025] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0026] A mopping module is provided in a receiving cavity at the bottom of the machine body. The mopping module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0027] A mopping module drive mechanism is used to drive the mopping module to move in the height direction of the machine body. The mopping module can move between a lifting height and a mopping height. The mopping module can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module to move in the width direction of the machine body. The mopping module can move between an inward position and an outward position. In the outward position, the mopping module is further away from the receiving cavity than in the inward position.

[0028] A communication unit, used to receive command signals from the user terminal;

[0029] A voice receiving unit is used to receive the user's voice commands;

[0030] The control unit is used to control the movement of the autonomous cleaning device, and to control the side sweeping module, the center sweeping module, the mopping module, and the mopping module drive mechanism.

[0031] The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module is located at the lifting height, the roller mop stops rotating, and the roller brush and / or side brush rotates. In the sweeping and mopping working state, the mopping module is located at the mopping height and is located in the inward position or the outward position, and the roller mop rotates.

[0032] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module to move to the mopping height and controls the roller mop to start rotating before the mopping module reaches the mopping height.

[0033] The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module to extend its mopping range, the mopping module is controlled to move outward from the inward position to the outward position. During the outward movement, the rotation speed of the roller mop is controlled to be greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward movement stops, the rotation speed of the roller mop is controlled to be greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0034] Thirdly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0035] Organism;

[0036] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0037] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0038] A mopping module is provided in a receiving cavity at the bottom of the machine body. The mopping module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0039] A mopping module drive mechanism is used to drive the mopping module to move in the height direction of the machine body. The mopping module can move between a lifting height and a mopping height. The mopping module can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module to move in the width direction of the machine body. The mopping module can move between an inward position and an outward position. In the outward position, the mopping module is further away from the receiving cavity than in the inward position.

[0040] A communication unit, used to receive command signals from the user terminal;

[0041] A voice receiving unit is used to receive the user's voice commands;

[0042] The control unit is used to control the movement of the autonomous cleaning device, and to control the side sweeping module, the center sweeping module, the mopping module, and the mopping module drive mechanism.

[0043] The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module is located at the lifting height, the roller mop stops rotating, and the roller brush and / or side brush rotates. In the sweeping and mopping working state, the mopping module is located at the mopping height and is located in the inward position or the outward position, and the roller mop rotates.

[0044] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module to move to the mopping height and controls the roller mop to start rotating before the mopping module reaches the mopping height.

[0045] The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module to expand outward for mopping, the mopping module is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the roller mop is controlled to keep rotating.

[0046] When the autonomous cleaning device is in sweeping and mopping mode and the mopping module is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the device controls the mopping module to move to the retracted position. During or before the mopping module moves to the retracted position, the device controls the roller mop to stop rotating. After the mopping module reaches the retracted position or the transition position, the mopping module drive mechanism drives the mopping module to the lifting height. The transition position is the position between the retracted position and the extended position where the mopping module drive mechanism can drive the mopping module to lift.

[0047] Fourthly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0048] Organism;

[0049] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0050] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0051] A mopping module is provided in a receiving cavity at the bottom of the machine body. The mopping module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0052] A mopping module drive mechanism is used to drive the mopping module to move in the height direction of the machine body. The mopping module can move between a lifting height and a mopping height. The mopping module can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module to move in the width direction of the machine body. The mopping module can move between an inward position and an outward position. In the outward position, the mopping module is further away from the receiving cavity than in the inward position.

[0053] A communication unit, used to receive command signals from the user terminal;

[0054] A voice receiving unit is used to receive the user's voice commands;

[0055] The control unit is used to control the movement of the autonomous cleaning device, and to control the side sweeping module, the center sweeping module, the mopping module, and the mopping module drive mechanism.

[0056] The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module is located at the lifting height, the roller mop stops rotating, and the roller brush and / or side brush rotates. In the sweeping and mopping working state, the mopping module is located at the mopping height and is located in the inward position or the outward position, and the roller mop rotates.

[0057] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module to move to the mopping height and controls the roller mop to start rotating before the mopping module reaches the mopping height.

[0058] The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module to expand outward for mopping, the mopping module is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the rotation speed of the roller mop is controlled to be greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the rotation speed of the roller mop is controlled to be greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0059] When the autonomous cleaning device is in sweeping and mopping mode and the mopping module is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the device controls the mopping module to move to the retracted position. During or before the mopping module moves to the retracted position, the device controls the roller mop to stop rotating. After the mopping module reaches the retracted position or the transition position, the mopping module drive mechanism drives the mopping module to the lifting height. The transition position is the position between the retracted position and the extended position where the mopping module drive mechanism can drive the mopping module to lift.

[0060] Fifthly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0061] Organism;

[0062] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0063] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0064] A mopping module is provided in a receiving cavity at the bottom of the machine body. The mopping module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0065] A mopping module drive mechanism is used to drive the mopping module to move in the height direction of the machine body. The mopping module can move between a lifting height and a mopping height. The mopping module can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module to move in the width direction of the machine body. The mopping module can move between an inward position and an outward position. In the outward position, the mopping module is further away from the receiving cavity than in the inward position.

[0066] A communication unit, used to receive command signals from the user terminal;

[0067] A voice receiving unit is used to receive the user's voice commands;

[0068] The control unit is used to control the movement of the autonomous cleaning device, and to control the side sweeping module, the center sweeping module, the mopping module, and the mopping module drive mechanism.

[0069] The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module is located at the lifting height, the roller mop stops rotating, and the roller brush and / or side brush rotates. In the sweeping and mopping working state, the mopping module is located at the mopping height and is located in the inward position or the outward position, and the roller mop rotates.

[0070] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module to move to the mopping height, controls the roller mop to start rotating before the mopping module reaches the mopping height, and controls the roller mop to reach a rotation speed of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground;

[0071] The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module to expand outward for mopping, the mopping module is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the roller mop is controlled to keep rotating.

[0072] When the autonomous cleaning device is in sweeping and mopping mode and the mopping module is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the device controls the mopping module to move to the retracted position. During or before the mopping module moves to the retracted position, the device controls the roller mop to stop rotating. After the mopping module reaches the retracted position or the transition position, the mopping module drive mechanism drives the mopping module to the lifting height. The transition position is the position between the retracted position and the extended position where the mopping module drive mechanism can drive the mopping module to lift.

[0073] Sixthly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0074] Organism;

[0075] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0076] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0077] A mopping module is provided in a receiving cavity at the bottom of the machine body. The mopping module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0078] A mopping module drive mechanism is used to drive the mopping module to move in the height direction of the machine body. The mopping module can move between a lifting height and a mopping height. The mopping module can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module to move in the width direction of the machine body. The mopping module can move between an inward position and an outward position. In the outward position, the mopping module is further away from the receiving cavity than in the inward position.

[0079] A communication unit, used to receive command signals from the user terminal;

[0080] A voice receiving unit is used to receive the user's voice commands;

[0081] The control unit is used to control the movement of the autonomous cleaning device, and to control the side sweeping module, the center sweeping module, the mopping module, and the mopping module drive mechanism.

[0082] The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module is located at the lifting height, the roller mop stops rotating, and the roller brush and / or side brush rotates. In the sweeping and mopping working state, the mopping module is located at the mopping height and is located in the inward position or the outward position, and the roller mop rotates.

[0083] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module to move to the mopping height, controls the roller mop to start rotating before the mopping module reaches the mopping height, and controls the roller mop to reach a rotation speed of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground;

[0084] The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module to expand outward for mopping, the mopping module is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the rotation speed of the roller mop is controlled to be greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the roller mop is controlled to continue rotating.

[0085] Seventhly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0086] Organism;

[0087] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0088] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0089] A mopping module is provided in a receiving cavity at the bottom of the machine body. The mopping module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0090] A mopping module drive mechanism is used to drive the mopping module to move in the height direction of the machine body. The mopping module can move between a lifting height and a mopping height. The mopping module can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module to move in the width direction of the machine body. The mopping module can move between an inward position and an outward position. In the outward position, the mopping module is further away from the receiving cavity than in the inward position.

[0091] A communication unit, used to receive command signals from the user terminal;

[0092] A voice receiving unit is used to receive the user's voice commands;

[0093] The control unit is used to control the movement of the autonomous cleaning device, and to control the side sweeping module, the center sweeping module, the mopping module, and the mopping module drive mechanism.

[0094] The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module is located at the lifting height, the roller mop stops rotating, and the roller brush and / or side brush rotates. In the sweeping and mopping working state, the mopping module is located at the mopping height and is located in the inward position or the outward position, and the roller mop rotates.

[0095] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module to move to the mopping height, controls the roller mop to start rotating before the mopping module reaches the mopping height, and controls the roller mop to reach a rotation speed of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground;

[0096] The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module to expand outward for mopping, the mopping module is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the rotation speed of the roller mop is controlled to reach a range of greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the roller mop is controlled to continue rotating.

[0097] When the autonomous cleaning device is in sweeping and mopping mode and the mopping module is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the device controls the mopping module to move to the retracted position. During or before the mopping module moves to the retracted position, the device controls the roller mop to stop rotating. After the mopping module reaches the retracted position or the transition position, the mopping module drive mechanism drives the mopping module to the lifting height. The transition position is the position between the retracted position and the extended position where the mopping module drive mechanism can drive the mopping module to lift.

[0098] Eighthly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0099] Organism;

[0100] A side-sweeping module is disposed at the bottom or side of the machine body, and includes a side-brush drive mechanism and a side brush. The side-brush drive mechanism is used to drive the side brush to rotate.

[0101] The middle sweeping module is located at the bottom of the machine body and includes a roller brush drive mechanism and a roller brush. The roller brush is located in the dust suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0102] A mopping module is provided in a receiving cavity at the bottom of the machine body. The mopping module includes a roller mop and a mop drive mechanism for driving the roller mop to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop.

[0103] A mopping module drive mechanism is used to drive the mopping module to move in the height direction of the machine body. The mopping module can move between a lifting height and a mopping height. The mopping module can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module to move in the width direction of the machine body. The mopping module can move between an inward position and an outward position. In the outward position, the mopping module is further away from the receiving cavity than in the inward position.

[0104] A communication unit, used to receive command signals from the user terminal;

[0105] A voice receiving unit is used to receive the user's voice commands;

[0106] The control unit is used to control the movement of the autonomous cleaning device, and to control the side sweeping module, the center sweeping module, the mopping module, and the mopping module drive mechanism.

[0107] The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module is located at the lifting height, the roller mop stops rotating, and the roller brush and / or side brush rotates. In the sweeping and mopping working state, the mopping module is located at the mopping height and is located in the inward position or the outward position, and the roller mop rotates.

[0108] When the autonomous cleaning device is in sweeping and mopping mode and the mopping module is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the device controls the mopping module to move to the retracted position. During or before the mopping module moves to the retracted position, the device controls the roller mop to stop rotating. After the mopping module reaches the retracted position or the transition position, the mopping module drive mechanism drives the mopping module to the lifting height. The transition position is the position between the retracted position and the extended position where the mopping module drive mechanism can drive the mopping module to lift.

[0109] The autonomous cleaning device provided in this application embodiment, when in single-sweeping mode, responds to a command signal or voice command instructing it to switch from single-sweeping mode to sweeping and mopping mode. By pre-starting the roller mop rotation and ensuring it reaches an effective working speed before the mopping module descends and contacts the ground, it ensures the roller mop has complete cleaning capability the moment it contacts the ground. This avoids the problem of missed or weak cleaning in the initial contact area caused by the traditional sequential execution where the roller mop descends first and then accelerates, resulting in the device moving before the roller mop reaches an effective speed. It guarantees that after switching from single-sweeping mode to sweeping and mopping mode, the mopping effect of the first cleaned area is consistent with subsequent areas, improving the uniformity and reliability of the overall cleaning effect. Users will not observe obvious gaps in cleaning effect due to mode switching; the cleaning process is smooth and natural, improving the user experience. Attached Figure Description

[0110] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0111] Figure 1 A schematic diagram of the external structure of the self-cleaning device provided in this application;

[0112] Figure 2 A schematic diagram showing the roller brush mop in the outward-expanding position in the self-cleaning device provided in this application;

[0113] Figure 3 A schematic diagram showing the roller brush mop in the retracted position in the self-cleaning device provided in this application.

[0114] Explanation of reference numerals in the attached figures:

[0115] 100-Main body; 110-Receiving cavity; 200-Side sweeping module; 210-Side brush; 300-Central sweeping module; 310-Roller brush; 400-Mopping module; 410-Roller mop.

[0116] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0117] This application provides an autonomous cleaning device. For example, the autonomous cleaning device can be a robotic vacuum cleaner, an automatic sweeping vehicle, etc. Taking a robotic vacuum cleaner as an example, the autonomous cleaning device can be used for automatic or assisted cleaning of the floor. The autonomous cleaning device can reduce the physical exertion of manual cleaning through mechanization and automation technologies, and can improve cleaning efficiency and convenience. The autonomous cleaning device of this application embodiment can be applied to home or industrial environments, and is not limited thereto.

[0118] As mentioned in the background section, autonomous cleaning devices operate in sweeping and mopping modes and sweeping-only mode independently, generally lacking transition and coordination. The abrupt switch between sweeping / mopping and sweeping-only modes can lead to discontinuous cleaning. For example, when switching from sweeping / mopping to sweeping-only mode, the roller mop 410 may not immediately stop supplying water or completely lift off the ground, leaving water stains or dirt on water-sensitive materials. Conversely, when switching from sweeping-only mode to sweeping / mopping mode, the mop may not be wetted or in contact with the ground in time, resulting in a delayed cleaning effect.

[0119] In particular, when switching from single-sweep mode to sweep-mop mode, the existing control logic is a simple state switch, and the entire process is generally as follows: single-sweep state → stop single-sweep related parts → start the roller mop descent → detect mop touching the ground → start mop rotation. This is a serial, waiting process. The mechanical system itself has an inherent delay. From receiving the rotation command to the roller mop motor overcoming static friction and inertia to reach an effective cleaning speed (e.g., 120 rpm), it takes time (e.g., 0.2-0.4 seconds). Assuming the autonomous cleaning device moves forward at a normal cleaning speed (e.g., 0.3 m / s), within the time window of the roller mop 410 rotation acceleration delay (e.g., 0.4 seconds), the device has already traveled approximately 0.12 meters. During this distance, although it contacts the ground, the rotation speed is too low and the pressure is insufficient, resulting in cleaning efficiency far below the design standard.

[0120] This results in a structural decrease in the ability to remove contaminants: Effective cleaning of liquid stains (coffee, soy sauce) requires the mop to "suck" and squeeze the wastewater into the tank at a certain speed and pressure. A slow-rotating mop will only spread the stain thinly, forming an uneven, difficult-to-dry stain that looks worse than the original stain. Sticky stains (syrup, mud): require the "shearing force" and "adhesive force" of the mop fibers to peel them off. When the speed is insufficient, the mop is more like "crushing" rather than "scooping up" the dirt, which may cause the stain to be pressed deeper into the floor texture.

[0121] This causes the device to move from a clean (effectively cleaned) area to a heavily soiled area, creating a clear boundary line when switching modes at that point. Before the switching point, the mop works normally and cleans thoroughly; however, within approximately 0.1 meters after the switching point, the cleaning effect drops sharply. This isn't the stain itself, but rather the marks left by uneven cleaning, which appear as noticeable light and dark streaks or color bands under light. Users might intuitively think, "The machine is broken here," or "This spot isn't cleaned properly," seriously questioning the product's reliability and cleaning ability. This could also force users to manually inspect and re-mop afterwards, increasing operating costs and psychological burden.

[0122] In view of this, this application provides an autonomous cleaning device. When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the roller mop to rotate and reach an effective working speed before the mopping module descends and contacts the ground. This ensures that the roller mop has complete cleaning capability the moment it contacts the ground, avoiding the problem of missed or weak cleaning in the initial contact area caused by the traditional sequential execution where the roller mop descends first and then accelerates, resulting in the device having moved before the roller mop reaches an effective speed. This ensures that the mopping effect of the first cleaned area after switching from single-sweeping mode to sweeping and mopping mode is consistent with that of subsequent areas. This design enhances the uniformity and reliability of the overall cleaning effect; users will not observe obvious gaps in cleaning performance due to mode switching, and the cleaning process is smooth and natural, improving the user experience; by combining the mopping module's ability to move inward / outward in the width direction, and the design to switch between single sweeping / sweeping-mopping working modes according to different floor materials and user needs, the autonomous cleaning device can adapt to various home environments more intelligently and precisely; by parallelizing the rotation acceleration process of the roller mop with the descent process of the mopping module, the entire mode switching cycle is shortened, allowing the device to enter an effective sweeping and mopping working state more quickly, reducing the time delay of the overall cleaning task caused by mode switching, thereby improving cleaning efficiency.

[0123] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0124] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0125] refer to Figures 1-3 This application provides a self-cleaning device, which includes a body 100.

[0126] The side brush module 200 is located at the bottom or side of the body 100 and includes a side brush drive mechanism and a side brush 210. The side brush drive mechanism is used to drive the side brush 210 to rotate.

[0127] The middle sweeping module 300 is located at the bottom of the body 100 and includes a roller brush drive mechanism and a roller brush 310. The roller brush 310 is located in the suction chamber at the bottom of the body 100, and the roller brush drive mechanism is used to drive the roller brush 310 to rotate.

[0128] The mopping module 400 is located in the receiving cavity 110 at the bottom of the body 100. The mopping module 400 includes a roller mop 410 and a mop drive mechanism for driving the roller mop 410 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 410.

[0129] The mopping module 400 drive mechanism is used to drive the mopping module 400 to move in the height direction of the body 100. The mopping module 400 can move between a lifting height and a mopping height. The mopping module 400 can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module 400 to move in the width direction of the body 100. The mopping module 400 can move between an inward position and an outward position. When the mopping module 400 is in the outward position, it is further away from the receiving cavity 110 than when it is in the inward position.

[0130] The communication unit is used to receive command signals from the user terminal.

[0131] The voice receiving unit is used to receive the user's voice commands.

[0132] The control unit is used to control the movement of the autonomous cleaning equipment, and to control the drive mechanisms of the side sweeping module 200, the middle sweeping module 300, the mopping module 400, and the mopping module 400.

[0133] The self-cleaning equipment has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module 400 is at the raised height, the roller mop 410 stops rotating, and the roller brush 310 and / or the side brush 210 rotates. In the sweeping and mopping working state, the mopping module 400 is at the mopping height and is in the inward or outward position, and the roller mop 410 rotates.

[0134] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module 400 to move to the mopping height, controls the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height, and controls the roller mop 410 to reach a specific speed range after contacting the ground.

