Cleaning disc structure, control method thereof and cleaning device

Abstract

The invention discloses a cleaning disc structure and a cleaning device. The cleaning disc structure is used for forming an adsorption cavity with a to-be-cleaned face and comprises a sealing part, an adsorption part and a middle part. The middle part comprises an air inlet groove positioned between the sealing part and the adsorption part; the air inlet groove comprises a bottom wall connected with the inner side wall of the sealing part and the annular wall of the adsorption part and a groove opening opposite to the bottom wall, and the two annular edges of the groove opening are located on the inner edge of the sealing end face and the outer edge of the end, away from the bottom wall, of the annular wall correspondingly. The air inlet groove is communicated with the adsorption hole through a through hole, and the through hole comprises an orifice communicated with the air inlet groove; the area of the hole is smaller than that of the groove opening. As the area of the orifice of the through hole is smaller than that of the opening of the groove, the flow of gas can be limited through the orifice, and the cleaning disc structure can be prevented from falling or stopping due to gas leakage when the circumferential sealing of the sealing part of the cleaning disc structure to the adsorption cavity fails.

Description

Technical Field

[0001] At least one embodiment of this disclosure relates to a cleaning disc structure and its control method, and a cleaning device. Background Technology

[0002] Intelligent cleaning devices, such as window cleaning machines, can improve the efficiency and safety of cleaning work. However, the suction stability of window cleaning machines needs to be improved to prevent them from falling. Summary of the Invention

[0003] At least one embodiment of this disclosure provides a cleaning disc structure and its control method, as well as a cleaning device.

[0004] At least one embodiment of this disclosure provides a cleaning disc structure for forming an adsorption cavity with a surface to be cleaned. The cleaning disc structure includes: a sealing portion located on the periphery of the cleaning disc structure, including an inner sidewall and a sealing end face connected to each other, the inner sidewall forming at least a portion of the circumferential sidewall of the adsorption cavity, and the sealing end face configured to seal the adsorption cavity circumferentially; an adsorption portion located in the middle of the cleaning disc structure, including an annular wall and an adsorption hole surrounded by the annular wall, the adsorption hole being configured to provide negative pressure to the adsorption cavity; and a middle portion including an air inlet groove located between the sealing portion and the adsorption portion; the air inlet groove includes a bottom wall connected to the inner sidewall of the sealing portion and the annular wall of the adsorption portion respectively, and a groove opening opposite to the bottom wall, the two annular edges of the groove opening being located at the inner edge of the sealing end face and the outer edge of the annular wall away from the bottom wall respectively; wherein the air inlet groove communicates with the adsorption hole through a through hole, the through hole including an orifice communicating with the air inlet groove; the area of ​​the orifice is smaller than the area of ​​the groove opening.

[0005] For example, according to at least one embodiment of this disclosure, the through hole is disposed at the connection between the adsorption portion and the bottom wall.

[0006] For example, according to at least one embodiment of the present disclosure, the bottom wall of the air intake groove includes a first surface and a second surface facing the groove opening, the second surface being closer to the center of the cleaning disc structure than the first surface; the distance between the first surface and the groove opening is greater than the distance between the second surface and the groove opening.

[0007] For example, according to at least one embodiment of this disclosure, the bottom wall further includes a connecting surface between the first surface and the second surface, the connecting surface being perpendicular to the plane where the groove opening is located.

[0008] For example, according to at least one embodiment of the present disclosure, the cleaning disc structure further includes a plurality of ribs spaced circumferentially along the adsorption holes, the ribs extending in a first direction, the first direction being the direction from the center of the cleaning disc structure to the edge; one end of the rib is connected to the adsorption portion, and the other end is connected to the sealing portion; the plurality of ribs divide the air inlet groove into a plurality of sub-grooves, and the ribs are provided with notches at least at positions corresponding to the first surface, so that adjacent two sub-grooves can communicate with each other.

[0009] For example, according to at least one embodiment of the present disclosure, on the reference plane where the groove opening is located, a portion of the orthographic projection of the notch overlaps with the orthographic projection of the first surface, and another portion of the orthographic projection of the notch overlaps with the orthographic projection of the second surface.

[0010] For example, according to at least one embodiment of the present disclosure, the sealing portion includes a main body portion and a protrusion portion protruding from the main body portion along a second direction, the second direction being perpendicular to the plane where the groove opening is located; the surface of the main body portion and the surface of the protrusion portion together form the sealing end face.

[0011] For example, according to at least one embodiment of the present disclosure, the end of the protrusion away from the main body and the end of the portion of the rib away from the bottom wall, other than the notch, are substantially in the same plane.

[0012] For example, according to at least one embodiment of the present disclosure, the end of the annular wall away from the bottom wall is located in the plane.

[0013] For example, according to at least one embodiment of the present disclosure, the end of the annular wall away from the bottom wall is located on the side of the plane closer to the bottom wall.

[0014] For example, according to at least one embodiment of the present disclosure, the number of protrusions is twice the number of ribs and is evenly distributed circumferentially along the cleaning disc structure, the protrusions including a plurality of first ribs connected to the ribs and second ribs located between two adjacent first ribs.

[0015] For example, according to at least one embodiment of the present disclosure, at least two of the sealing portion, the intermediate portion, and the adsorption portion are integrally formed; or, the sealing portion, the intermediate portion, and the adsorption portion are mutually separate.

[0016] For example, according to at least one embodiment of this disclosure, the through hole is formed in the bottom wall.

[0017] At least one embodiment of this disclosure provides a control method for a cleaning disc structure, comprising: controlling the formation of an adsorption cavity between the cleaning disc structure and the surface to be cleaned, and controlling the cleaning disc structure to move along a preset direction; generating a trigger signal in response to a pressure difference between the air pressure in the adsorption cavity and a reference air pressure being less than a preset pressure difference value; controlling the cleaning disc structure to move in a direction opposite to the preset direction based on the trigger signal for a signal transmission time; wherein, at least during the signal transmission time, the orthographic projection of the adsorption portion on the reference plane where the groove opening is located is within the range of the orthographic projection of the surface to be cleaned on the reference plane; the signal transmission time is the time difference between the moment the trigger signal is generated and the moment the cleaning disc structure moves in a direction opposite to the preset direction.

[0018] For example, according to at least one embodiment of the present disclosure, when at least a portion of the outer contour of the groove opening is located outside the outer contour of the orthographic projection of the surface to be cleaned onto the reference plane, the pressure difference between the gas pressure in the adsorption chamber and the reference gas pressure decreases to less than the preset pressure difference value, so as to generate the trigger signal.

[0019] For example, according to at least one embodiment of this disclosure, controlling the cleaning disc structure to move in a direction opposite to the preset direction based on the trigger signal includes: generating a control signal based on the trigger signal; and controlling the cleaning disc structure to move in a direction opposite to the preset direction based on the control signal.

[0020] For example, according to at least one embodiment of this disclosure, controlling the cleaning disc structure to move in a direction opposite to the preset direction includes: controlling the cleaning disc structure to rotate in reverse around the axis of rotation to move; or, controlling the cleaning disc structure to move in a straight line opposite to the preset direction.

[0021] At least one embodiment of this disclosure provides a cleaning apparatus including the cleaning disc structure described in any of the above embodiments. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0023] Figure 1 This is a schematic diagram of a cleaning disc structure provided in at least one embodiment of the present disclosure.

[0024] Figure 2 This is a schematic diagram showing the formation of an adsorption cavity between the cleaning disc structure and the surface to be cleaned, provided in at least one embodiment of this disclosure.

[0025] Figure 3A schematic diagram of a partial structure of a cleaning disc structure provided in at least one embodiment of this disclosure.

[0026] Figure 4 A schematic diagram showing the orthographic projection of the notch, the orthographic projection of the first surface, and the orthographic projection of the second surface of the cleaning disc structure provided in at least one embodiment of this disclosure.