[0135] It is known that the body 100 is the carrier platform and structural foundation of the autonomous cleaning equipment.

[0136] The side sweeping module 200 consists of a side brush drive mechanism and a side brush 210, which can sweep dust and debris from distant places and corners into the working area of ​​the central sweeping module 300 in the middle of the body 100, so that they can be effectively sucked into the dust box.

[0137] The middle sweeping module 300 consists of a roller brush drive mechanism and a roller brush 310. When the bristles or rubber strips on the main brush rotate at high speed, they will forcefully beat the carpet fibers or floor gaps, loosening and lifting the dust and debris deeply embedded in the carpet, making them more easily sucked away by the airflow, and ensuring that the garbage is sucked into the dust box.

[0138] The mopping module 400 consists of a roller mop 410, a mop drive mechanism, a water replenishment mechanism, and a shaving mechanism. It uses rotational friction to perform efficient and uniform wet or dry cleaning of the floor to remove stubborn stains, liquid spills, and everyday dust, achieving deep cleaning.

[0139] The mop drive mechanism is used to drive the roller mop 410 to rotate at high speed around the axis; the water replenishment mechanism is usually located upstream or at the beginning of the roller rotation path, and is used to provide cleaning water to the roller mop 410, spraying, dripping or flowing clean water from the clean water tank evenly onto the surface of the rotating roller mop 410, so that its fibers are fully wetted; the dirt scraping mechanism is located downstream of the water replenishment mechanism, and uses friction and shearing force to efficiently scrape away and guide away the dirt and sewage that have been moistened and loosened by the water replenishment mechanism in the fibers of the roller mop 410.

[0140] The mopping module 400 drive mechanism, as the actuator of the mopping module 400, has two driving functions: first, it drives the mopping module 400 to move in the height direction of the body 100, switching it between the lifting height and the mopping height; second, it drives the mopping module 400 to move in the width direction of the body 100, switching it between the retracted position and the extended position. In this embodiment, the mopping module 400 is non-fixed, possessing the flexibility of vertical lifting to contact / remove from the ground and horizontal extension to adjust the working width. When in the retracted position, the mopping module 400 is completely housed within the receiving cavity 110, which is beneficial for the device to pass through or be stored in narrow spaces; while when switched to the extended position, the mopping module 400 extends outward, allowing the extended portion of the mopping module 400 to reach into areas with narrow vertical space, i.e., areas with limited height, to perform cleaning, thereby increasing the cleaning coverage.

[0141] Ideally, the mopping module 400 should be completely detached from the working surface when it is at the raised height. However, some roller mops 410 have long fibers, and some fibers may still have slight contact with the working surface. However, this situation has little impact on the working surface and can also be regarded as the detachment from contact described in this application.

[0142] The communication unit, installed inside the body 100, can be a wireless communication module, a mobile communication (such as 4G, 5G) module, or any other module capable of communicating with the outside world. Furthermore, taking a 4G module as an example, a 4G module has positioning functions, enabling the autonomous cleaning device to automatically perform cleaning tasks and interact with the user.

[0143] The voice receiving unit, installed inside the body 100, is used to receive the user's voice commands.

[0144] The control unit, installed within the body 100, is used to control the movement of the autonomous cleaning device and to control the drive mechanisms of the side sweeping module 200, the center sweeping module 300, the mopping module 400, and the mopping module 400. As the core control unit of the autonomous cleaning device, the control unit can integrate and process sensor data, communication data, control commands, etc., and specifically plan cleaning paths and coordinate the work of various components in the cleaning task of the autonomous cleaning device, enabling intelligent decision-making and control of the autonomous operation of the autonomous cleaning device. For example, the control unit can be a central processing unit (CPU), a microcontroller unit (MCU), a system on a chip (SoC), or other controllers, or it can be other devices or circuit structures with related control functions.

[0145] In one embodiment, the mopping module 400 drive mechanism may include a lifting component and an expansion component. The lifting component drives the mopping module 400 to move in the height direction of the body 100, and the expansion component is responsible for driving the mopping module 400 to move in the width direction of the body 100. That is, the mopping module 400 drive mechanism drives movement in two different directions through two independent motors.

[0146] In another embodiment, the mopping module 400 drive mechanism may include a lifting and expansion component, which can both drive the mopping module 400 to lift and expand, and can drive movement in two different directions by switching different modes of a motor.

[0147] The direction in which the mopping module 400 moves inward can be referenced. Figure 3 In the Y direction, the direction in which the mopping module 400 moves towards its maximum outward position can be referenced to the X direction in the diagram, which is the opposite of the Y direction.

[0148] The direction in which the mopping module 400 moves inward can be referenced. Figure 3 In the Y direction, the direction in which the mopping module 400 moves towards its maximum outward position can be referenced to the X direction in the diagram, which is the opposite of the Y direction.

[0149] Understandably, in the single-sweeping mode, the mopping module 400 is at the raised height, the roller mop 410 stops rotating, and the roller brush 310 and / or side brush 210 rotate. At this time, since the roller mop 410 does not contact the ground, it can prevent carpets, high-end flooring, or water-sensitive materials such as paper and wood from getting wet, thus providing dry suction and sweeping conditions for the roller brush 310 and side brush 210. In the sweeping and mopping mode, the mopping module 400 is at the mopping height, the roller mop 410 rotates, and moves between the inward and outward positions, working in conjunction with the side sweeping module 200 and the center sweeping module 300 to simultaneously achieve the suction and sweeping of garbage and the wiping of stains.

[0150] Compared to existing technologies, where the roller mop 410 descends first and then begins to rotate, the rotational speed of the roller mop 410 may not have reached the range required for effective cleaning when it contacts the ground. This results in insufficient cleaning during the device's forward movement. In this embodiment, the mop drive mechanism drives the roller mop 410 to begin rotating before the mopping module 400 reaches the mopping height. By utilizing the time required for the mopping module 400 to move from the lifting height to the mopping height, the rotational acceleration process of the roller mop 410 is completed or substantially completed within this time. This ensures that when the mopping module 400 reaches the mopping height, the rotational speed of the roller mop 410 has already reached a specific range (i.e., the operating speed range required for effective cleaning). This guarantees that the roller mop 410 has complete cleaning capability the moment it contacts the ground, possessing sufficient rotational speed to effectively scrub and remove stains, eliminating the cleaning effect gap caused by mode switching.

[0151] In this way, by starting the roller mop 410 to rotate and reach its effective working speed before the mopping module 400 descends and contacts the ground, it ensures that the roller mop 410 has complete cleaning capability the moment it contacts the ground. This avoids the problem of missed or weak cleaning in the initial contact area caused by the traditional sequential execution where the roller mop 410 descends first and then accelerates, resulting in the device having moved before the roller mop 410 reaches its effective speed. This ensures that after switching from single sweeping mode to sweeping and mopping mode, the mopping effect of the first cleaned area is consistent with that of subsequent areas, improving the uniformity and reliability of the overall cleaning effect. Users will not observe any significant difference due to mode switching. The cleaning effect is seamless, and the cleaning process is smooth and natural, improving the user experience. By combining the ability of the mopping module 400 to move inward / outward in the width direction, and the design of switching between single sweeping / sweeping and mopping working modes according to different floor materials and user needs, the autonomous cleaning device can adapt to various home environments more intelligently and precisely. By parallelizing the rotation acceleration process of the roller mop 410 with the descent process of the mopping module 400, the cycle of the entire mode switching is shortened, and the device can enter the effective sweeping and mopping working state more quickly, reducing the time delay of the overall cleaning task caused by mode switching, thereby improving cleaning efficiency.

[0152] During use:

[0153] 1. Initial State and Task Planning: The autonomous cleaning equipment begins to perform cleaning tasks according to user instructions or its own planning. Initially, it may be set to a single sweeping mode. At this time, the mopping module 400 is at the raised height, the roller mop 410 is stopped, and the side brush 210 and roller brush 310 are working.

[0154] 2. Mode Decision: The device identifies the floor material of the current cleaning area through sensors (such as vision sensors and floor material detection sensors) or switches sweeping and mopping modes through user commands. When moving from a water-sensitive area (such as carpet) to a water-resistant area (such as tile), or when the user suddenly discovers water stains or heavy dirt ahead, the device decides to switch from sweeping mode to sweeping and mopping mode via the APP or voice control.

[0155] 3. Parallel execution of switching actions: After receiving the switching command, the mop drive mechanism immediately starts to drive the roller mop 410 to rotate and controls its speed to increase to the preset effective working speed range in a short time. At the same time, the mopping module 400 drive mechanism starts to drive the mopping module 400 to move from the lifting height to the mopping height.

[0156] 4. Entering Stable Sweeping and Mopping State: When the mopping module 400 reaches the full mopping height and the roller mop 410's rotation speed stabilizes within a specific range, the autonomous cleaning device enters the sweeping and mopping working state. At this time, the side brush 210 and roller brush 310 continue to work, and the roller mop 410 performs wet mopping cleaning with water supplied by the water replenishment mechanism and wastewater scraped away by the sludge scraping mechanism. The mopping module 400 can remain in the retracted position or move to the outward expansion position to expand the wet mopping coverage area according to the cleaning path planning.

[0157] 5. Reverse switching: When the device switches from sweeping and mopping mode to single sweeping mode, the mopping module 400 is raised to the lifting height so that it is off the ground. Then, or simultaneously, the mop drive mechanism stops driving the roller mop 410 to rotate, and the device switches back to single sweeping working state.

[0158] It should be noted that the autonomous cleaning equipment in this application includes, but is not limited to, sweeping robots (including those with one or more cleaning mechanisms), floor scrubbers (robots with mopping functions but no sweeping functions), sweeping and mopping robots, and floor scrubbers (such as handheld floor scrubbers and non-handheld floor scrubbers).

[0159] In some possible implementations, controlling the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height includes: controlling the roller mop 410 to start rotating during the process after the mopping module 400 begins to descend and before reaching the mopping height, wherein the rotational speed of the roller mop 410 after contacting the ground reaches a specific range of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0160] For example, controlling the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height can be achieved by controlling the mop drive mechanism to drive the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height. Specifically, during the process of the mopping module 400 moving from the start to the mopping height, the roller mop 410 is driven to start rotating, with a specific range of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0161] It is understandable that the moment the roller mop 410 starts rotating is no later than the moment the mopping module 400 begins to descend, and the entire rotation acceleration process is included within the descent time window of the mopping module 400, ensuring that there is sufficient time for the rotation speed to be formed.

[0162] During the process of the mopping module 400 moving from the start to the mopping height, the roller mop 410 has a specific lower limit. The roller mop 410 speed must reach at least 60 revolutions per minute to ensure a basic cleaning effect. This value setting is directly related to the cleaning cycle (completing one complete scraping-refilling-mopping cycle within 1 second), ensuring the effectiveness and continuity of the cleaning action. Otherwise, the roller mop 410 may be using dirty materials to clean dirty areas, or there may be insufficient water, resulting in poor cleaning performance.

[0163] During the process of the mopping module 400 moving from the start to the mopping height, the roller mop 410 has a specific upper limit to ensure the safety and reliability of the rotation speed. This value is set based on a comprehensive consideration of the power, heat generation, and lifespan of the mop drive mechanism (motor), to prevent the motor from overheating, shortening its lifespan, or causing safety hazards due to excessive rotation speed.

[0164] In this way, by placing the rotation acceleration process of the roller mop 410 entirely within the downward time window of the mopping module 400, and setting a clear target speed (60-210 rpm), this embodiment ensures that the roller mop 410's speed is within the effective cleaning range when it contacts the ground. This avoids reduced cleaning effect in the initial contact area due to insufficient speed, preventing missed or weak cleaning. It ensures that the cleaning effect is complete and reliable from the moment the roller mop 410 leaves the ground after switching from single-sweep mode to sweep-mop mode. By setting a minimum speed of 60 rpm, it ensures that the roller mop 410 can complete a sufficient number of scraping-watering-mopping cleaning cycles per unit time, avoiding incomplete scraping and dirt accumulation due to excessively low speed. The system addresses issues such as infrequent re-application or rehydration, and excessively dry mops, ensuring stable wet mopping quality and efficient water utilization. By setting a maximum rotation speed of no more than 210 rpm, the system effectively limits the peak power and heat generation of the mop drive mechanism (motor). This prevents the motor from overheating due to prolonged overload operation, protecting it, extending its lifespan, and reducing malfunctions or safety risks caused by overheating, thus improving the overall reliability and safety of the autonomous cleaning equipment. By setting the rotation speed within a specific range of 60-210 rpm, an engineered balance is maintained between cleaning effectiveness and system reliability, ensuring that the autonomous cleaning equipment can perform its intended cleaning capabilities while maintaining stable and durable operation of the power system during sweeping and mopping.

[0165] In some possible implementations, controlling the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height includes: controlling the roller mop 410 to start rotating before the mopping module 400 starts to descend, or at the same time as the mopping module 400 starts to descend, wherein the roller mop 410 reaches a specific range of rotation speed after contacting the ground, which is greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0166] For example, the control mop drive mechanism drives the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height. Specifically, the roller mop 410 is driven to start rotating before the mopping module 400 begins to move downward, or at the same time as the mopping module 400 begins to descend, within a specific range of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0167] Understandably, in one embodiment, the roller mop 410 begins to rotate before the mopping module 400 begins to move downwards. The rotation start action of the roller mop 410 precedes the descent start action, providing maximum time margin for the rotational acceleration of the roller mop 410.

[0168] In another embodiment, the roller mop 410 begins to rotate simultaneously with the descent of the mopping module 400. The rotation start action of the roller mop 410 and the descent start action occur at the same time, starting in parallel and sharing the entire descent process as an acceleration window.

[0169] Using the explicit action node of "the mopping module 400 starting to move downwards" as the benchmark makes the control logic clear and easy to implement. Whether it is detecting the start signal of the lowering mechanism or issuing two commands simultaneously by the main controller, it is more accurate and reliable than triggering rotation at a certain point in time during the "movement process".

[0170] By providing two specific implementation schemes, "early start" and "synchronous start," flexibility is provided for control system design. The optimal start-up timing strategy can be selected based on the acceleration performance of the mop drive mechanism, the downward speed of the mopping module 400, and specific cleaning needs. For example, if the mop drive mechanism accelerates slowly, "early start" can be selected; if synchronous action response is desired, "synchronous start" can be selected.

[0171] By explicitly setting the rotation start timing of the roller mop 410 before or simultaneously with the descent of the mopping module 400, this solution maximizes the possible time for the roller mop 410's rotation acceleration process. This increases the probability and reliability that the roller mop 410's rotation speed has stabilized within the effective range of 60-210 rpm when it contacts the ground, ensuring no loss of cleaning effect in the initial contact area after mode switching. It also reduces the complexity of timing control and improves the accuracy of action coordination throughout the mode switching process. By combining the target rotation speed of 60-210 rpm, the explicit start timing control ensures that regardless of the selected start mode, the roller mop 410 has sufficient time to accelerate before contacting the ground. This results in a high degree of consistency and predictability in cleaning effect after switching from single sweeping to sweeping and mopping mode, significantly improving the user experience.

[0172] During use: The autonomous cleaning equipment control system generates a command to switch from single sweeping mode to sweeping and mopping mode. If "early start" is used: the control system first sends a command to the mop drive mechanism, driving the roller mop 410 to start rotating and accelerating. After confirming that the rotation has started, or after a preset short delay, it sends a command to the mopping module 400 drive mechanism, driving the mopping module 400 to start moving downwards. If "synchronous start" is used: the control system sends start commands to both the mop drive mechanism and the mopping module 400 drive mechanism simultaneously, causing the roller mop 410 to start rotating and the mopping module 400 to start descending to occur simultaneously.

[0173] In some possible implementations, during the switching process, the control body 100 is kept in motion, and the side brush 210 and / or roller brush 310 are kept rotating.

[0174] It is understandable that the side brush 210 and the roller brush 310 are the units that perform dust removal. The fact that the side brush 210 and / or the roller brush 310 continue to rotate during the switching process indicates that the cleaning function is not paused or stopped during mode switching.

[0175] By maintaining the movement of the main body 100 and the rotation of the side brush 210 and / or roller brush 310 during mode switching, the continuity of the sweeping operation is ensured. The device will not stop moving forward or pause sweeping when the mopping function needs to be activated, thus avoiding interruptions in the cleaning path, wasted time, and potential cleaning blind spots caused by mode switching, improving overall cleaning efficiency and providing a seamless user experience. During the switching to sweeping and mopping mode, the side brush 210 and / or roller brush 310 continue to rotate, meaning that the sweeping action on dry dirt, dust, and debris on the ground never stops. Large particles of debris can be pre-sweeped away, thus preparing a cleaner floor base for the upcoming wet mopping function. This allows the roller mop 410 to focus more on handling wet stains and fine dust, enabling more effective compound cleaning of heavily soiled areas the moment the switch is completed, improving the immediacy and thoroughness of the cleaning effect.

[0176] In some possible implementations, the autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device.

[0177] For example, the sensor system includes at least one of the following: a positioning device, a vision sensor, an ultrasonic sensor, and an operating parameter acquisition device. The positioning device is used to acquire current location information and can be an odometer, an inertial measurement unit (IMU), etc. The vision sensor is used to acquire environmental images and can be an RGB (Red, Green, Blue) camera or an RGBD camera, etc. The operating parameter acquisition device can be a device for acquiring operating parameters such as the sweeping current of the cleaning equipment, and can be a controller such as a CPU, MCU, or SoC, or other devices or circuit structures with related capabilities. Additionally, the sensor system may also include wheel pressure sensors, infrared sensors, etc., without specific limitations.

[0178] Correspondingly, after the mopping module 400 moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module 400 to expand outward for mopping, the mopping module 400 is controlled to expand outward from the inward position. During the outward expansion movement, the rotation speed of the roller mop 410 is controlled to be greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the rotation speed of the roller mop 410 is controlled to be greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0179] Understandably, after the mopping module 400 reaches the mopping height, the roller mop 410 has contacted the ground and is working stably. If the location and / or environment of the autonomous cleaning device require the mopping module 400 to extend outward for mopping, the mopping module drive mechanism is activated to drive the mopping module 400 to move outward from the inward position to the outward position. This avoids problems such as uneven contact pressure and inconsistent cleaning effect that may occur when the roller mop 410 has not fully contacted the ground or the speed has not reached the standard before lateral movement, thus ensuring the cleaning effect of the first cleaning area after the mode switch.

[0180] Understandably, the autonomous cleaning device switches from sweeping to mopping mode, accompanied by the movement of the mopping module 400 in the width direction and the dynamic adjustment of the roller mop 410's rotation speed. The roller mop 410 begins rotating before the mopping module 400 reaches the mopping height; during the outward movement of the mopping module 400, the roller mop 410's rotation speed is driven to a value greater than or equal to 120 rpm and less than or equal to 240 rpm; after the outward movement of the mopping module 400 stops, the roller mop 410's rotation speed is adjusted to a value greater than or equal to 60 rpm and less than or equal to 210 rpm. It can be seen that a relatively high rotation speed is required during the outward movement; after the outward movement stops, the rotation speed is adjusted to a lower, more conventional range.

[0181] This is because, during the outward movement of the mopping module 400, the lower limit of the roller mop 410's rotation speed is driven to a speed greater than or equal to 120 revolutions per minute. This setting ensures that the roller mop 410 can complete a sufficient number of cleaning cycles (scraping-wetting-mopping) per unit time when quickly sweeping the floor laterally, thus covering the outward movement path and avoiding missed areas. The upper limit of the roller mop 410's rotation speed is driven to a speed less than or equal to 240 revolutions per minute, taking into account the constraint of the system's total power when the mopping module 400's drive mechanism is simultaneously moving outward, preventing overload.

[0182] After the mopping module 400 stops its outward movement, its lower limit roller mop 410 is driven to a speed of 60 rpm or higher, ensuring a basic cleaning cycle frequency when mopping at a stationary or low speed. Its upper limit roller mop 410 is driven to a speed of 210 rpm or lower, a safe upper speed limit that balances cleaning effectiveness and motor life during regular mopping.

[0183] When the mopping module 400 extends outward, the increased power demand from the motors involved in the extension within the mopping module's drive mechanism necessitates a stricter limit on the upper speed of the roller mop 410. This limit is less than or equal to 240 revolutions per minute, and must be lower than the conventional upper limit of 210 revolutions per minute. However, since the mop drive mechanism provides assistance and its increased speed does not significantly increase the power of the motors involved in the extension within the mopping module's drive mechanism, a higher upper speed limit than conventional mopping is permissible during extension.

[0184] By increasing the rotation speed of the roller mop 410 to greater than or equal to 120 revolutions per minute during the outward movement of the mopping module 400, it is ensured that the roller mop 410 can complete at least one effective cleaning cycle when sweeping the area to be cleaned laterally, even within a short contact time. This avoids missed areas or insufficient cleaning that may occur due to the fast outward movement speed and short contact time, thus preventing missed areas or weak cleaning and ensuring the cleaning effect of the outward-extended area. Furthermore, by limiting the maximum rotation speed of the roller mop 410 to less than or equal to 240 revolutions per minute during the outward movement of the roller mop 410, which requires higher power consumption, the total power of the system is kept within a safe range. This prevents the power supply or drive motor from overloading, ensuring the electrical safety and hardware lifespan of the equipment.

[0185] refer to Figures 1-3 This application provides a self-cleaning device, which includes a body 100.

[0186] The side brush module 200 is located at the bottom or side of the body 100 and includes a side brush drive mechanism and a side brush 210. The side brush drive mechanism is used to drive the side brush 210 to rotate.

[0187] The middle sweeping module 300 is located at the bottom of the body 100 and includes a roller brush drive mechanism and a roller brush 310. The roller brush 310 is located in the suction chamber at the bottom of the body 100, and the roller brush drive mechanism is used to drive the roller brush 310 to rotate.

[0188] The mopping module 400 is located in the receiving cavity 110 at the bottom of the body 100. The mopping module 400 includes a roller mop 410 and a mop drive mechanism for driving the roller mop 410 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 410.

[0189] The mopping module 400 drive mechanism is used to drive the mopping module 400 to move in the height direction of the body 100. The mopping module 400 can move between a lifting height and a mopping height. The mopping module 400 can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module 400 to move in the width direction of the body 100. The mopping module 400 can move between an inward position and an outward position. When the mopping module 400 is in the outward position, it is further away from the receiving cavity 110 than when it is in the inward position.

[0190] The communication unit, installed inside the body 100, can be a wireless communication module, a mobile communication (such as 4G, 5G) module, or any other module capable of communicating with the outside world. Furthermore, taking a 4G module as an example, a 4G module has positioning functions, enabling the autonomous cleaning device to automatically perform cleaning tasks and interact with the user.

[0191] The voice receiving unit, installed inside the body 100, is used to receive the user's voice commands.

[0192] The control unit, installed within the body 100, is used to control the movement of the autonomous cleaning device and to control the drive mechanisms of the side sweeping module 200, the center sweeping module 300, the mopping module 400, and the mopping module 400. As the core control unit of the autonomous cleaning device, the control unit can integrate and process sensor data, communication data, control commands, etc., and specifically plan cleaning paths and coordinate the work of various components in the cleaning task of the autonomous cleaning device, enabling intelligent decision-making and control of the autonomous operation of the autonomous cleaning device. For example, the control unit can be a central processing unit (CPU), a microcontroller unit (MCU), a system on a chip (SoC), or other controllers, or it can be other devices or circuit structures with related control functions.

[0193] The self-cleaning equipment has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module 400 is at the raised height, the roller mop 410 stops rotating, and the roller brush 310 and / or the side brush 210 rotates. In the sweeping and mopping working state, the mopping module 400 is at the mopping height and is in the inward or outward position, and the roller mop 410 rotates.

[0194] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the mopping module 400 is controlled to move to the mopping height, and the roller mop 410 is controlled to start rotating before the mopping module 400 reaches the mopping height.

[0195] The autonomous cleaning equipment is also equipped with a sensor system for determining its location and acquiring environmental information about its surroundings. Exemplarily, the sensor system includes at least one of the following: a positioning device, a vision sensor, an ultrasonic sensor, and an operating parameter acquisition device. The positioning device, used to acquire current location information, can be an odometer, an inertial measurement unit (IMU), etc. The vision sensor, used to acquire environmental images, can be an RGB (Red, Green, Blue) camera or an RGBD camera, etc. The operating parameter acquisition device can be a device for acquiring operating parameters such as the cleaning equipment's sweeping current, and can be a controller such as a CPU, MCU, or SoC, or other devices or circuit structures with relevant capabilities. Additionally, the sensor system may also include wheel pressure sensors, infrared sensors, etc., without specific limitations.

[0196] Correspondingly, after the mopping module 400 moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module 400 to expand outward for mopping, the mopping module 400 is controlled to expand outward from the inward position. During the outward expansion movement, the rotation speed of the roller mop 410 is controlled to be greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the rotation speed of the roller mop 410 is controlled to be greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0197] Understandably, compared to existing technologies, where the roller mop 410 descends first and then begins to rotate, the rotational speed of the roller mop 410 may not have reached the range required for effective cleaning when it contacts the ground. This results in insufficient cleaning during the device's forward movement. In this embodiment, the mop drive mechanism drives the roller mop 410 to begin rotating before the mopping module 400 reaches the mopping height. By utilizing the time required for the mopping module 400 to move from the lifting height to the mopping height, the rotational acceleration process of the roller mop 410 is completed or substantially completed within this time. This ensures that when the mopping module 400 reaches the mopping height, the rotational speed of the roller mop 410 has already reached a specific range (i.e., the operating speed range required for effective cleaning). This guarantees that the roller mop 410 has complete cleaning capability the moment it contacts the ground, possessing sufficient rotational speed to effectively scrub and remove stains, eliminating the cleaning effect gap caused by mode switching.

[0198] In this way, by starting the roller mop 410 to rotate and reach its effective working speed before the mopping module 400 descends and contacts the ground, it ensures that the roller mop 410 has complete cleaning capability the moment it contacts the ground. This avoids the problem of missed or weak cleaning in the initial contact area caused by the traditional sequential execution where the roller mop 410 descends first and then accelerates, resulting in the device having moved before the roller mop 410 reaches its effective speed. This ensures that after switching from single sweeping mode to sweeping and mopping mode, the mopping effect of the first cleaned area is consistent with that of subsequent areas, improving the uniformity and reliability of the overall cleaning effect. Users will not observe any significant difference due to mode switching. The cleaning effect is seamless, and the cleaning process is smooth and natural, improving the user experience. By combining the ability of the mopping module 400 to move inward / outward in the width direction, and the design of switching between single sweeping / sweeping and mopping working modes according to different floor materials and user needs, the autonomous cleaning device can adapt to various home environments more intelligently and precisely. By parallelizing the rotation acceleration process of the roller mop 410 with the descent process of the mopping module 400, the cycle of the entire mode switching is shortened, and the device can enter the effective sweeping and mopping working state more quickly, reducing the time delay of the overall cleaning task caused by mode switching, thereby improving cleaning efficiency.

[0199] Understandably, after the mopping module 400 reaches the mopping height, the roller mop 410 has contacted the ground and is working stably. At this time, the mopping module drive mechanism is activated to drive the mopping module 400 to move outward from the inward position to the outward position. This avoids problems such as uneven contact pressure and inconsistent cleaning effect that may be caused by lateral movement before the roller mop 410 has fully contacted the ground or the speed has not reached the standard. This ensures the cleaning effect of the first cleaning area after the mode switch.

[0200] During the outward movement of the mopping module 400, the roller mop 410 is driven at a speed greater than or equal to 120 rpm and less than or equal to 240 rpm; after the outward movement of the mopping module 400 stops, the speed of the roller mop 410 is adjusted to greater than or equal to 60 rpm and less than or equal to 210 rpm. It can be seen that a relatively high speed is required during the outward movement; after the outward movement stops, the speed is adjusted to a lower, more conventional range.

[0201] This is because, during the outward movement of the mopping module 400, the lower limit of the roller mop 410's rotation speed is driven to a speed greater than or equal to 120 revolutions per minute. This setting ensures that the roller mop 410 can complete a sufficient number of cleaning cycles (scraping-wetting-mopping) per unit time when quickly sweeping the floor laterally, thus covering the outward movement path and avoiding missed areas. The upper limit of the roller mop 410's rotation speed is driven to a speed less than or equal to 240 revolutions per minute, taking into account the constraint of the system's total power when the mopping module 400's drive mechanism is simultaneously moving outward, preventing overload.

[0202] After the mopping module 400 stops its outward movement, its lower limit roller mop 410 is driven to a speed of 60 rpm or higher, ensuring a basic cleaning cycle frequency when mopping at a stationary or low speed. Its upper limit roller mop 410 is driven to a speed of 210 rpm or lower, a safe upper speed limit that balances cleaning effectiveness and motor life during regular mopping.

[0203] When the mopping module 400 extends outward, the increased power demand from the motors involved in the extension within the mopping module's drive mechanism necessitates a stricter limit on the upper speed of the roller mop 410. This limit is less than or equal to 240 revolutions per minute, and must be lower than the conventional upper limit of 210 revolutions per minute. However, since the mop drive mechanism provides assistance and its increased speed does not significantly increase the power of the motors involved in the extension within the mopping module's drive mechanism, a higher upper speed limit than conventional mopping is permissible during extension.

[0204] By increasing the rotation speed of the roller mop 410 to greater than or equal to 120 revolutions per minute during the outward movement of the mopping module 400, it is ensured that the roller mop 410 can complete at least one effective cleaning cycle when sweeping the area to be cleaned laterally, even within a short contact time. This avoids missed areas or insufficient cleaning that may occur due to the fast outward movement speed and short contact time, thus preventing missed areas or weak cleaning and ensuring the cleaning effect of the outward-extended area. Furthermore, by limiting the maximum rotation speed of the roller mop 410 to less than or equal to 240 revolutions per minute during the outward movement of the roller mop 410, which requires higher power consumption, the total power of the system is kept within a safe range. This prevents the power supply or drive motor from overloading, ensuring the electrical safety and hardware lifespan of the equipment.

[0205] During use:

[0206] 1. Initial State and Task Planning: The autonomous cleaning equipment begins to perform cleaning tasks according to user instructions or its own planning. Initially, it may be set to a single sweeping mode. At this time, the mopping module 400 is at the raised height, the roller mop 410 is stopped, and the side brush 210 and roller brush 310 are working.

[0207] 2. Mode Decision: The device identifies the floor material of the current cleaning area through sensors (such as vision sensors and floor material detection sensors) or switches sweeping and mopping modes through user commands. When moving from a water-sensitive area (such as carpet) to a water-resistant area (such as tile), or when the user suddenly discovers water stains or heavy dirt ahead, the device decides to switch from sweeping mode to sweeping and mopping mode via the APP or voice control.

[0208] 3. Parallel execution of switching actions: After receiving the switching command, the mop drive mechanism immediately starts to drive the roller mop 410 to rotate and controls its speed to increase to the preset effective working speed range in a short time. At the same time, the mopping module 400 drive mechanism starts to drive the mopping module 400 to move from the lifting height to the mopping height.

[0209] 4. Entering Stable Mopping State: When the mopping module 400 reaches the full mopping height, it moves from the retracted position to the expanded position. Simultaneously, the mop drive mechanism controls the rotation speed of the roller mop 410, increasing it from the initial acceleration state to a speed greater than or equal to 120 rpm and less than or equal to 240 rpm. Once the mopping module 400 reaches the expanded position and stops moving outward, the mop drive mechanism adjusts the rotation speed of the roller mop 410 to a speed greater than or equal to 60 rpm and less than or equal to 210 rpm, entering a stable mopping working state that balances effectiveness and lifespan. At this time, the side brush 210 and roller brush 310 continue to work, and the roller mop 410 performs wet mopping cleaning with water supplied by the water replenishment mechanism and wastewater removed by the scraping mechanism. The mopping module 400 can remain in the retracted position or move to the expanded position to increase the wet mopping coverage area, depending on the cleaning path plan.

[0210] It should be noted that the autonomous cleaning equipment in this application includes, but is not limited to, sweeping robots (including those with one or more cleaning mechanisms), floor scrubbers (robots with mopping functions but no sweeping functions), sweeping and mopping robots, and floor scrubbers (such as handheld floor scrubbers and non-handheld floor scrubbers).

[0211] refer to Figures 1-3 This application provides a self-cleaning device, which includes a body 100.

[0212] The side brush module 200 is located at the bottom or side of the body 100 and includes a side brush drive mechanism and a side brush 210. The side brush drive mechanism is used to drive the side brush 210 to rotate.

[0213] The middle sweeping module 300 is located at the bottom of the body 100 and includes a roller brush drive mechanism and a roller brush 310. The roller brush 310 is located in the suction chamber at the bottom of the body 100, and the roller brush drive mechanism is used to drive the roller brush 310 to rotate.

[0214] The mopping module 400 is located in the receiving cavity 110 at the bottom of the body 100. The mopping module 400 includes a roller mop 410 and a mop drive mechanism for driving the roller mop 410 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 410.

[0215] The mopping module 400 drive mechanism is used to drive the mopping module 400 to move in the height direction of the body 100. The mopping module 400 can move between a lifting height and a mopping height. The mopping module 400 can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module 400 to move in the width direction of the body 100. The mopping module 400 can move between an inward position and an outward position. When the mopping module 400 is in the outward position, it is further away from the receiving cavity 110 than when it is in the inward position.

[0216] The self-cleaning equipment has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module 400 is at the raised height, the roller mop 410 stops rotating, and the roller brush 310 and / or the side brush 210 rotates. In the sweeping and mopping working state, the mopping module 400 is at the mopping height and is in the inward or outward position, and the roller mop 410 rotates.

[0217] During operation, the self-cleaning equipment can switch from sweeping and mopping to sweeping only, and vice versa.

[0218] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the mopping module 400 is controlled to move to the mopping height, and the roller mop 410 is controlled to start rotating before the mopping module 400 reaches the mopping height. Exemplarily, during the switch from single-sweeping mode to sweeping and mopping mode, the autonomous cleaning device continues to move, the side brush 210 and / or the roller brush 310 continue to rotate, the mopping module 400 drive mechanism drives the mopping module 400 to move to the mopping height, and the mop drive mechanism drives the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height.

[0219] The autonomous cleaning equipment is also equipped with a sensor system for determining its location and acquiring environmental information about its surroundings. Exemplarily, the sensor system includes at least one of the following: a positioning device, a vision sensor, an ultrasonic sensor, and an operating parameter acquisition device. The positioning device, used to acquire current location information, can be an odometer, an inertial measurement unit (IMU), etc. The vision sensor, used to acquire environmental images, can be an RGB (Red, Green, Blue) camera or an RGBD camera, etc. The operating parameter acquisition device can be a device for acquiring operating parameters such as the cleaning equipment's sweeping current, and can be a controller such as a CPU, MCU, or SoC, or other devices or circuit structures with relevant capabilities. Additionally, the sensor system may also include wheel pressure sensors, infrared sensors, etc., without specific limitations.

[0220] Correspondingly, after the mopping module 400 moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module 400 to expand outward for mopping, the mopping module 400 is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the roller mop 410 is controlled to keep rotating.

[0221] When the autonomous cleaning device is in sweeping and mopping mode and the mopping module 400 is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the device controls the mopping module 400 to move to the retracted position. During or before the mopping module 400 moves to the retracted position, the device controls the roller mop 410 to stop rotating. After the mopping module 400 reaches the retracted position or the transition position, the device controls the mopping module 400 drive mechanism to drive the mopping module 400 to the raised position. The transition position is the position between the retracted position and the extended position where the mopping module 400 drive mechanism can drive the mopping module 400 to be raised.

[0222] For example, during the transition from sweeping and mopping to single-sweeping mode, the autonomous cleaning device continues to move, the side brush 210 and / or the roller brush 310 continue to rotate, and the mopping module 400 drive mechanism drives the mopping module 400 to move to the inward position. During or before the mopping module 400 moves to the inward position, the mop drive mechanism brakes the roller mop 410 to stop its rotation. After the mopping module 400 reaches the inward position or the transition position, the mopping module 400 drive mechanism drives the mopping module 400 to move to the lifting height. The transition position is the position between the inward position and the outward position where the mopping module 400 drive mechanism can drive the mopping module 400 to lift.

[0223] Compared to existing technologies, where the roller mop 410 descends first and then begins to rotate, the rotational speed of the roller mop 410 may not have reached the range required for effective cleaning when it contacts the ground. This results in insufficient cleaning during the device's forward movement. In this embodiment, the mop drive mechanism drives the roller mop 410 to begin rotating before the mopping module 400 reaches the mopping height. By utilizing the time required for the mopping module 400 to move from the lifting height to the mopping height, the rotational acceleration process of the roller mop 410 is completed or substantially completed within this time. This ensures that when the mopping module 400 reaches the mopping height, the rotational speed of the roller mop 410 has already reached a specific range (i.e., the operating speed range required for effective cleaning). This guarantees that the roller mop 410 has complete cleaning capability the moment it contacts the ground, possessing sufficient rotational speed to effectively scrub and remove stains, eliminating the cleaning effect gap caused by mode switching.