[0027] Figure 5 A flowchart illustrating a control method for a cleaning disc structure provided as an example in at least one embodiment of this disclosure.

[0028] Figure 6 A schematic diagram of the groove opening and the surface to be cleaned of the cleaning disc structure provided in at least one embodiment of the present disclosure, projected onto a reference plane. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the described embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0030] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that an element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects.

[0031] The terms "parallel," "perpendicular," and "identical" as used in this disclosure include the strictly defined meanings of "parallel," "perpendicular," and "identical," as well as terms such as "approximately parallel," "approximately perpendicular," and "approximately identical," which include a certain degree of error. Taking into account measurement and errors associated with the measurement of a specific quantity (i.e., limitations of the measurement system), they represent acceptable deviations for a specific value as determined by a person skilled in the art. In embodiments of this disclosure, "center" can include a strictly defined location at the geometric center as well as a location approximately at the center within a small area surrounding the geometric center. For example, "approximately" can mean within one or more standard deviations, or within 10% or 5% of the value.

[0032] During operation, a window cleaning machine adheres to and moves relative to the window, cleaning it with a cloth at the bottom. For example, some window cleaning machines have a roughly ring-shaped cleaning disc with a large opening to increase friction. The opening of the cleaning disc refers to the suction port used to secure the machine to the window.

[0033] In their research, the inventors of this application discovered that when a window cleaning machine is used to clean frameless or thin-framed windows, it is difficult to detect the window edges in a timely manner. When the window cleaning machine moves a certain distance beyond the window edge, the seal of the suction chamber formed between the machine and the window fails. Furthermore, when the window cleaning machine operates on sloped or curved surfaces, air leaks are prone to occur due to the unevenness of the surface being cleaned. Because the opening area of ​​the cleaning disc is relatively large, it is difficult to maintain a stable suction force between the window cleaning machine and the window, which can cause the machine to stop or fall off due to air leaks.

[0034] At least one embodiment of this disclosure provides a cleaning disc structure for forming an adsorption cavity with a surface to be cleaned. The cleaning disc structure includes: a sealing portion located on the periphery of the cleaning disc structure, including an inner sidewall and a sealing end face connected to each other, the inner sidewall forming at least a portion of the circumferential sidewall of the adsorption cavity, and the sealing end face configured to seal the adsorption cavity circumferentially; an adsorption portion located in the middle of the cleaning disc structure, including an annular wall and an adsorption hole surrounded by the annular wall, the adsorption hole being configured to provide negative pressure to the adsorption cavity; and a middle portion including an air inlet groove located between the sealing portion and the adsorption portion; the air inlet groove includes a bottom wall connected to the inner sidewall of the sealing portion and the annular wall of the adsorption portion respectively, and a groove opening opposite to the bottom wall, the two annular edges of the groove opening being located at the inner edge of the sealing end face and the outer edge of the annular wall away from the bottom wall respectively; wherein the air inlet groove communicates with the adsorption hole through a through hole, the through hole including an orifice communicating with the air inlet groove; the area of ​​the orifice is smaller than the area of ​​the groove opening.

[0035] At least one embodiment of this disclosure provides a cleaning apparatus, including the cleaning disc structure described in the above embodiments.

[0036] The cleaning disc structure and cleaning device provided in at least one embodiment of this disclosure provide negative pressure to the adsorption chamber through the adsorption holes of the adsorption part, and achieve circumferential sealing of the adsorption chamber through the sealing part. The air inlet groove in the middle part is connected to the adsorption holes through a through hole to provide negative pressure to the space in the air inlet groove through the adsorption holes. Since the orifice area of ​​the through hole is smaller than the opening area of ​​the groove, it is beneficial to limit the gas flow through the orifice. When the circumferential sealing of the adsorption chamber by the sealing part of the cleaning disc structure fails, it can prevent the cleaning disc structure from shutting down or stopping due to air leakage.