[0224] In this way, by starting the roller mop 410 to rotate and reach its effective working speed before the mopping module 400 descends and contacts the ground, it ensures that the roller mop 410 has complete cleaning capability the moment it contacts the ground. This avoids the problem of missed or weak cleaning in the initial contact area caused by the traditional sequential execution where the roller mop 410 descends first and then accelerates, resulting in the device having moved before the roller mop 410 reaches its effective speed. This ensures that after switching from single sweeping mode to sweeping and mopping mode, the mopping effect of the first cleaned area is consistent with that of subsequent areas, improving the uniformity and reliability of the overall cleaning effect. Users will not observe obvious gaps in the cleaning effect due to mode switching; the cleaning process is smooth and natural, improving the user experience. By combining the ability of the mopping module 400 to move inward / outward in the width direction, and adapting to different floor materials and user needs, this system can effectively clean the area. The design of switching between sweeping and mopping modes enables the autonomous cleaning device to adapt more intelligently and precisely to various home environments. By parallelizing the rotation acceleration process of the roller mop 410 with the descent process of the mopping module 400, the entire mode switching cycle is shortened, allowing the device to enter an effective sweeping and mopping state more quickly. This reduces the time delay of the overall cleaning task caused by mode switching, thereby improving cleaning efficiency. By maintaining the movement of the body 100 and the rotation of the side brush 210 and / or roller brush 310 during mode switching, the continuity of the cleaning operation is ensured. The device will not stop moving forward or pause cleaning when the mopping function needs to be activated, thus avoiding interruptions in the cleaning path, wasted time, and potential cleaning blind spots caused by mode switching, improving overall cleaning efficiency and providing a seamless user experience. Optionally, during the process of switching the device to sweeping and mopping mode, the side brush 210 and / or the roller brush 310 continue to rotate, which means that the sweeping action of dry dirt, dust and debris on the ground never stops. Large particles of debris can be swept away in advance, thus preparing a cleaner ground base for the upcoming wet mopping function. This allows the roller mop 410 to focus more on dealing with wet stains and fine dust, so that more effective compound cleaning can be carried out on heavily soiled areas the moment the switch is completed, improving the immediacy and thoroughness of the cleaning effect.

[0225] Understandably, after the mopping module 400 reaches the mopping height, if the location and / or environment of the autonomous cleaning device require the mopping module 400 to extend outwards for mopping, and the roller mop 410 has already contacted the ground and is working stably, the mopping module drive mechanism is activated to drive the mopping module 400 to move outwards from the inward position to the outward position. This avoids problems such as uneven contact pressure and inconsistent cleaning effects that may occur if the roller mop 410 has not fully contacted the ground or the speed has not reached the standard before it moves laterally, thus ensuring the cleaning effect of the first cleaning area after the mode switch.

[0226] Understandably, when the autonomous cleaning device switches from sweeping and mopping mode to sweeping mode, it first controls the mopping module 400 drive mechanism to move the mopping module 400 inward in the width direction to a retracted position. Subsequently, after the mopping module 400 reaches the retracted position or transition position, it is driven to move in the height direction to the raised position. At the same time, the mop drive mechanism, as the actuator controlling the rotation of the roller mop 410, stops the roller mop 410 from rotating. The timing of the braking action on the roller mop 410 is set during the movement of the mopping module 400 to the retracted position, or before this movement begins.

[0227] By braking and stopping the rotation of the roller mop 410 when or before the mopping module 400 begins to retract, the wet mopping function stops before the mopping module 400 retracts laterally and rises vertically. This prevents the roller mop 410 from continuing to rotate at low speed or dripping residual water during the lifting process, thus preventing water stains or contamination on the floor, protecting the floor and improving the fineness of the cleaning, and avoiding damage to special floor materials (such as freshly brushed floors or canvas). Optionally, during the transition from sweeping and mopping mode to sweeping mode, the movement of the machine body 100 and the rotation of the side brush 210 and / or roller brush 310 are maintained, ensuring continuous and uninterrupted cleaning operations and maintaining the overall smoothness and efficiency of the cleaning task.

[0228] In practical applications:

[0229] The autonomous cleaning equipment switches from sweeping mode to sweeping and mopping mode:

[0230] 1. Initial State and Task Planning: The autonomous cleaning equipment begins to perform cleaning tasks according to user instructions or its own planning. Initially, it may be set to a single sweeping mode. At this time, the mopping module 400 is at the raised height, the roller mop 410 is stopped, and the side brush 210 and roller brush 310 are working.

[0231] 2. Mode Decision: The device identifies the floor material of the current cleaning area through sensors (such as vision sensors and floor material detection sensors) or switches sweeping and mopping modes through user commands. When moving from a water-sensitive area (such as carpet) to a water-resistant area (such as tile), or when the user suddenly discovers water stains or heavy dirt ahead, the device decides to switch from sweeping mode to sweeping and mopping mode via the APP or voice control.

[0232] 3. Parallel execution of switching actions: The autonomous cleaning device maintains the movement of the body 100, the rotation of the side brush 210 and / or the roller brush 310. After receiving the switching command, the mop drive mechanism immediately starts to drive the roller mop 410 to rotate. At the same time, the mopping module 400 drive mechanism starts to drive the mopping module 400 to move from the lifting height to the mopping height.

[0233] As the mopping module 400 begins to move towards the retracted position, the mopping module 400 drive mechanism drives the mopping module 400 to begin moving towards the raised position. Alternatively, after the mopping module 400 reaches the retracted position, the mopping module 400 drive mechanism drives the mopping module 400 to begin moving towards the raised position.

[0234] 4. Entering stable sweeping and mopping state: When the mopping module 400 reaches the full mopping height, it moves from the retracted position to the expanded position. The side brush 210 and roller brush 310 continue to work to collect dust, while the roller mop 410 continues to rotate, performing wet mopping cleaning under the water supply of the water replenishment mechanism and the wastewater removal of the cleaning mechanism. The mopping module 400 begins to maintain its position in the retracted position or move to the expanded position to increase the wet mopping coverage area according to the cleaning path plan.

[0235] The self-cleaning equipment switches from sweeping and mopping mode to sweeping-only mode:

[0236] 1. Initial State and Task Planning: The autonomous cleaning equipment begins to perform cleaning tasks according to user instructions or its own planning. Initially, it may be set to a single sweeping mode. At this time, the mopping module 400 is at the raised height, the roller mop 410 is stopped, and the side brush 210 and roller brush 310 are working.

[0237] 2. Mode Decision: The device identifies the floor material of the current cleaning area through sensors (such as vision sensors and floor material detection sensors) or switches sweeping and mopping modes through user commands. When moving from a water-resistant area (such as tile) to a water-sensitive area (such as carpet) or when the user finds that sweeping and mopping are not needed ahead, the device decides to switch from sweeping and mopping mode to sweeping-only mode via the APP or voice control.

[0238] 3. Execute the switching action: The autonomous cleaning device maintains the movement of the body 100 and the rotation of the side brush 210 and / or roller brush 310; the mop drive mechanism first brakes the roller mop 410, causing it to stop rotating quickly, and then the mopping module 400 drive mechanism drives the mopping module 400 to begin moving to the retracted position. Alternatively, while the mop drive mechanism begins braking the roller mop 410, the mopping module 400 drive mechanism drives the mopping module 400 to begin moving to the retracted position.

[0239] 4. Entering stable single-sweep state: Assume that the machine body 100 continues to move, and the side brush 210 and / or roller brush 310 continue to work.

[0240] It should be noted that the autonomous cleaning equipment in this application includes, but is not limited to, sweeping robots (including those with one or more cleaning mechanisms), floor scrubbers (robots with mopping functions but no sweeping functions), sweeping and mopping robots, and floor scrubbers (such as handheld floor scrubbers and non-handheld floor scrubbers).

[0241] refer to Figures 1-3 This application provides a self-cleaning device, which includes a body 100.

[0242] The side brush module 200 is located at the bottom or side of the body 100 and includes a side brush drive mechanism and a side brush 210. The side brush drive mechanism is used to drive the side brush 210 to rotate.

[0243] The middle sweeping module 300 is located at the bottom of the body 100 and includes a roller brush drive mechanism and a roller brush 310. The roller brush 310 is located in the suction chamber at the bottom of the body 100, and the roller brush drive mechanism is used to drive the roller brush 310 to rotate.

[0244] The mopping module 400 is located in the receiving cavity 110 at the bottom of the body 100. The mopping module 400 includes a roller mop 410 and a mop drive mechanism for driving the roller mop 410 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 410.

[0245] The mopping module 400 drive mechanism is used to drive the mopping module 400 to move in the height direction of the body 100. The mopping module 400 can move between a lifting height and a mopping height. The mopping module 400 can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module 400 to move in the width direction of the body 100. The mopping module 400 can move between an inward position and an outward position. When the mopping module 400 is in the outward position, it is further away from the receiving cavity 110 than when it is in the inward position.

[0246] The self-cleaning equipment has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module 400 is at the raised height, the roller mop 410 stops rotating, and the roller brush 310 and / or the side brush 210 rotates. In the sweeping and mopping working state, the mopping module 400 is at the mopping height and is in the inward or outward position, and the roller mop 410 rotates.

[0247] During operation, the self-cleaning equipment can switch from sweeping and mopping to sweeping only, and vice versa.

[0248] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module 400 to move to the mopping height, and controls the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height. For example, during the switch from single-sweeping mode to sweeping and mopping mode, the autonomous cleaning device continues to move, the side brush 210 and / or the roller brush 310 continue to rotate, the mopping module 400 drive mechanism drives the mopping module 400 to move to the mopping height, and the mop drive mechanism drives the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height.

[0249] The autonomous cleaning equipment is also equipped with a sensor system for determining its location and acquiring environmental information about its surroundings. Exemplarily, the sensor system includes at least one of the following: a positioning device, a vision sensor, an ultrasonic sensor, and an operating parameter acquisition device. The positioning device, used to acquire current location information, can be an odometer, an inertial measurement unit (IMU), etc. The vision sensor, used to acquire environmental images, can be an RGB (Red, Green, Blue) camera or an RGBD camera, etc. The operating parameter acquisition device can be a device for acquiring operating parameters such as the cleaning equipment's sweeping current, and can be a controller such as a CPU, MCU, or SoC, or other devices or circuit structures with relevant capabilities. Additionally, the sensor system may also include wheel pressure sensors, infrared sensors, etc., without specific limitations.

[0250] Correspondingly, after the mopping module 400 moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module 400 to expand outward for mopping, the mopping module 400 is controlled to expand outward from the inward position. During the outward expansion movement, the rotation speed of the roller mop 410 is controlled to be greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the rotation speed of the roller mop 410 is controlled to be greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute. For example, after the mopping module 400 reaches the mopping height, the control mopping module drive mechanism drives the mopping module 400 to move outward from the inward position to the outward position. During the movement, the control mop drive mechanism drives the roller mop 410 to a speed greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward movement stops, the control mop drive mechanism drives the roller mop 410 to a speed greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0251] When the autonomous cleaning device is in sweeping and mopping mode and the mopping module 400 is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the device controls the mopping module 400 to move to the retracted position. During or before the mopping module 400 moves to the retracted position, the device controls the roller mop 410 to stop rotating. After the mopping module 400 reaches the retracted position or the transition position, the device controls the mopping module 400 drive mechanism to drive the mopping module 400 to the raised position. The transition position is the position between the retracted position and the extended position where the mopping module 400 drive mechanism can drive the mopping module 400 to be raised.

[0252] For example, during the transition from sweeping and mopping to single-sweeping mode, the autonomous cleaning device continues to move, the side brush 210 and / or the roller brush 310 continue to rotate, and the mopping module 400 drive mechanism drives the mopping module 400 to move to the inward position. During or before the mopping module 400 moves to the inward position, the mop drive mechanism brakes the roller mop 410 to stop its rotation. After the mopping module 400 reaches the inward position or the transition position, the mopping module 400 drive mechanism drives the mopping module 400 to move to the lifting height. The transition position is the position between the inward position and the outward position where the mopping module 400 drive mechanism can drive the mopping module 400 to lift.

[0253] Understandably, compared to existing technologies, where the roller mop 410 descends first and then begins to rotate, the rotational speed of the roller mop 410 may not have reached the range required for effective cleaning when it contacts the ground. This results in insufficient cleaning during the device's forward movement. In this embodiment, the mop drive mechanism drives the roller mop 410 to begin rotating before the mopping module 400 reaches the mopping height. By utilizing the time required for the mopping module 400 to move from the lifting height to the mopping height, the rotational acceleration process of the roller mop 410 is completed or substantially completed within this time. This ensures that when the mopping module 400 reaches the mopping height, the rotational speed of the roller mop 410 has already reached a specific range (i.e., the operating speed range required for effective cleaning). This guarantees that the roller mop 410 has complete cleaning capability the moment it contacts the ground, possessing sufficient rotational speed to effectively scrub and remove stains, eliminating the cleaning effect gap caused by mode switching.

[0254] In this way, by starting the roller mop 410 to rotate and reach its effective working speed before the mopping module 400 descends and contacts the ground, it ensures that the roller mop 410 has complete cleaning capability the moment it contacts the ground. This avoids the problem of missed or weak cleaning in the initial contact area caused by the traditional sequential execution where the roller mop 410 descends first and then accelerates, resulting in the device having moved before the roller mop 410 reaches its effective speed. This ensures that after switching from single sweeping mode to sweeping and mopping mode, the mopping effect of the first cleaned area is consistent with that of subsequent areas, improving the uniformity and reliability of the overall cleaning effect. Users will not observe obvious gaps in the cleaning effect due to mode switching; the cleaning process is smooth and natural, improving the user experience. By combining the ability of the mopping module 400 to move inward / outward in the width direction, and adapting to different floor materials and user needs, this system can effectively clean the area. The design of switching between sweeping and mopping modes enables the autonomous cleaning device to adapt more intelligently and precisely to various home environments. By parallelizing the rotation acceleration process of the roller mop 410 with the descent process of the mopping module 400, the entire mode switching cycle is shortened, allowing the device to enter an effective sweeping and mopping state more quickly. This reduces the time delay of the overall cleaning task caused by mode switching, thereby improving cleaning efficiency. By maintaining the movement of the body 100 and the rotation of the side brush 210 and / or roller brush 310 during mode switching, the continuity of the cleaning operation is ensured. The device will not stop moving forward or pause cleaning when the mopping function needs to be activated, thus avoiding interruptions in the cleaning path, wasted time, and potential cleaning blind spots caused by mode switching, improving overall cleaning efficiency and providing a seamless user experience. Optionally, during the process of switching the device to sweeping and mopping mode, the side brush 210 and / or the roller brush 310 continue to rotate, which means that the sweeping action of dry dirt, dust and debris on the ground never stops. Large particles of debris can be swept away in advance, thus preparing a cleaner ground base for the upcoming wet mopping function. This allows the roller mop 410 to focus more on dealing with wet stains and fine dust, so that more effective compound cleaning can be carried out on heavily soiled areas the moment the switch is completed, improving the immediacy and thoroughness of the cleaning effect.

[0255] Understandably, after the mopping module 400 reaches the mopping height, the roller mop 410 has contacted the ground and is working stably. At this time, the mopping module drive mechanism is activated to drive the mopping module 400 to move outward from the inward position to the outward position. This avoids problems such as uneven contact pressure and inconsistent cleaning effect that may be caused by lateral movement before the roller mop 410 has fully contacted the ground or the speed has not reached the standard. This ensures the cleaning effect of the first cleaning area after the mode switch.

[0256] During the outward movement of the mopping module 400, the roller mop 410 is driven at a speed greater than or equal to 120 rpm and less than or equal to 240 rpm; after the outward movement of the mopping module 400 stops, the speed of the roller mop 410 is adjusted to greater than or equal to 60 rpm and less than or equal to 210 rpm. It can be seen that a relatively high speed is required during the outward movement; after the outward movement stops, the speed is adjusted to a lower, more conventional range.

[0257] This is because, during the outward movement of the mopping module 400, the lower limit of the roller mop 410's rotation speed is driven to a speed greater than or equal to 120 revolutions per minute. This setting ensures that the roller mop 410 can complete a sufficient number of cleaning cycles (scraping-wetting-mopping) per unit time when quickly sweeping the floor laterally, thus covering the outward movement path and avoiding missed areas. The upper limit of the roller mop 410's rotation speed is driven to a speed less than or equal to 240 revolutions per minute, taking into account the constraint of the system's total power when the mopping module 400's drive mechanism is simultaneously moving outward, preventing overload.

[0258] After the mopping module 400 stops its outward movement, its lower limit roller mop 410 is driven to a speed of 60 rpm or higher, ensuring a basic cleaning cycle frequency when mopping at a stationary or low speed. Its upper limit roller mop 410 is driven to a speed of 210 rpm or lower, a safe upper speed limit that balances cleaning effectiveness and motor life during regular mopping.

[0259] When the mopping module 400 extends outward, the increased power demand from the motors involved in the extension within the mopping module's drive mechanism necessitates a stricter limit on the upper speed of the roller mop 410. This limit is less than or equal to 240 revolutions per minute, and must be lower than the conventional upper limit of 210 revolutions per minute. However, since the mop drive mechanism provides assistance and its increased speed does not significantly increase the power of the motors involved in the extension within the mopping module's drive mechanism, a higher upper speed limit than conventional mopping is permissible during extension.

[0260] By increasing the rotation speed of the roller mop 410 to greater than or equal to 120 revolutions per minute during the outward movement of the mopping module 400, it is ensured that the roller mop 410 can complete at least one effective cleaning cycle when sweeping the area to be cleaned laterally, even within a short contact time. This avoids missed areas or insufficient cleaning that may occur due to the fast outward movement speed and short contact time, thus preventing missed areas or weak cleaning and ensuring the cleaning effect of the outward-extended area. Furthermore, by limiting the maximum rotation speed of the roller mop 410 to less than or equal to 240 revolutions per minute during the outward movement of the roller mop 410, which requires higher power consumption, the total power of the system is kept within a safe range. This prevents the power supply or drive motor from overloading, ensuring the electrical safety and hardware lifespan of the equipment.