[0037] At least one embodiment of this disclosure provides a control method for a cleaning disc structure, comprising: controlling the formation of an adsorption cavity between the cleaning disc structure and the surface to be cleaned, and controlling the cleaning disc structure to move along a preset direction; generating a trigger signal in response to a pressure difference between the air pressure in the adsorption cavity and a reference air pressure being less than a preset pressure difference value; controlling the cleaning disc structure to move in a direction opposite to the preset direction based on the trigger signal for a signal transmission time; wherein, at least during the signal transmission time, the orthographic projection of the adsorption portion on the reference plane where the groove opening is located is within the range of the orthographic projection of the surface to be cleaned on the reference plane; the signal transmission time is the time difference between the moment the trigger signal is generated and the moment the cleaning disc structure moves in a direction opposite to the preset direction.

[0038] At least one embodiment of the present disclosure provides a control method for a cleaning disc structure. When air leakage occurs in the cleaning disc structure, the pressure difference between the air pressure in the adsorption chamber and the reference air pressure is less than a preset pressure difference value, generating a trigger signal. For at least the signal transmission time, the orthogonal projection of the adsorption portion of the cleaning disc structure onto the reference plane is within the range of the orthogonal projection of the surface to be cleaned onto the reference plane; that is, the adsorption portion does not extend beyond the surface to be cleaned. This facilitates maintaining the cleaning disc structure stably adsorbed onto the surface to be cleaned with minimal adsorption force through the adsorption portion.

[0039] The structure of the cleaning disc, its control method, and the cleaning device are described below with reference to the accompanying drawings and through some embodiments.

[0040] Figure 1 This is a schematic diagram of a cleaning disc structure provided in at least one embodiment of the present disclosure. Figure 2 This is a schematic diagram showing the formation of an adsorption cavity between the cleaning disc structure and the surface to be cleaned, provided in at least one embodiment of this disclosure.

[0041] refer to Figure 1 and Figure 2 This disclosure provides a cleaning tray structure, which includes a sealing portion 110, an adsorption portion 120, and a middle portion 130. The cleaning tray structure is used to form an adsorption cavity C between itself and the surface to be cleaned, S0. For example, the surface to be cleaned can be a window surface, a wall surface, a floor, etc. For example, the surface to be cleaned can include a plane or a curved surface. For example, the surface to be cleaned can include an inclined plane with an angle to the horizontal plane.

[0042] refer to Figure 1 and Figure 2 In some examples, the sealing portion 110 is located on the periphery of the cleaning disc structure and includes an inner sidewall 111 and a sealing end face 112 connected to each other. The inner sidewall 111 forms at least a portion of the circumferential sidewall of the adsorption cavity C, and the sealing end face 112 is configured to seal the adsorption cavity C circumferentially.

[0043] Figure 2 This illustration only schematically shows the sealing end face of the cleaning disc structure directly contacting the surface to be cleaned to form an adsorption cavity, but the present disclosure is not limited thereto. For example, a wiping element may be sleeved outside the cleaning disc structure, with the wiping element directly contacting the surface to be cleaned. The sealing end face may apply pressure to the wiping element, sealing the portion of the wiping element pressed against the surface to be cleaned. For example, the inner wall of the sealing portion may be the circumferential sidewall of the adsorption cavity. For example, the inner wall of the sealing portion may form the circumferential sidewall of the adsorption cavity together with the surfaces of other structures (e.g., a portion of the surface of the wiping element), and the present disclosure does not limit this.

[0044] refer to Figure 1 and Figure 2 The adsorption portion 120 is located in the middle of the cleaning disc structure. For example, the middle of the cleaning disc structure can be the region where the geometric center of the cleaning disc structure is located. The adsorption portion 120 may include an annular wall 121 and adsorption holes 122 surrounded by the annular wall 121, the adsorption holes 122 being configured to provide negative pressure to the adsorption chamber C. For example, when the cleaning disc structure is applied to a cleaning device, the cleaning device may include an adsorption component such as a fan or vacuum pump, the adsorption component being in communication with the adsorption holes 122, thereby providing negative pressure to the adsorption chamber C through the adsorption holes 122.

[0045] refer to Figure 1 and Figure 2 The intermediate portion 130 includes an air inlet groove 131 located between the sealing portion 110 and the adsorption portion 120, which can be part of the adsorption chamber C. The air inlet groove 131 includes a bottom wall 1311 connected to the inner wall 111 of the sealing portion 110 and the annular wall 121 of the adsorption portion 120, respectively, and a groove opening 1312 opposite to the bottom wall 1311. The bottom wall 1311 and the groove opening 1312 may be opposite each other in the thickness direction of the cleaning disc structure. The two annular edges A0 of the groove opening 1312 are located at the inner edge A1 of the sealing end face 112 and the outer edge A2 of the end E0 of the annular wall 121 away from the bottom wall 1311, respectively. For example, the inner edge A1 of the sealing end face 112 may be the edge of the sealing end face 112 near the geometric center of the cleaning disc structure. For example, the outer edge A2 of the end E0 of the annular wall 121 away from the bottom wall 1311 may be the edge of the end E0 away from the geometric center of the cleaning disc structure.

[0046] refer to Figure 1 and Figure 2The air intake groove 131 and the adsorption hole 122 are connected by a through hole 132. The through hole 132 includes an opening 1321 that communicates with the air intake groove 131, and the area of ​​the opening 1321 is smaller than the area of ​​the groove opening 1312. For example, the diameter of the through hole can remain consistent in the through-direction, for example, it can be equal to the diameter of the opening. However, this disclosure is not limited to this, and the diameter of the through hole can also be set to change in the through-direction as needed.

[0047] For example, when the cleaning disc structure is applied to frameless or thin-framed windows for cleaning, if the sealing portion extends beyond a certain distance from the window edge, the groove opening may align with the window edge, causing the circumferential seal of the sealing portion against the adsorption cavity to fail. Similarly, if the working surface of the cleaning disc structure has a slope, such as an inclined or curved surface, the sealing portion may tilt relative to the working surface, leading to circumferential seal failure against the adsorption cavity.

[0048] refer to Figure 1 and Figure 2 The cleaning disc structure provided in this embodiment of the present disclosure, by setting the area of ​​the orifice 1321 of the through hole 132 to be smaller than the area of ​​the groove opening 1312, is advantageous in limiting the gas flow rate through the orifice 1321. For example, while the adsorption hole 122 of the cleaning disc structure provides negative pressure, it indirectly provides negative pressure to the internal space of the air inlet groove 131 through the smaller area orifice 1321. In this way, when the sealing part 110 of the cleaning disc structure fails to seal, the negative pressure in the adsorption hole 122 will not drop suddenly. By setting the orifice 1321 to limit the gas flow rate, the detection module in the cleaning device can realize phased leakage detection. Therefore, when the circumferential seal of the adsorption chamber C by the sealing part 110 of the cleaning disc structure fails, it is possible to prevent the cleaning disc structure from shutting down or stopping due to leakage.

[0049] refer to Figure 1 and Figure 2 In some examples, the through hole 132 is provided at the connection J between the adsorption portion 120 and the bottom wall 1311 to facilitate the processing and assembly of the components. For example, the through hole 132 can be a slit located between the adsorption portion 120 and the bottom wall 1311.

[0050] In some examples, the through-hole can be formed in the bottom wall. For example, the through-hole can also be formed in the annular wall. This disclosure does not limit this as long as communication between the adsorption pore and the adsorption chamber can be achieved.

[0051] Figure 3 A schematic diagram of a partial structure of a cleaning disc structure provided in at least one embodiment of this disclosure.