[0261] Understandably, when the autonomous cleaning device switches from sweeping and mopping mode to sweeping mode, the mopping module 400 drive mechanism first drives the mopping module 400 to move inward in the width direction to a retracted position; subsequently, after the mopping module 400 reaches the retracted position or transition position, it is driven to move in the height direction to the raised position. Simultaneously, the mop drive mechanism, as the actuator controlling the rotation of the roller mop 410, stops the roller mop 410 from rotating. The timing of the braking action on the roller mop 410 is set during the movement of the mopping module 400 to the retracted position, or before this movement begins.

[0262] By braking and stopping the rotation of the roller mop 410 when or before the mopping module 400 begins to retract, the wet mopping function stops before the mopping module 400 retracts laterally and rises vertically. This prevents the roller mop 410 from continuing to rotate at low speed or dripping residual water during the lifting process, thus preventing water stains or contamination on the floor, protecting the floor and improving the fineness of the cleaning, and avoiding damage to special floor materials (such as freshly brushed floors or canvas). Optionally, during the transition from sweeping and mopping mode to sweeping mode, the movement of the machine body 100 and the rotation of the side brush 210 and / or roller brush 310 are maintained, ensuring continuous and uninterrupted cleaning operations and maintaining the overall smoothness and efficiency of the cleaning task.

[0263] In practical applications:

[0264] The autonomous cleaning equipment switches from sweeping mode to sweeping and mopping mode:

[0265] 1. Initial State and Task Planning: The autonomous cleaning equipment begins to perform cleaning tasks according to user instructions or its own planning. Initially, it may be set to a single sweeping mode. At this time, the mopping module 400 is at the raised height, the roller mop 410 is stopped, and the side brush 210 and roller brush 310 are working.

[0266] 2. Mode Decision: The device identifies the floor material of the current cleaning area through sensors (such as vision sensors and floor material detection sensors) or switches sweeping and mopping modes through user commands. When moving from a water-sensitive area (such as carpet) to a water-resistant area (such as tile), or when the user suddenly discovers water stains or heavy dirt ahead, the device decides to switch from sweeping mode to sweeping and mopping mode via the APP or voice control.

[0267] 3. Parallel execution of switching actions: The autonomous cleaning device maintains the movement of the main body 100, while the side brush 210 and / or roller brush 310 rotate. Upon receiving the switching command, the mop drive mechanism immediately begins to drive the roller mop 410 to rotate, and simultaneously the mopping module 400 drive mechanism begins to drive the mopping module 400 to move from the lifting height to the mopping height.

[0268] 4. Entering Stable Mopping State: When the mopping module 400 reaches the full mopping height, it moves from the retracted position to the expanded position. Simultaneously, the mop drive mechanism controls the rotation speed of the roller mop 410, increasing it from the initial acceleration state to a speed greater than or equal to 120 rpm and less than or equal to 240 rpm. Once the mopping module 400 reaches the expanded position and stops moving outward, the mop drive mechanism adjusts the rotation speed of the roller mop 410 to a speed greater than or equal to 60 rpm and less than or equal to 210 rpm, entering a stable mopping working state that balances effectiveness and lifespan. At this time, the side brush 210 and roller brush 310 continue to work, and the roller mop 410 performs wet mopping cleaning with water supplied by the water replenishment mechanism and wastewater removed by the scraping mechanism. The mopping module 400 can remain in the retracted position or move to the expanded position to increase the wet mopping coverage area, depending on the cleaning path plan.

[0269] The self-cleaning equipment switches from sweeping and mopping mode to sweeping-only mode:

[0270] 1. Initial State and Task Planning: The autonomous cleaning equipment begins to perform cleaning tasks according to user instructions or its own planning. Initially, it may be set to a single sweeping mode. At this time, the mopping module 400 is at the raised height, the roller mop 410 is stopped, and the side brush 210 and roller brush 310 are working.

[0271] 2. Mode Decision: The device identifies the floor material of the current cleaning area through sensors (such as vision sensors and floor material detection sensors) or switches sweeping and mopping modes through user commands. When moving from a water-resistant area (such as tile) to a water-sensitive area (such as carpet) or when the user finds that sweeping and mopping are not needed ahead, the device decides to switch from sweeping and mopping mode to sweeping-only mode via the APP or voice control.

[0272] 3. Execute the switching action: The autonomous cleaning device maintains the movement of the body 100 and the rotation of the side brush 210 and / or roller brush 310; the mop drive mechanism first brakes the roller mop 410, causing it to stop rotating quickly, and then the mopping module 400 drive mechanism drives the mopping module 400 to begin moving to the retracted position. Alternatively, while the mop drive mechanism begins braking the roller mop 410, the mopping module 400 drive mechanism drives the mopping module 400 to begin moving to the retracted position.

[0273] 4. Entering stable single-sweep state: Assume that the machine body 100 continues to move, and the side brush 210 and / or roller brush 310 continue to work.

[0274] It should be noted that the autonomous cleaning equipment in this application includes, but is not limited to, sweeping robots (including those with one or more cleaning mechanisms), floor scrubbers (robots with mopping functions but no sweeping functions), sweeping and mopping robots, and floor scrubbers (such as handheld floor scrubbers and non-handheld floor scrubbers).

[0275] refer to Figures 1-3 This application provides a self-cleaning device, which includes a body 100.

[0276] The side brush module 200 is located at the bottom or side of the body 100 and includes a side brush drive mechanism and a side brush 210. The side brush drive mechanism is used to drive the side brush 210 to rotate.

[0277] The middle sweeping module 300 is located at the bottom of the body 100 and includes a roller brush drive mechanism and a roller brush 310. The roller brush 310 is located in the suction chamber at the bottom of the body 100, and the roller brush drive mechanism is used to drive the roller brush 310 to rotate.

[0278] The mopping module 400 is located in the receiving cavity 110 at the bottom of the body 100. The mopping module 400 includes a roller mop 410 and a mop drive mechanism for driving the roller mop 410 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 410.

[0279] The mopping module 400 drive mechanism is used to drive the mopping module 400 to move in the height direction of the body 100. The mopping module 400 can move between a lifting height and a mopping height. The mopping module 400 can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module 400 to move in the width direction of the body 100. The mopping module 400 can move between an inward position and an outward position. When the mopping module 400 is in the outward position, it is further away from the receiving cavity 110 than when it is in the inward position.

[0280] The self-cleaning equipment has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module 400 is at the raised height, the roller mop 410 stops rotating, and the roller brush 310 and / or the side brush 210 rotates. In the sweeping and mopping working state, the mopping module 400 is at the mopping height and is in the inward or outward position, and the roller mop 410 rotates.

[0281] During operation, the self-cleaning equipment can switch from sweeping and mopping to sweeping only, and vice versa.

[0282] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module 400 to move to the mopping height, controls the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height, and controls the roller mop 410 to reach a rotation speed greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground. For example, during the switch from single-sweeping mode to sweeping and mopping mode, the autonomous cleaning device continues to move, the side brush 210 and / or the roller brush 310 continue to rotate, the mopping module 400 drive mechanism drives the mopping module 400 to move to the mopping height, the mop drive mechanism drives the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height, and the roller mop 410 reaches a rotation speed greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground.

[0283] The autonomous cleaning equipment is also equipped with a sensor system for determining its location and acquiring environmental information about its surroundings. Exemplarily, the sensor system includes at least one of the following: a positioning device, a vision sensor, an ultrasonic sensor, and an operating parameter acquisition device. The positioning device, used to acquire current location information, can be an odometer, an inertial measurement unit (IMU), etc. The vision sensor, used to acquire environmental images, can be an RGB (Red, Green, Blue) camera or an RGBD camera, etc. The operating parameter acquisition device can be a device for acquiring operating parameters such as the cleaning equipment's sweeping current, and can be a controller such as a CPU, MCU, or SoC, or other devices or circuit structures with relevant capabilities. Additionally, the sensor system may also include wheel pressure sensors, infrared sensors, etc., without specific limitations.

[0284] Correspondingly, after the mopping module 400 moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module 400 to expand outward for mopping, the mopping module 400 is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the roller mop 410 is controlled to keep rotating.

[0285] When the autonomous cleaning device is in sweeping and mopping mode and the mopping module 400 is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the device controls the mopping module 400 to move to the retracted position. During or before the mopping module 400 moves to the retracted position, the device controls the roller mop 410 to stop rotating. After the mopping module 400 reaches the retracted position or the transition position, the device controls the mopping module 400 drive mechanism to drive the mopping module 400 to the raised position. The transition position is the position between the retracted position and the extended position where the mopping module 400 drive mechanism can drive the mopping module 400 to be raised.

[0286] For example, during the transition from sweeping and mopping to single-sweeping mode, the autonomous cleaning device continues to move, the side brush 210 and / or the roller brush 310 continue to rotate, and the mopping module 400 drive mechanism drives the mopping module 400 to move to the inward position. During or before the mopping module 400 moves to the inward position, the mop drive mechanism brakes the roller mop 410 to stop its rotation. After the mopping module 400 reaches the inward position or the transition position, the mopping module 400 drive mechanism drives the mopping module 400 to move to the lifting height. The transition position is the position between the inward position and the outward position where the mopping module 400 drive mechanism can drive the mopping module 400 to lift.

[0287] Understandably, compared to existing technologies, where the roller mop 410 descends first and then begins to rotate, the rotational speed of the roller mop 410 may not have reached the range required for effective cleaning when it contacts the ground. This results in insufficient cleaning during the device's forward movement. In this embodiment, the mop drive mechanism drives the roller mop 410 to begin rotating before the mopping module 400 reaches the mopping height. By utilizing the time required for the mopping module 400 to move from the lifting height to the mopping height, the rotational acceleration process of the roller mop 410 is completed or substantially completed within this time. This ensures that when the mopping module 400 reaches the mopping height, the rotational speed of the roller mop 410 has already reached a specific range (i.e., the operating speed range required for effective cleaning). This guarantees that the roller mop 410 has complete cleaning capability the moment it contacts the ground, possessing sufficient rotational speed to effectively scrub and remove stains, eliminating the cleaning effect gap caused by mode switching.

[0288] In this way, by starting the roller mop 410 to rotate and reach its effective working speed before the mopping module 400 descends and contacts the ground, it ensures that the roller mop 410 has complete cleaning capability the moment it contacts the ground. This avoids the problem of missed or weak cleaning in the initial contact area caused by the traditional sequential execution where the roller mop 410 descends first and then accelerates, resulting in the device having moved before the roller mop 410 reaches its effective speed. This ensures that after switching from single sweeping mode to sweeping and mopping mode, the mopping effect of the first cleaned area is consistent with that of subsequent areas, improving the uniformity and reliability of the overall cleaning effect. Users will not observe any significant difference due to mode switching. The cleaning effect is seamless, and the cleaning process is smooth and natural, improving the user experience. By combining the ability of the mopping module 400 to move inward / outward in the width direction, and the design of switching between single sweeping / sweeping and mopping working modes according to different floor materials and user needs, the autonomous cleaning device can adapt to various home environments more intelligently and precisely. By parallelizing the rotation acceleration process of the roller mop 410 with the descent process of the mopping module 400, the cycle of the entire mode switching is shortened, and the device can enter the effective sweeping and mopping working state more quickly, reducing the time delay of the overall cleaning task caused by mode switching, thereby improving cleaning efficiency.

[0289] It is understandable that the moment the roller mop 410 starts rotating is no later than the moment the mopping module 400 begins to descend, and the entire rotation acceleration process is included within the descent time window of the mopping module 400, ensuring that there is sufficient time for the rotation speed to be formed.

[0290] During the process of the mopping module 400 moving from the start to the mopping height, the roller mop 410 must rotate at least 60 revolutions per minute to ensure a basic cleaning effect. This value is directly related to the cleaning cycle (completing one complete scraping-refilling-mopping cycle within 1 second), ensuring the effectiveness and continuity of the cleaning action. Otherwise, the roller mop 410 may mop dirty areas with dirty surfaces, or there may not be enough water, resulting in poor cleaning performance.

[0291] During the process of the mopping module 400 moving from the start to the mopping height, the rotation speed of the roller mop 410 must be less than or equal to 210 revolutions per minute to ensure the safety and reliability of the rotation speed. This value is set based on a comprehensive consideration of the power, heat generation, and lifespan of the mop drive mechanism (motor), to prevent the motor from overheating, shortening its lifespan, or causing safety hazards due to excessive rotation speed.

[0292] In this way, by placing the rotation acceleration process of the roller mop 410 entirely within the downward time window of the mopping module 400, and setting the rotation speed to 60-210 revolutions per minute, it is ensured that the rotation speed of the roller mop 410 is within the effective cleaning range when it contacts the ground. This avoids the problem of reduced cleaning effect in the initial contact area due to insufficient rotation speed, which could lead to missed areas or weak cleaning. It ensures that after switching from single sweeping mode to sweeping and mopping mode, the cleaning effect is complete and reliable from the moment the roller mop 410 leaves the ground. By setting a minimum rotation speed of no less than 60 revolutions per minute, it is ensured that the roller mop 410 can complete a sufficient number of scraping-replenishing-mopping cleaning cycles per unit time, avoiding incomplete scraping due to excessively low rotation speed, which would result in dirt being re-applied or re-mopping. The system addresses issues such as low water frequency and excessively dry mop, ensuring stable wet mopping cleaning quality and efficient water resource utilization. By setting a maximum rotation speed of no more than 210 rpm, the system effectively limits the peak power and heat generation of the mop drive mechanism (motor). This prevents the motor from overheating due to prolonged overload operation, protecting it, extending its lifespan, and reducing malfunctions or safety risks caused by overheating, thus improving the overall reliability and safety of the autonomous cleaning equipment. By setting the rotation speed within a specific range of 60-210 rpm, an engineered balance is maintained between cleaning effectiveness and system reliability, ensuring that the autonomous cleaning equipment can perform its expected cleaning capabilities while maintaining stable and durable operation of the power system during sweeping and mopping.

[0293] Understandably, after the mopping module 400 reaches the mopping height, the roller mop 410 has contacted the ground and is working stably. At this time, the mopping module drive mechanism is activated to drive the mopping module 400 to move outward from the inward position to the outward position. This avoids problems such as uneven contact pressure and inconsistent cleaning effect that may be caused by lateral movement before the roller mop 410 has fully contacted the ground or the speed has not reached the standard. This ensures the cleaning effect of the first cleaning area after the mode switch.

[0294] Understandably, when the autonomous cleaning device switches from sweeping and mopping mode to sweeping mode, the mopping module 400 drive mechanism first drives the mopping module 400 to move inward in the width direction to a retracted position; subsequently, after the mopping module 400 reaches the retracted position or transition position, it is driven to move in the height direction to the raised position. Simultaneously, the mop drive mechanism, as the actuator controlling the rotation of the roller mop 410, stops the roller mop 410 from rotating. The timing of the braking action on the roller mop 410 is set during the movement of the mopping module 400 to the retracted position, or before this movement begins.

[0295] By braking and stopping the rotation of the roller mop 410 when or before the mopping module 400 begins to retract, the wet mopping function stops before the mopping module 400 retracts laterally and rises vertically. This prevents the roller mop 410 from continuing to rotate at low speed or dripping residual water during the lifting process, thus preventing water stains or contamination on the floor, protecting the floor and improving the fineness of the cleaning, and avoiding damage to special floor materials (such as freshly brushed floors or canvas). Optionally, during the transition from sweeping and mopping mode to sweeping mode, the movement of the machine body 100 and the rotation of the side brush 210 and / or roller brush 310 are maintained, ensuring continuous and uninterrupted cleaning operations and maintaining the overall smoothness and efficiency of the cleaning task.

[0296] In practical applications:

[0297] The autonomous cleaning equipment switches from sweeping mode to sweeping and mopping mode:

[0298] 1. Initial State and Task Planning: The autonomous cleaning equipment begins to perform cleaning tasks according to user instructions or its own planning. Initially, it may be set to a single sweeping mode. At this time, the mopping module 400 is at the raised height, the roller mop 410 is stopped, and the side brush 210 and roller brush 310 are working.

[0299] 2. Mode Decision: The device identifies the floor material of the current cleaning area through sensors (such as vision sensors and floor material detection sensors) or switches sweeping and mopping modes through user commands. When moving from a water-sensitive area (such as carpet) to a water-resistant area (such as tile), or when the user suddenly discovers water stains or heavy dirt ahead, the device decides to switch from sweeping mode to sweeping and mopping mode via the APP or voice control.

[0300] 3. Parallel execution of switching actions: The autonomous cleaning device maintains the movement of the body 100, the rotation of the side brush 210 and / or the roller brush 310. After receiving the switching command, the mop drive mechanism immediately starts to drive the roller mop 410 to rotate and controls its speed to increase to the preset effective working speed range (greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute) in a short time. At the same time, the mopping module 400 drive mechanism starts to drive the mopping module 400 to move from the lifting height to the mopping height.

[0301] As the mopping module 400 begins to move towards the retracted position, the mopping module 400 drive mechanism drives the mopping module 400 to begin moving towards the raised position. Alternatively, after the mopping module 400 reaches the retracted position, the mopping module 400 drive mechanism drives the mopping module 400 to begin moving towards the raised position.

[0302] 4. Entering stable sweeping and mopping state: When the mopping module 400 reaches the full mopping height, it moves from the retracted position to the expanded position. The side brush 210 and roller brush 310 continue to work to collect dust, while the roller mop 410 continues to rotate, performing wet mopping cleaning under the water supply of the water replenishment mechanism and the wastewater removal of the cleaning mechanism. The mopping module 400 begins to maintain its position in the retracted position or move to the expanded position to increase the wet mopping coverage area according to the cleaning path plan.

[0303] The self-cleaning equipment switches from sweeping and mopping mode to sweeping-only mode:

[0304] 1. Initial State and Task Planning: The autonomous cleaning equipment begins to perform cleaning tasks according to user instructions or its own planning. Initially, it may be set to a single sweeping mode. At this time, the mopping module 400 is at the raised height, the roller mop 410 is stopped, and the side brush 210 and roller brush 310 are working.

[0305] 2. Mode Decision: The device identifies the floor material of the current cleaning area through sensors (such as vision sensors and floor material detection sensors) or switches sweeping and mopping modes through user commands. When moving from a water-resistant area (such as tile) to a water-sensitive area (such as carpet) or when the user finds that sweeping and mopping are not needed ahead, the device decides to switch from sweeping and mopping mode to sweeping-only mode via the APP or voice control.

[0306] 3. Execute the switching action: The autonomous cleaning device maintains the movement of the body 100 and the rotation of the side brush 210 and / or roller brush 310; the mop drive mechanism first brakes the roller mop 410, causing it to stop rotating quickly, and then the mopping module 400 drive mechanism drives the mopping module 400 to begin moving to the retracted position. Alternatively, while the mop drive mechanism begins braking the roller mop 410, the mopping module 400 drive mechanism drives the mopping module 400 to begin moving to the retracted position.

[0307] 4. Entering stable single-sweep state: Assume that the machine body 100 continues to move, and the side brush 210 and / or roller brush 310 continue to work.

[0308] It should be noted that the autonomous cleaning equipment in this application includes, but is not limited to, sweeping robots (including those with one or more cleaning mechanisms), floor scrubbers (robots with mopping functions but no sweeping functions), sweeping and mopping robots, and floor scrubbers (such as handheld floor scrubbers and non-handheld floor scrubbers).

[0309] refer to Figures 1-3 This application provides a self-cleaning device, which includes a body 100.

[0310] The side brush module 200 is located at the bottom or side of the body 100 and includes a side brush drive mechanism and a side brush 210. The side brush drive mechanism is used to drive the side brush 210 to rotate.

[0311] The middle sweeping module 300 is located at the bottom of the body 100 and includes a roller brush drive mechanism and a roller brush 310. The roller brush 310 is located in the suction chamber at the bottom of the body 100, and the roller brush drive mechanism is used to drive the roller brush 310 to rotate.

[0312] The mopping module 400 is located in the receiving cavity 110 at the bottom of the body 100. The mopping module 400 includes a roller mop 410 and a mop drive mechanism for driving the roller mop 410 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 410.

[0313] The mopping module 400 drive mechanism is used to drive the mopping module 400 to move in the height direction of the body 100. The mopping module 400 can move between a lifting height and a mopping height. The mopping module 400 can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module 400 to move in the width direction of the body 100. The mopping module 400 can move between an inward position and an outward position. When the mopping module 400 is in the outward position, it is further away from the receiving cavity 110 than when it is in the inward position.

[0314] The self-cleaning equipment has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module 400 is at the raised height, the roller mop 410 stops rotating, and the roller brush 310 and / or the side brush 210 rotates. In the sweeping and mopping working state, the mopping module 400 is at the mopping height and is in the inward or outward position, and the roller mop 410 rotates.

[0315] During operation, the self-cleaning equipment can switch from sweeping and mopping to sweeping only, and vice versa.

[0316] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module 400 to move to the mopping height, controls the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height, and controls the roller mop 410 to reach a rotation speed of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground.

[0317] The autonomous cleaning equipment is also equipped with a sensor system for determining its location and acquiring environmental information about its surroundings. Exemplarily, the sensor system includes at least one of the following: a positioning device, a vision sensor, an ultrasonic sensor, and an operating parameter acquisition device. The positioning device, used to acquire current location information, can be an odometer, an inertial measurement unit (IMU), etc. The vision sensor, used to acquire environmental images, can be an RGB (Red, Green, Blue) camera or an RGBD camera, etc. The operating parameter acquisition device can be a device for acquiring operating parameters such as the cleaning equipment's sweeping current, and can be a controller such as a CPU, MCU, or SoC, or other devices or circuit structures with relevant capabilities. Additionally, the sensor system may also include wheel pressure sensors, infrared sensors, etc., without specific limitations.

[0318] Correspondingly, after the mopping module 400 moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module 400 to expand outward for mopping, the mopping module 400 is controlled to expand outward from the inward position. During the outward expansion movement, the rotation speed of the roller mop 410 is controlled to be greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the rotation speed of the roller mop 410 is controlled to be greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0319] Understandably, compared to existing technologies, where the roller mop 410 descends first and then begins to rotate, the rotational speed of the roller mop 410 may not have reached the range required for effective cleaning when it contacts the ground. This results in insufficient cleaning during the device's forward movement. In this embodiment, the mop drive mechanism drives the roller mop 410 to begin rotating before the mopping module 400 reaches the mopping height. By utilizing the time required for the mopping module 400 to move from the lifting height to the mopping height, the rotational acceleration process of the roller mop 410 is completed or substantially completed within this time. This ensures that when the mopping module 400 reaches the mopping height, the rotational speed of the roller mop 410 has already reached a specific range (i.e., the operating speed range required for effective cleaning). This guarantees that the roller mop 410 has complete cleaning capability the moment it contacts the ground, possessing sufficient rotational speed to effectively scrub and remove stains, eliminating the cleaning effect gap caused by mode switching.

[0320] In this way, by starting the roller mop 410 to rotate and reach its effective working speed before the mopping module 400 descends and contacts the ground, it ensures that the roller mop 410 has complete cleaning capability the moment it contacts the ground. This avoids the problem of missed or weak cleaning in the initial contact area caused by the traditional sequential execution where the roller mop 410 descends first and then accelerates, resulting in the device having moved before the roller mop 410 reaches its effective speed. This ensures that after switching from single sweeping mode to sweeping and mopping mode, the mopping effect of the first cleaned area is consistent with that of subsequent areas, improving the uniformity and reliability of the overall cleaning effect. Users will not observe any significant difference due to mode switching. The cleaning effect is seamless, and the cleaning process is smooth and natural, improving the user experience. By combining the ability of the mopping module 400 to move inward / outward in the width direction, and the design of switching between single sweeping / sweeping and mopping working modes according to different floor materials and user needs, the autonomous cleaning device can adapt to various home environments more intelligently and precisely. By parallelizing the rotation acceleration process of the roller mop 410 with the descent process of the mopping module 400, the cycle of the entire mode switching is shortened, and the device can enter the effective sweeping and mopping working state more quickly, reducing the time delay of the overall cleaning task caused by mode switching, thereby improving cleaning efficiency.

[0321] It is understandable that the moment the roller mop 410 starts rotating is no later than the moment the mopping module 400 begins to descend, and the entire rotation acceleration process is included within the descent time window of the mopping module 400, ensuring that there is sufficient time for the rotation speed to be formed.

[0322] During the process of the mopping module 400 moving from the start to the mopping height, the roller mop 410 must rotate at least 60 revolutions per minute to ensure a basic cleaning effect. This value is directly related to the cleaning cycle (completing one complete scraping-refilling-mopping cycle within 1 second), ensuring the effectiveness and continuity of the cleaning action. Otherwise, the roller mop 410 may mop dirty areas with dirty surfaces, or there may not be enough water, resulting in poor cleaning performance.

[0323] During the process of the mopping module 400 moving from the start to the mopping height, the rotation speed of the roller mop 410 must be less than or equal to 210 revolutions per minute to ensure the safety and reliability of the rotation speed. This value is set based on a comprehensive consideration of the power, heat generation, and lifespan of the mop drive mechanism (motor), to prevent the motor from overheating, shortening its lifespan, or causing safety hazards due to excessive rotation speed.

[0324] In this way, by placing the rotation acceleration process of the roller mop 410 entirely within the downward time window of the mopping module 400, and setting the rotation speed to 60-210 revolutions per minute, it is ensured that the rotation speed of the roller mop 410 is within the effective cleaning range when it contacts the ground. This avoids the problem of reduced cleaning effect in the initial contact area due to insufficient rotation speed, which could lead to missed areas or weak cleaning. It ensures that after switching from single sweeping mode to sweeping and mopping mode, the cleaning effect is complete and reliable from the moment the roller mop 410 leaves the ground. By setting a minimum rotation speed of no less than 60 revolutions per minute, it is ensured that the roller mop 410 can complete a sufficient number of scraping-replenishing-mopping cleaning cycles per unit time, avoiding incomplete scraping due to excessively low rotation speed, which would result in dirt being re-applied or re-mopping. The system addresses issues such as low water frequency and excessively dry mop, ensuring stable wet mopping cleaning quality and efficient water resource utilization. By setting a maximum rotation speed of no more than 210 rpm, the system effectively limits the peak power and heat generation of the mop drive mechanism (motor). This prevents the motor from overheating due to prolonged overload operation, protecting it, extending its lifespan, and reducing malfunctions or safety risks caused by overheating, thus improving the overall reliability and safety of the autonomous cleaning equipment. By setting the rotation speed within a specific range of 60-210 rpm, an engineered balance is maintained between cleaning effectiveness and system reliability, ensuring that the autonomous cleaning equipment can perform its expected cleaning capabilities while maintaining stable and durable operation of the power system during sweeping and mopping.

[0325] Understandably, after the mopping module 400 reaches the mopping height, the roller mop 410 has contacted the ground and is working stably. If the location and / or environment of the autonomous cleaning device require the mopping module 400 to extend outward for mopping, the mopping module drive mechanism is activated to drive the mopping module 400 to move outward from the inward position to the outward position. This avoids problems such as uneven contact pressure and inconsistent cleaning effect that may occur when the roller mop 410 has not fully contacted the ground or the speed has not reached the standard before lateral movement, thus ensuring the cleaning effect of the first cleaning area after the mode switch.

[0326] During the outward movement of the mopping module 400, the roller mop 410 is driven at a speed greater than or equal to 120 rpm and less than or equal to 240 rpm; after the outward movement of the mopping module 400 stops, the speed of the roller mop 410 is adjusted to greater than or equal to 60 rpm and less than or equal to 210 rpm. It can be seen that a relatively high speed is required during the outward movement; after the outward movement stops, the speed is adjusted to a lower, more conventional range.

[0327] This is because, during the outward movement of the mopping module 400, the lower limit of the roller mop 410's rotation speed is driven to a speed greater than or equal to 120 revolutions per minute. This setting ensures that the roller mop 410 can complete a sufficient number of cleaning cycles (scraping-wetting-mopping) per unit time when quickly sweeping the floor laterally, thus covering the outward movement path and avoiding missed areas. The upper limit of the roller mop 410's rotation speed is driven to a speed less than or equal to 240 revolutions per minute, taking into account the constraint of the system's total power when the mopping module 400's drive mechanism is simultaneously moving outward, preventing overload.

[0328] After the mopping module 400 stops its outward movement, its lower limit roller mop 410 is driven to a speed of 60 rpm or higher, ensuring a basic cleaning cycle frequency when mopping at a stationary or low speed. Its upper limit roller mop 410 is driven to a speed of 210 rpm or lower, a safe upper speed limit that balances cleaning effectiveness and motor life during regular mopping.

[0329] When the mopping module 400 extends outward, the increased power demand from the motors involved in the extension within the mopping module's drive mechanism necessitates a stricter limit on the upper speed of the roller mop 410. This limit is less than or equal to 240 revolutions per minute, and must be lower than the conventional upper limit of 210 revolutions per minute. However, since the mop drive mechanism provides assistance and its increased speed does not significantly increase the power of the motors involved in the extension within the mopping module's drive mechanism, a higher upper speed limit than conventional mopping is permissible during extension.

[0330] By increasing the rotation speed of the roller mop 410 to greater than or equal to 120 revolutions per minute during the outward movement of the mopping module 400, it is ensured that the roller mop 410 can complete at least one effective cleaning cycle when sweeping the area to be cleaned laterally, even within a short contact time. This avoids missed areas or insufficient cleaning that may occur due to the fast outward movement speed and short contact time, thus preventing missed areas or weak cleaning and ensuring the cleaning effect of the outward-extended area. Furthermore, by limiting the maximum rotation speed of the roller mop 410 to less than or equal to 240 revolutions per minute during the outward movement of the roller mop 410, which requires higher power consumption, the total power of the system is kept within a safe range. This prevents the power supply or drive motor from overloading, ensuring the electrical safety and hardware lifespan of the equipment.

[0331] refer to Figures 1-3 This application provides a self-cleaning device, which includes a body 100.

[0332] The side brush module 200 is located at the bottom or side of the body 100 and includes a side brush drive mechanism and a side brush 210. The side brush drive mechanism is used to drive the side brush 210 to rotate.

[0333] The middle sweeping module 300 is located at the bottom of the body 100 and includes a roller brush drive mechanism and a roller brush 310. The roller brush 310 is located in the suction chamber at the bottom of the body 100, and the roller brush drive mechanism is used to drive the roller brush 310 to rotate.

[0334] The mopping module 400 is located in the receiving cavity 110 at the bottom of the body 100. The mopping module 400 includes a roller mop 410 and a mop drive mechanism for driving the roller mop 410 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 410.

[0335] The mopping module 400 drive mechanism is used to drive the mopping module 400 to move in the height direction of the body 100. The mopping module 400 can move between a lifting height and a mopping height. The mopping module 400 can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module 400 to move in the width direction of the body 100. The mopping module 400 can move between an inward position and an outward position. When the mopping module 400 is in the outward position, it is further away from the receiving cavity 110 than when it is in the inward position.

[0336] The self-cleaning equipment has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module 400 is at the raised height, the roller mop 410 stops rotating, and the roller brush 310 and / or the side brush 210 rotates. In the sweeping and mopping working state, the mopping module 400 is at the mopping height and is in the inward or outward position, and the roller mop 410 rotates.

[0337] During operation, the self-cleaning equipment can switch from sweeping and mopping to sweeping only, and vice versa.

[0338] When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module 400 to move to the mopping height, controls the roller mop 410 to start rotating before the mopping module 400 reaches the mopping height, and controls the roller mop 410 to reach a rotation speed of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground.

[0339] The autonomous cleaning equipment is also equipped with a sensor system for determining its location and acquiring environmental information about its surroundings. Exemplarily, the sensor system includes at least one of the following: a positioning device, a vision sensor, an ultrasonic sensor, and an operating parameter acquisition device. The positioning device, used to acquire current location information, can be an odometer, an inertial measurement unit (IMU), etc. The vision sensor, used to acquire environmental images, can be an RGB (Red, Green, Blue) camera or an RGBD camera, etc. The operating parameter acquisition device can be a device for acquiring operating parameters such as the cleaning equipment's sweeping current, and can be a controller such as a CPU, MCU, or SoC, or other devices or circuit structures with relevant capabilities. Additionally, the sensor system may also include wheel pressure sensors, infrared sensors, etc., without specific limitations.

[0340] Correspondingly, after the mopping module 400 moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module 400 to expand outward for mopping, the mopping module 400 is controlled to expand outward from the inward position. During the outward expansion movement, the rotation speed of the roller mop 410 is controlled to be greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the rotation speed of the roller mop 410 is controlled to be greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

[0341] When the autonomous cleaning device is in sweeping and mopping mode and the mopping module 400 is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the device controls the mopping module 400 to move to the retracted position. During or before the mopping module 400 moves to the retracted position, the device controls the roller mop 410 to stop rotating. After the mopping module 400 reaches the retracted position or the transition position, the device controls the mopping module 400 drive mechanism to drive the mopping module 400 to the raised position. The transition position is the position between the retracted position and the extended position where the mopping module 400 drive mechanism can drive the mopping module 400 to be raised.

[0342] Understandably, compared to existing technologies, where the roller mop 410 descends first and then begins to rotate, the rotational speed of the roller mop 410 may not have reached the range required for effective cleaning when it contacts the ground. This results in insufficient cleaning during the device's forward movement. In this embodiment, the mop drive mechanism drives the roller mop 410 to begin rotating before the mopping module 400 reaches the mopping height. By utilizing the time required for the mopping module 400 to move from the lifting height to the mopping height, the rotational acceleration process of the roller mop 410 is completed or substantially completed within this time. This ensures that when the mopping module 400 reaches the mopping height, the rotational speed of the roller mop 410 has already reached a specific range (i.e., the operating speed range required for effective cleaning). This guarantees that the roller mop 410 has complete cleaning capability the moment it contacts the ground, possessing sufficient rotational speed to effectively scrub and remove stains, eliminating the cleaning effect gap caused by mode switching.

[0343] In this way, by starting the roller mop 410 to rotate and reach its effective working speed before the mopping module 400 descends and contacts the ground, it ensures that the roller mop 410 has complete cleaning capability the moment it contacts the ground. This avoids the problem of missed or weak cleaning in the initial contact area caused by the traditional sequential execution where the roller mop 410 descends first and then accelerates, resulting in the device having moved before the roller mop 410 reaches its effective speed. This ensures that after switching from single sweeping mode to sweeping and mopping mode, the mopping effect of the first cleaned area is consistent with that of subsequent areas, improving the uniformity and reliability of the overall cleaning effect. Users will not observe any significant difference due to mode switching. The cleaning effect is seamless, and the cleaning process is smooth and natural, improving the user experience. By combining the ability of the mopping module 400 to move inward / outward in the width direction, and the design of switching between single sweeping / sweeping and mopping working modes according to different floor materials and user needs, the autonomous cleaning device can adapt to various home environments more intelligently and precisely. By parallelizing the rotation acceleration process of the roller mop 410 with the descent process of the mopping module 400, the cycle of the entire mode switching is shortened, and the device can enter the effective sweeping and mopping working state more quickly, reducing the time delay of the overall cleaning task caused by mode switching, thereby improving cleaning efficiency.

[0344] It is understandable that the moment the roller mop 410 starts rotating is no later than the moment the mopping module 400 begins to descend, and the entire rotation acceleration process is included within the descent time window of the mopping module 400, ensuring that there is sufficient time for the rotation speed to be formed.

[0345] During the process of the mopping module 400 moving from the start to the mopping height, the roller mop 410 must rotate at least 60 revolutions per minute to ensure a basic cleaning effect. This value is directly related to the cleaning cycle (completing one complete scraping-refilling-mopping cycle within 1 second), ensuring the effectiveness and continuity of the cleaning action. Otherwise, the roller mop 410 may mop dirty areas with dirty surfaces, or there may not be enough water, resulting in poor cleaning performance.

[0346] During the process of the mopping module 400 moving from the start to the mopping height, the rotation speed of the roller mop 410 must be less than or equal to 210 revolutions per minute to ensure the safety and reliability of the rotation speed. This value is set based on a comprehensive consideration of the power, heat generation, and lifespan of the mop drive mechanism (motor), to prevent the motor from overheating, shortening its lifespan, or causing safety hazards due to excessive rotation speed.

[0347] In this way, by placing the rotation acceleration process of the roller mop 410 entirely within the downward time window of the mopping module 400, and setting the rotation speed to 60-210 revolutions per minute, it is ensured that the rotation speed of the roller mop 410 is within the effective cleaning range when it contacts the ground. This avoids the problem of reduced cleaning effect in the initial contact area due to insufficient rotation speed, which could lead to missed areas or weak cleaning. It ensures that after switching from single sweeping mode to sweeping and mopping mode, the cleaning effect is complete and reliable from the moment the roller mop 410 leaves the ground. By setting a minimum rotation speed of no less than 60 revolutions per minute, it is ensured that the roller mop 410 can complete a sufficient number of scraping-replenishing-mopping cleaning cycles per unit time, avoiding incomplete scraping due to excessively low rotation speed, which would result in dirt being re-applied or re-mopping. The system addresses issues such as low water frequency and excessively dry mop, ensuring stable wet mopping cleaning quality and efficient water resource utilization. By setting a maximum rotation speed of no more than 210 rpm, the system effectively limits the peak power and heat generation of the mop drive mechanism (motor). This prevents the motor from overheating due to prolonged overload operation, protecting it, extending its lifespan, and reducing malfunctions or safety risks caused by overheating, thus improving the overall reliability and safety of the autonomous cleaning equipment. By setting the rotation speed within a specific range of 60-210 rpm, an engineered balance is maintained between cleaning effectiveness and system reliability, ensuring that the autonomous cleaning equipment can perform its expected cleaning capabilities while maintaining stable and durable operation of the power system during sweeping and mopping.

[0348] Understandably, after the mopping module 400 reaches the mopping height, the roller mop 410 has contacted the ground and is working stably. If the location and / or environment of the autonomous cleaning device require the mopping module 400 to extend outward for mopping, the mopping module drive mechanism is activated to drive the mopping module 400 to move outward from the inward position to the outward position. This avoids problems such as uneven contact pressure and inconsistent cleaning effect that may occur when the roller mop 410 has not fully contacted the ground or the speed has not reached the standard before lateral movement, thus ensuring the cleaning effect of the first cleaning area after the mode switch.

[0349] During the outward movement of the mopping module 400, the roller mop 410 is driven at a speed greater than or equal to 120 rpm and less than or equal to 240 rpm; after the outward movement of the mopping module 400 stops, the speed of the roller mop 410 is adjusted to greater than or equal to 60 rpm and less than or equal to 210 rpm. It can be seen that a relatively high speed is required during the outward movement; after the outward movement stops, the speed is adjusted to a lower, more conventional range.

[0350] This is because, during the outward movement of the mopping module 400, the lower limit of the roller mop 410's rotation speed is driven to a speed greater than or equal to 120 revolutions per minute. This setting ensures that the roller mop 410 can complete a sufficient number of cleaning cycles (scraping-wetting-mopping) per unit time when quickly sweeping the floor laterally, thus covering the outward movement path and avoiding missed areas. The upper limit of the roller mop 410's rotation speed is driven to a speed less than or equal to 240 revolutions per minute, taking into account the constraint of the system's total power when the mopping module 400's drive mechanism is simultaneously moving outward, preventing overload.

[0351] After the mopping module 400 stops its outward movement, its lower limit roller mop 410 is driven to a speed of 60 rpm or higher, ensuring a basic cleaning cycle frequency when mopping at a stationary or low speed. Its upper limit roller mop 410 is driven to a speed of 210 rpm or lower, a safe upper speed limit that balances cleaning effectiveness and motor life during regular mopping.

[0352] When the mopping module 400 extends outward, the increased power demand from the motors involved in the extension within the mopping module's drive mechanism necessitates a stricter limit on the upper speed of the roller mop 410. This limit is less than or equal to 240 revolutions per minute, and must be lower than the conventional upper limit of 210 revolutions per minute. However, since the mop drive mechanism provides assistance and its increased speed does not significantly increase the power of the motors involved in the extension within the mopping module's drive mechanism, a higher upper speed limit than conventional mopping is permissible during extension.

[0353] By increasing the rotation speed of the roller mop 410 to greater than or equal to 120 revolutions per minute during the outward movement of the mopping module 400, it is ensured that the roller mop 410 can complete at least one effective cleaning cycle when sweeping the area to be cleaned laterally, even within a short contact time. This avoids missed areas or insufficient cleaning that may occur due to the fast outward movement speed and short contact time, thus preventing missed areas or weak cleaning and ensuring the cleaning effect of the outward-extended area. Furthermore, by limiting the maximum rotation speed of the roller mop 410 to less than or equal to 240 revolutions per minute during the outward movement of the roller mop 410, which requires higher power consumption, the total power of the system is kept within a safe range. This prevents the power supply or drive motor from overloading, ensuring the electrical safety and hardware lifespan of the equipment.

[0354] Understandably, when the autonomous cleaning device switches from sweeping and mopping mode to sweeping mode, the mopping module 400 drive mechanism first drives the mopping module 400 to move inward in the width direction to a retracted position; subsequently, after the mopping module 400 reaches the retracted position or transition position, it is driven to move in the height direction to the raised position. Simultaneously, the mop drive mechanism, as the actuator controlling the rotation of the roller mop 410, stops the roller mop 410 from rotating. The timing of the braking action on the roller mop 410 is set during the movement of the mopping module 400 to the retracted position, or before this movement begins.

[0355] By braking and stopping the rotation of the roller mop 410 when or before the mopping module 400 begins to retract, the wet mopping function stops before the mopping module 400 retracts laterally and rises vertically. This prevents the roller mop 410 from rotating at low speed or dripping residual water during the lifting process, thus preventing water stains or contamination on the floor, protecting the floor and improving the fineness of cleaning, and avoiding damage to special floor materials (such as freshly brushed floors or painted surfaces). During the transition from sweeping and mopping to single sweeping, the movement of the machine body 100 and the rotation of the side brush 210 and / or roller brush 310 are maintained, ensuring continuous and uninterrupted cleaning operations and maintaining the overall smoothness and efficiency of the cleaning task.

[0356] refer to Figures 1-3 This application provides a self-cleaning device, which includes a body 100.

[0357] The side brush module 200 is located at the bottom or side of the body 100 and includes a side brush drive mechanism and a side brush 210. The side brush drive mechanism is used to drive the side brush 210 to rotate.

[0358] The middle sweeping module 300 is located at the bottom of the body 100 and includes a roller brush drive mechanism and a roller brush 310. The roller brush 310 is located in the suction chamber at the bottom of the body 100, and the roller brush drive mechanism is used to drive the roller brush 310 to rotate.

[0359] The mopping module 400 is located in the receiving cavity 110 at the bottom of the body 100. The mopping module 400 includes a roller mop 410 and a mop drive mechanism for driving the roller mop 410 to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop 410.

[0360] The mopping module 400 drive mechanism is used to drive the mopping module 400 to move in the height direction of the body 100. The mopping module 400 can move between a lifting height and a mopping height. The mopping module 400 can contact the surface to be cleaned at the mopping height and can disengage from the surface to be cleaned at the lifting height. The mechanism is also used to drive the mopping module 400 to move in the width direction of the body 100. The mopping module 400 can move between an inward position and an outward position. When the mopping module 400 is in the outward position, it is further away from the receiving cavity 110 than when it is in the inward position.

[0361] The self-cleaning equipment has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module 400 is at the raised height, the roller mop 410 stops rotating, and the roller brush 310 and / or the side brush 210 rotates. In the sweeping and mopping working state, the mopping module 400 is at the mopping height and is in the inward or outward position, and the roller mop 410 rotates.

[0362] During operation, the self-cleaning equipment can switch from sweeping and mopping to sweeping only, and vice versa.

[0363] When the autonomous cleaning device is in sweeping and mopping mode and the mopping module 400 is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the device controls the mopping module 400 to move to the retracted position. During or before the mopping module 400 moves to the retracted position, the device controls the roller mop 410 to stop rotating. After the mopping module 400 reaches the retracted position or the transition position, the device controls the mopping module 400 drive mechanism to drive the mopping module 400 to the raised position. The transition position is the position between the retracted position and the extended position where the mopping module 400 drive mechanism can drive the mopping module 400 to be raised.

[0364] Understandably, when the autonomous cleaning device switches from sweeping and mopping mode to sweeping mode, the mopping module 400 drive mechanism first drives the mopping module 400 to move inward in the width direction to a retracted position; subsequently, after the mopping module 400 reaches the retracted position or transition position, it is driven to move in the height direction to the raised position. Simultaneously, the mop drive mechanism, as the actuator controlling the rotation of the roller mop 410, stops the roller mop 410 from rotating. The timing of the braking action on the roller mop 410 is set during the movement of the mopping module 400 to the retracted position, or before this movement begins.

[0365] By braking and stopping the rotation of the roller mop 410 when or before the mopping module 400 begins to retract, the wet mopping function stops before the mopping module 400 retracts laterally and rises vertically. This prevents the roller mop 410 from rotating at low speed or dripping residual water during the lifting process, thus preventing water stains or contamination on the floor, protecting the floor and improving the fineness of cleaning, and avoiding damage to special floor materials (such as freshly brushed floors or painted surfaces). During the transition from sweeping and mopping to single sweeping, the movement of the machine body 100 and the rotation of the side brush 210 and / or roller brush 310 are maintained, ensuring continuous and uninterrupted cleaning operations and maintaining the overall smoothness and efficiency of the cleaning task.

[0366] Based on any of the foregoing embodiments, it can be understood that the body 100 is the carrier platform and structural foundation of the autonomous cleaning equipment.

[0367] The side sweeping module 200 consists of a side brush drive mechanism and a side brush 210, which can sweep dust and debris from distant places and corners into the working area of ​​the central sweeping module 300 in the middle of the body 100, so that they can be effectively sucked into the dust box.

[0368] The middle sweeping module 300 consists of a roller brush drive mechanism and a roller brush 310. When the bristles or rubber strips on the main brush rotate at high speed, they will forcefully beat the carpet fibers or floor gaps, loosening and lifting the dust and debris deeply embedded in the carpet, making them more easily sucked away by the airflow, and ensuring that the garbage is sucked into the dust box.

[0369] The mopping module 400 consists of a roller mop 410, a mop drive mechanism, a water replenishment mechanism, and a shaving mechanism. It uses rotational friction to perform efficient and uniform wet or dry cleaning of the floor to remove stubborn stains, liquid spills, and everyday dust, achieving deep cleaning.

[0370] The mop drive mechanism is used to drive the roller mop 410 to rotate at high speed around the axis; the water replenishment mechanism is usually located upstream or at the beginning of the roller rotation path, and is used to provide cleaning water to the roller mop 410, spraying, dripping or flowing clean water from the clean water tank evenly onto the surface of the rotating roller mop 410, so that its fibers are fully wetted; the dirt scraping mechanism is located downstream of the water replenishment mechanism, and uses friction and shearing force to efficiently scrape away and guide away the dirt and sewage that have been moistened and loosened by the water replenishment mechanism in the fibers of the roller mop 410.

[0371] The mopping module 400 drive mechanism, as the actuator of the mopping module 400, has two driving functions: first, it drives the mopping module 400 to move in the height direction of the body 100, switching it between the lifting height and the mopping height; second, it drives the mopping module 400 to move in the width direction of the body 100, switching it between the retracted position and the extended position. In this embodiment, the mopping module 400 is non-fixed, possessing the flexibility of vertical lifting to contact / remove from the ground and horizontal extension to adjust the working width. When in the retracted position, the mopping module 400 is completely housed within the receiving cavity 110, which is beneficial for the device to pass through or be stored in narrow spaces; while when switched to the extended position, the mopping module 400 extends outward, allowing the extended portion of the mopping module 400 to reach into areas with narrow vertical space, i.e., areas with limited height, to perform cleaning, thereby increasing the cleaning coverage.

[0372] In one embodiment, the mopping module 400 drive mechanism may include a lifting component and an expansion component. The lifting component drives the mopping module 400 to move in the height direction of the body 100, and the expansion component is responsible for driving the mopping module 400 to move in the width direction of the body 100. That is, the mopping module 400 drive mechanism drives movement in two different directions through two independent motors.

[0373] In another embodiment, the mopping module 400 drive mechanism may include a lifting and expansion component, which can both drive the mopping module 400 to lift and expand, and can drive movement in two different directions by switching different modes of a motor.

[0374] The direction in which the mopping module 400 moves inward can be referenced. Figure 3 In the Y direction, the direction in which the mopping module 400 moves towards its maximum outward position can be referenced to the X direction in the diagram, which is the opposite of the Y direction.

[0375] Understandably, in the single-sweeping mode, the mopping module 400 is at the raised height, the roller mop 410 stops rotating, and the roller brush 310 and / or side brush 210 rotate. At this time, since the roller mop 410 does not contact the ground, it can prevent carpets, high-end flooring, or water-sensitive materials such as paper and wood from getting wet, thus providing dry suction and sweeping conditions for the roller brush 310 and side brush 210. In the sweeping and mopping mode, the mopping module 400 is at the mopping height, the roller mop 410 rotates, and moves between the inward and outward positions, working in conjunction with the side sweeping module 200 and the center sweeping module 300 to simultaneously achieve the suction and sweeping of garbage and the wiping of stains.

[0376] Compared to existing technologies, where the roller mop 410 descends first and then begins to rotate, the rotational speed of the roller mop 410 may not have reached the range required for effective cleaning when it contacts the ground. This results in insufficient cleaning during the device's forward movement. In this embodiment, the mop drive mechanism drives the roller mop 410 to begin rotating before the mopping module 400 reaches the mopping height. By utilizing the time required for the mopping module 400 to move from the lifting height to the mopping height, the rotational acceleration process of the roller mop 410 is completed or substantially completed within this time. This ensures that when the mopping module 400 reaches the mopping height, the rotational speed of the roller mop 410 has already reached a specific range (i.e., the operating speed range required for effective cleaning). This guarantees that the roller mop 410 has complete cleaning capability the moment it contacts the ground, possessing sufficient rotational speed to effectively scrub and remove stains, eliminating the cleaning effect gap caused by mode switching.

[0377] In this way, by starting the roller mop 410 to rotate and reach its effective working speed before the mopping module 400 descends and contacts the ground, it ensures that the roller mop 410 has complete cleaning capability the moment it contacts the ground. This avoids the problem of missed or weak cleaning in the initial contact area caused by the traditional sequential execution where the roller mop 410 descends first and then accelerates, resulting in the device having moved before the roller mop 410 reaches its effective speed. This ensures that the mopping effect of the first cleaning area is consistent with the subsequent areas after switching from single sweeping mode to sweeping and mopping mode, improving the uniformity and reliability of the overall cleaning effect. Users will not observe obvious gaps in the cleaning effect due to mode switching, and the cleaning process is smooth and natural, improving the user experience. By combining the ability of the mopping module 400 to move inward / outward in the width direction, and the design of switching between single sweeping / sweeping and mopping working modes according to different floor materials and user needs, the autonomous cleaning device can adapt to various home environments more intelligently and precisely. By parallelizing the rotation acceleration process of the roller mop 410 with the descent process of the mopping module 400, the overall cleaning time is shortened. The shorter mode switching cycle allows the device to enter an effective sweeping and mopping state more quickly, reducing the overall cleaning task time delay caused by mode switching and thus improving cleaning efficiency. By maintaining the movement of the main body 100 and the rotation of the side brush 210 and / or roller brush 310 during mode switching, the continuity of the sweeping operation is ensured. The device will not stop moving forward or pause sweeping when the mopping function needs to be activated, thus avoiding cleaning path interruptions, wasted time, and potential cleaning blind spots caused by mode switching, improving overall cleaning efficiency and the user experience of uninterrupted operation. During the switching of the device to sweeping and mopping mode, the side brush 210 and / or roller brush 310 continue to rotate, meaning that the sweeping action on dry dirt, dust, and debris on the ground never stops. Large particles of debris can be pre-sweeped away, thus preparing a cleaner floor base for the upcoming wet mopping function. This allows the roller mop 410 to focus more on handling wet stains and fine dust, so that more effective compound cleaning can be carried out on heavily soiled areas the moment the switch is completed, improving the immediacy and thoroughness of the cleaning effect.

[0378] This application provides a cleaning system, including a base station and the aforementioned self-service cleaning equipment.

[0379] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0380] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0381] In the description of this invention, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0382] Unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can be a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0383] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An autonomous cleaning device, characterized in that, The self-cleaning device includes: Body (100); A side-sweeping module (200) is disposed at the bottom or side of the body (100) and includes a side-brush drive mechanism and a side brush (210). The side-brush drive mechanism is used to drive the side brush (210) to rotate. The middle sweeping module (300) is located at the bottom of the body (100) and includes a roller brush drive mechanism and a roller brush (310). The roller brush (310) is located in the dust suction chamber at the bottom of the body (100), and the roller brush drive mechanism is used to drive the roller brush (310) to rotate. A mopping module (400) is provided in a receiving cavity (110) at the bottom of the body (100). The mopping module (400) includes a roller mop (410) and a mop drive mechanism for driving the roller mop (410) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (410). A mopping module (400) drive mechanism is used to drive the mopping module (400) to move in the height direction of the body (100), the mopping module (400) being movable between a lifting height and a mopping height, the mopping module (400) being in contact with the surface to be cleaned at the mopping height and being out of contact with the surface to be cleaned at the lifting height, and to drive the mopping module (400) to move in the width direction of the body (100), the mopping module (400) being movable between an inward position and an outward position, the mopping module (400) being further away from the receiving cavity (110) in the outward position compared to its inward position; A communication unit, used to receive command signals from the user terminal; A voice receiving unit is used to receive the user's voice commands; The control unit is used to control the movement of the autonomous cleaning device and to control the drive mechanism of the side sweeping module (200), the middle sweeping module (300), the mopping module (400), and the mopping module (400). The self-cleaning device has at least a single-sweeping working state and a sweeping and mopping working state. In the single-sweeping working state, the mopping module (400) is located at the lifting height, the roller mop (410) stops rotating, and the roller brush (310) and / or the side brush (210) rotates. In the sweeping and mopping working state, the mopping module (400) is located at the mopping height and is located in the inward position or the outward position, and the roller mop (410) rotates. When the autonomous cleaning device is in the single-sweeping working state, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from the single-sweeping working state to the sweeping and mopping working state, the device controls the mopping module (400) to move to the mopping height, controls the roller mop (410) to start rotating before the mopping module (400) reaches the mopping height, and controls the roller mop (410) to reach a specific speed range after contacting the ground, the specific range being the working speed range required for effective cleaning.

2. The apparatus of claim 1, wherein, The control of the roller mop (410) to start rotating before the mopping module (400) reaches the mopping height includes: After the mopping module (400) begins to descend but before reaching the mopping height, the roller mop (410) is controlled to start rotating. The roller mop (410) reaches a specific rotation speed of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground.

3. The apparatus of claim 1, wherein, The control of the roller mop (410) to start rotating before the mopping module (400) reaches the mopping height includes: Before the mopping module (400) begins to descend, or at the same time as the mopping module (400) begins to descend, the roller mop (410) is controlled to start rotating. After the roller mop (410) contacts the ground, the rotation speed reaches a specific range of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

4. The apparatus according to any one of claims 1 to 3, characterized in that During the process of the autonomous cleaning device switching from the single sweeping working state to the sweeping and mopping working state, the body (100) is controlled to keep moving, and the side brush (210) and / or the roller brush (310) are controlled to keep rotating.

5. The apparatus according to any one of claims 1 to 3, characterized in that The autonomous cleaning device is also equipped with a sensor system. The sensor system is used to determine the location information of the autonomous cleaning device and to obtain the environmental information around the autonomous cleaning device. After the mopping module (400) moves to the mopping height, if the location and / or environment of the autonomous cleaning device require the mopping module (400) to expand outward for mopping, the mopping module (400) is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the rotation speed of the roller mop (410) is controlled to reach a range greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the rotation speed of the roller mop (410) is controlled to reach a range greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

6. An autonomous cleaning device, characterized by, The self-cleaning device includes: Body (100); A side-sweeping module (200) is disposed at the bottom or side of the body (100) and includes a side-brush drive mechanism and a side brush (210). The side-brush drive mechanism is used to drive the side brush (210) to rotate. The middle sweeping module (300) is located at the bottom of the body (100) and includes a roller brush drive mechanism and a roller brush (310). The roller brush (310) is located in the dust suction chamber at the bottom of the body (100), and the roller brush drive mechanism is used to drive the roller brush (310) to rotate. A mopping module (400) is provided in a receiving cavity (110) at the bottom of the body (100). The mopping module (400) includes a roller mop (410) and a mop drive mechanism for driving the roller mop (410) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (410). A mopping module (400) drive mechanism is used to drive the mopping module (400) to move in the height direction of the body (100), the mopping module (400) being movable between a lifting height and a mopping height, the mopping module (400) being in contact with the surface to be cleaned at the mopping height and being out of contact with the surface to be cleaned at the lifting height, and to drive the mopping module (400) to move in the width direction of the body (100), the mopping module (400) being movable between an inward position and an outward position, the mopping module (400) being further away from the receiving cavity (110) in the outward position compared to its inward position; A communication unit, used to receive command signals from the user terminal; A voice receiving unit is used to receive the user's voice commands; The control unit is used to control the movement of the autonomous cleaning device and to control the drive mechanism of the side sweeping module (200), the middle sweeping module (300), the mopping module (400), and the mopping module (400). The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module (400) is located at the lifting height, the roller mop (410) stops rotating, and the roller brush (310) and / or the side brush (210) rotate. In the sweeping and mopping working state, the mopping module (400) is located at the mopping height and is located in the inward position or the outward position, and the roller mop (410) rotates. When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the mopping module (400) is controlled to move to the mopping height, and the roller mop (410) is controlled to start rotating before the mopping module (400) reaches the mopping height. The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module (400) moves to the mopping height, if the location and / or environment of the autonomous cleaning device require the mopping module (400) to expand outward for mopping, the mopping module (400) is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the rotation speed of the roller mop (410) is controlled to reach a range greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the rotation speed of the roller mop (410) is controlled to reach a range greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute.

7. An autonomous cleaning device, characterized by, The self-cleaning device includes: Body (100); A side-sweeping module (200) is disposed at the bottom or side of the body (100) and includes a side-brush drive mechanism and a side brush (210). The side-brush drive mechanism is used to drive the side brush (210) to rotate. The middle sweeping module (300) is located at the bottom of the body (100) and includes a roller brush drive mechanism and a roller brush (310). The roller brush (310) is located in the dust suction chamber at the bottom of the body (100), and the roller brush drive mechanism is used to drive the roller brush (310) to rotate. A mopping module (400) is provided in a receiving cavity (110) at the bottom of the body (100). The mopping module (400) includes a roller mop (410) and a mop drive mechanism for driving the roller mop (410) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (410). A mopping module (400) drive mechanism is used to drive the mopping module (400) to move in the height direction of the body (100), the mopping module (400) being movable between a lifting height and a mopping height, the mopping module (400) being in contact with the surface to be cleaned at the mopping height and being out of contact with the surface to be cleaned at the lifting height, and to drive the mopping module (400) to move in the width direction of the body (100), the mopping module (400) being movable between an inward position and an outward position, the mopping module (400) being further away from the receiving cavity (110) in the outward position compared to its inward position; A communication unit, used to receive command signals from the user terminal; A voice receiving unit is used to receive the user's voice commands; The control unit is used to control the movement of the autonomous cleaning device and to control the drive mechanism of the side sweeping module (200), the middle sweeping module (300), the mopping module (400), and the mopping module (400). The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module (400) is located at the lifting height, the roller mop (410) stops rotating, and the roller brush (310) and / or the side brush (210) rotate. In the sweeping and mopping working state, the mopping module (400) is located at the mopping height and is located in the inward position or the outward position, and the roller mop (410) rotates. When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the mopping module (400) is controlled to move to the mopping height, and the roller mop (410) is controlled to start rotating before the mopping module (400) reaches the mopping height. The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module (400) moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module (400) to expand outward for mopping, the mopping module (400) is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the roller mop (410) is controlled to keep rotating. When the autonomous cleaning device is in sweeping and mopping mode and the mopping module (400) is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the mopping module (400) is controlled to move to the retracted position. During the movement of the mopping module (400) to the retracted position or before the movement of the mopping module (400) to the retracted position, the roller mop (410) is controlled to stop rotating. After the mopping module (400) reaches the retracted position or the transition position, the driving mechanism of the mopping module (400) is controlled to drive the mopping module (400) to move to the lifting height. The transition position is the position between the retracted position and the extended position where the driving mechanism of the mopping module (400) can drive the mopping module (400) to lift.

8. An autonomous cleaning device, characterized by, The self-cleaning device includes: Body (100); A side-sweeping module (200) is disposed at the bottom or side of the body (100) and includes a side-brush drive mechanism and a side brush (210). The side-brush drive mechanism is used to drive the side brush (210) to rotate. The middle sweeping module (300) is located at the bottom of the body (100) and includes a roller brush drive mechanism and a roller brush (310). The roller brush (310) is located in the dust suction chamber at the bottom of the body (100), and the roller brush drive mechanism is used to drive the roller brush (310) to rotate. A mopping module (400) is provided in a receiving cavity (110) at the bottom of the body (100). The mopping module (400) includes a roller mop (410) and a mop drive mechanism for driving the roller mop (410) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (410). A mopping module (400) drive mechanism is used to drive the mopping module (400) to move in the height direction of the body (100), the mopping module (400) being movable between a lifting height and a mopping height, the mopping module (400) being in contact with the surface to be cleaned at the mopping height and being out of contact with the surface to be cleaned at the lifting height, and to drive the mopping module (400) to move in the width direction of the body (100), the mopping module (400) being movable between an inward position and an outward position, the mopping module (400) being further away from the receiving cavity (110) in the outward position compared to its inward position; A communication unit, used to receive command signals from the user terminal; A voice receiving unit is used to receive the user's voice commands; The control unit is used to control the movement of the autonomous cleaning device and to control the drive mechanism of the side sweeping module (200), the middle sweeping module (300), the mopping module (400), and the mopping module (400). The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module (400) is located at the lifting height, the roller mop (410) stops rotating, and the roller brush (310) and / or the side brush (210) rotate. In the sweeping and mopping working state, the mopping module (400) is located at the mopping height and is located in the inward position or the outward position, and the roller mop (410) rotates. When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the mopping module (400) is controlled to move to the mopping height, and the roller mop (410) is controlled to start rotating before the mopping module (400) reaches the mopping height. The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module (400) moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module (400) to expand outward for mopping, the mopping module (400) is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the rotation speed of the roller mop (410) is controlled to reach a range greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the rotation speed of the roller mop (410) is controlled to reach a range greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute. When the autonomous cleaning device is in sweeping and mopping mode and the mopping module (400) is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the mopping module (400) is controlled to move to the retracted position. During the movement of the mopping module (400) to the retracted position or before the movement of the mopping module (400) to the retracted position, the roller mop (410) is controlled to stop rotating. After the mopping module (400) reaches the retracted position or the transition position, the mopping module (400) drive mechanism drives the mopping module (400) to move to the lifting height. The transition position is the position between the retracted position and the extended position where the mopping module (400) drive mechanism can drive the mopping module (400) to lift.

9. A self-cleaning device, characterized in that, The self-cleaning device includes: Body (100); A side-sweeping module (200) is disposed at the bottom or side of the body (100) and includes a side-brush drive mechanism and a side brush (210). The side-brush drive mechanism is used to drive the side brush (210) to rotate. The middle sweeping module (300) is located at the bottom of the body (100) and includes a roller brush drive mechanism and a roller brush (310). The roller brush (310) is located in the dust suction chamber at the bottom of the body (100), and the roller brush drive mechanism is used to drive the roller brush (310) to rotate. A mopping module (400) is provided in a receiving cavity (110) at the bottom of the body (100). The mopping module (400) includes a roller mop (410) and a mop drive mechanism for driving the roller mop (410) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (410). A mopping module (400) drive mechanism is used to drive the mopping module (400) to move in the height direction of the body (100), the mopping module (400) being movable between a lifting height and a mopping height, the mopping module (400) being in contact with the surface to be cleaned at the mopping height and being out of contact with the surface to be cleaned at the lifting height, and to drive the mopping module (400) to move in the width direction of the body (100), the mopping module (400) being movable between an inward position and an outward position, the mopping module (400) being further away from the receiving cavity (110) in the outward position compared to its inward position; A communication unit, used to receive command signals from the user terminal; A voice receiving unit is used to receive the user's voice commands; The control unit is used to control the movement of the autonomous cleaning device and to control the drive mechanism of the side sweeping module (200), the middle sweeping module (300), the mopping module (400), and the mopping module (400). The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module (400) is located at the lifting height, the roller mop (410) stops rotating, and the roller brush (310) and / or the side brush (210) rotate. In the sweeping and mopping working state, the mopping module (400) is located at the mopping height and is located in the inward position or the outward position, and the roller mop (410) rotates. When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module (400) to move to the mopping height, controls the roller mop (410) to start rotating before the mopping module (400) reaches the mopping height, and controls the roller mop (410) to reach a rotation speed of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground; The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module (400) moves to the mopping height, if the location of the autonomous cleaning device and / or the environment require the mopping module (400) to expand outward for mopping, the mopping module (400) is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the roller mop (410) is controlled to keep rotating. When the autonomous cleaning device is in sweeping and mopping mode and the mopping module (400) is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the mopping module (400) is controlled to move to the retracted position. During the movement of the mopping module (400) to the retracted position or before the movement of the mopping module (400) to the retracted position, the roller mop (410) is controlled to stop rotating. After the mopping module (400) reaches the retracted position or the transition position, the mopping module (400) drive mechanism drives the mopping module (400) to move to the lifting height. The transition position is the position between the retracted position and the extended position where the mopping module (400) drive mechanism can drive the mopping module (400) to lift.

10. An autonomous cleaning device, characterized by, The self-cleaning device includes: Body (100); A side-sweeping module (200) is disposed at the bottom or side of the body (100) and includes a side-brush drive mechanism and a side brush (210). The side-brush drive mechanism is used to drive the side brush (210) to rotate. The middle sweeping module (300) is located at the bottom of the body (100) and includes a roller brush drive mechanism and a roller brush (310). The roller brush (310) is located in the dust suction chamber at the bottom of the body (100), and the roller brush drive mechanism is used to drive the roller brush (310) to rotate. A mopping module (400) is provided in a receiving cavity (110) at the bottom of the body (100). The mopping module (400) includes a roller mop (410) and a mop drive mechanism for driving the roller mop (410) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (410). A mopping module (400) drive mechanism is used to drive the mopping module (400) to move in the height direction of the body (100), the mopping module (400) being movable between a lifting height and a mopping height, the mopping module (400) being in contact with the surface to be cleaned at the mopping height and being out of contact with the surface to be cleaned at the lifting height, and to drive the mopping module (400) to move in the width direction of the body (100), the mopping module (400) being movable between an inward position and an outward position, the mopping module (400) being further away from the receiving cavity (110) in the outward position compared to its inward position; A communication unit, used to receive command signals from the user terminal; A voice receiving unit is used to receive the user's voice commands; The control unit is used to control the movement of the autonomous cleaning device and to control the drive mechanism of the side sweeping module (200), the middle sweeping module (300), the mopping module (400), and the mopping module (400). The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module (400) is located at the lifting height, the roller mop (410) stops rotating, and the roller brush (310) and / or the side brush (210) rotate. In the sweeping and mopping working state, the mopping module (400) is located at the mopping height and is located in the inward position or the outward position, and the roller mop (410) rotates. When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module (400) to move to the mopping height, controls the roller mop (410) to start rotating before the mopping module (400) reaches the mopping height, and controls the roller mop (410) to reach a rotation speed of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground; The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module (400) moves to the mopping height, if the location and / or environment of the autonomous cleaning device require the mopping module (400) to expand outward for mopping, the mopping module (400) is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the rotation speed of the roller mop (410) is controlled to reach a range of greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the roller mop (410) is controlled to continue rotating.

11. An autonomous cleaning device, characterized by, The self-cleaning device includes: Body (100); A side-sweeping module (200) is disposed at the bottom or side of the body (100) and includes a side-brush drive mechanism and a side brush (210). The side-brush drive mechanism is used to drive the side brush (210) to rotate. The middle sweeping module (300) is located at the bottom of the body (100) and includes a roller brush drive mechanism and a roller brush (310). The roller brush (310) is located in the dust suction chamber at the bottom of the body (100), and the roller brush drive mechanism is used to drive the roller brush (310) to rotate. A mopping module (400) is provided in a receiving cavity (110) at the bottom of the body (100). The mopping module (400) includes a roller mop (410) and a mop drive mechanism for driving the roller mop (410) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (410). A mopping module (400) drive mechanism is used to drive the mopping module (400) to move in the height direction of the body (100), the mopping module (400) being movable between a lifting height and a mopping height, the mopping module (400) being in contact with the surface to be cleaned at the mopping height and being out of contact with the surface to be cleaned at the lifting height, and to drive the mopping module (400) to move in the width direction of the body (100), the mopping module (400) being movable between an inward position and an outward position, the mopping module (400) being further away from the receiving cavity (110) in the outward position compared to its inward position; A communication unit, used to receive command signals from the user terminal; A voice receiving unit is used to receive the user's voice commands; The control unit is used to control the movement of the autonomous cleaning device and to control the drive mechanism of the side sweeping module (200), the middle sweeping module (300), the mopping module (400), and the mopping module (400). The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module (400) is located at the lifting height, the roller mop (410) stops rotating, and the roller brush (310) and / or the side brush (210) rotate. In the sweeping and mopping working state, the mopping module (400) is located at the mopping height and is located in the inward position or the outward position, and the roller mop (410) rotates. When the autonomous cleaning device is in single-sweeping mode, in response to receiving an instruction signal or voice command to switch the autonomous cleaning device from single-sweeping mode to sweeping and mopping mode, the device controls the mopping module (400) to move to the mopping height, controls the roller mop (410) to start rotating before the mopping module (400) reaches the mopping height, and controls the roller mop (410) to reach a rotation speed of greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute after contacting the ground; The autonomous cleaning device is also equipped with a sensor system for determining the location information of the autonomous cleaning device and for acquiring environmental information around the autonomous cleaning device. Correspondingly, after the mopping module (400) moves to the mopping height, if the location and / or environment of the autonomous cleaning device require the mopping module (400) to expand outward for mopping, the mopping module (400) is controlled to expand outward from the inward position to the outward position. During the outward expansion movement, the rotation speed of the roller mop (410) is controlled to reach a range of greater than or equal to 120 revolutions per minute and less than or equal to 240 revolutions per minute. After the outward expansion movement stops, the roller mop (410) is controlled to continue rotating. When the autonomous cleaning device is in sweeping and mopping mode and the mopping module (400) is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the mopping module (400) is controlled to move to the retracted position. During the movement of the mopping module (400) to the retracted position or before the movement of the mopping module (400) to the retracted position, the roller mop (410) is controlled to stop rotating. After the mopping module (400) reaches the retracted position or the transition position, the mopping module (400) drive mechanism drives the mopping module (400) to move to the lifting height. The transition position is the position between the retracted position and the extended position where the mopping module (400) drive mechanism can drive the mopping module (400) to lift.

12. An autonomous cleaning device, characterized by The self-cleaning device includes: Body (100); A side-sweeping module (200) is disposed at the bottom or side of the body (100) and includes a side-brush drive mechanism and a side brush (210). The side-brush drive mechanism is used to drive the side brush (210) to rotate. The middle sweeping module (300) is located at the bottom of the body (100) and includes a roller brush drive mechanism and a roller brush (310). The roller brush (310) is located in the dust suction chamber at the bottom of the body (100), and the roller brush drive mechanism is used to drive the roller brush (310) to rotate. A mopping module (400) is provided in a receiving cavity (110) at the bottom of the body (100). The mopping module (400) includes a roller mop (410) and a mop drive mechanism for driving the roller mop (410) to rotate. A water replenishment mechanism and a dirt scraping mechanism are provided in the rotation direction of the roller mop (410). A mopping module (400) drive mechanism is used to drive the mopping module (400) to move in the height direction of the body (100), the mopping module (400) being movable between a lifting height and a mopping height, the mopping module (400) being in contact with the surface to be cleaned at the mopping height and being out of contact with the surface to be cleaned at the lifting height, and to drive the mopping module (400) to move in the width direction of the body (100), the mopping module (400) being movable between an inward position and an outward position, the mopping module (400) being further away from the receiving cavity (110) in the outward position compared to its inward position; A communication unit, used to receive command signals from the user terminal; A voice receiving unit is used to receive the user's voice commands; The control unit is used to control the movement of the autonomous cleaning device and to control the drive mechanism of the side sweeping module (200), the middle sweeping module (300), the mopping module (400), and the mopping module (400). The self-cleaning device has at least a single sweeping working state and a sweeping and mopping working state. In the single sweeping working state, the mopping module (400) is located at the lifting height, the roller mop (410) stops rotating, and the roller brush (310) and / or the side brush (210) rotate. In the sweeping and mopping working state, the mopping module (400) is located at the mopping height and is located in the inward position or the outward position, and the roller mop (410) rotates. When the autonomous cleaning device is in sweeping and mopping mode and the mopping module (400) is in the extended position, in response to receiving an instruction signal or voice command instructing the autonomous cleaning device to switch from sweeping and mopping mode to single sweeping mode, the mopping module (400) is controlled to move to the retracted position. During the movement of the mopping module (400) to the retracted position or before the movement of the mopping module (400) to the retracted position, the roller mop (410) is controlled to stop rotating. After the mopping module (400) reaches the retracted position or the transition position, the mopping module (400) drive mechanism drives the mopping module (400) to move to the lifting height. The transition position is the position between the retracted position and the extended position where the mopping module (400) drive mechanism can drive the mopping module (400) to lift.

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