[0052] refer to Figure 1 and Figure 3In some examples, the bottom wall 1311 of the air intake recess 131 includes a first surface S1 and a second surface S2 facing the recess opening 1312, with the second surface S2 closer to the center of the cleaning disc structure than the first surface S1. For example, the first surface S1 connects the second surface S2 and the inner wall 111 of the sealing portion 110. The distance D1 between the first surface S1 and the recess opening 1312 is greater than the distance D2 between the second surface S2 and the recess opening 1312. For example, the distance D1 between the first surface S1 and the recess opening 1312 refers to the distance in the thickness direction of the cleaning disc structure, and the distance D2 between the second surface S2 and the recess opening 1312 refers to the distance in the thickness direction of the cleaning disc structure. For example, in the air intake recess 131, the groove depth at the position corresponding to the first surface S1 is greater than the groove depth at the position corresponding to the second surface S2.

[0053] refer to Figures 1 to 3 When the seal between the sealing end face 112 and the surface S0 to be cleaned fails, for example when the cleaning disc structure moves to the edge of the surface S0 to be cleaned, the gas flow rate entering the adsorption chamber C increases sharply because the distance between the first surface S1 and the groove opening 1312 is greater than the distance between the second surface S2 and the groove opening 1312. The detection module in the cleaning device can detect that the cleaning disc structure is leaking based on the sudden increase in gas flow rate, which helps the control module in the cleaning device to adjust the movement state of the cleaning disc structure in a timely manner. Therefore, the cleaning device using this cleaning disc structure has higher leakage detection sensitivity and faster response, reducing the risk of the cleaning device stopping or malfunctioning.

[0054] refer to Figures 1 to 3 In some examples, the bottom wall 1311 also includes a connecting surface S3 connecting the first surface S1 and the second surface S2, the connecting surface S3 being perpendicular to the plane containing the groove opening 1312. The connecting surface S3 extends in a direction perpendicular to the groove opening 1312, which facilitates the processing of the intermediate portion 130 and makes it easier to design the dimensions of each structure of the intermediate portion 130 according to different adsorption force requirements. However, this disclosure is not limited to this; the connecting surface may also intersect the plane containing the groove opening but not be perpendicular to it.

[0055] refer to Figures 1 to 3 For example, the first surface S1 is a plane parallel to the groove opening 1312. For example, the second surface S2 is a plane parallel to the groove opening 1312. However, this disclosure is not limited to this. For example, the plane containing the first surface may intersect with the plane containing the groove opening but are not perpendicular to each other, and the plane containing the second surface may intersect with the plane containing the groove opening but are not perpendicular to each other. For example, both the first surface and the second surface can be non-planar.

[0056] refer to Figures 1 to 3In some examples, the cleaning disc structure also includes a plurality of ribs 140 spaced circumferentially along the adsorption holes 122. The ribs 140 extend along a first direction X, which is the direction from the center of the cleaning disc structure to its edge. One end of each rib 140 is connected to the adsorption portion 120, and the other end is connected to the sealing portion 110. The plurality of ribs 140 divide the air inlet groove 131 into a plurality of sub-grooves 1301. This helps to limit the flow rate of leaking gas when leakage occurs in the cleaning disc structure. For example, a sub-groove 1301 is formed between two adjacent ribs 140. Each rib 140 has a notch 141 at least at a position corresponding to the first surface S1, allowing two adjacent sub-grooves 1301 to communicate with each other. The notch 141 at the position corresponding to the first surface S1 facilitates timely detection of failure of the sealing end face 112 of the cleaning disc structure. Each notch 141 connects to two adjacent sub-grooves 1301, which helps to control the negative pressure of the entire adsorption chamber C.

[0057] Figure 4 A schematic diagram showing the orthographic projection of the notch, the orthographic projection of the first surface, and the orthographic projection of the second surface of the cleaning disc structure provided in at least one embodiment of this disclosure.

[0058] refer to Figure 1 and Figure 4 In some examples, on the reference plane S1 where the groove opening 1312 is located, a portion P01 of the orthographic projection P0 of the notch 141 overlaps with the orthographic projection P1 of the first surface S1, and another portion P02 of the orthographic projection P0 of the notch 141 overlaps with the orthographic projection P2 of the second surface S2. This is beneficial for increasing the gas flow area between two adjacent sub-grooves 1301.

[0059] For example, the structure of the rib at the notch corresponding to the first surface can be flush with the first surface or protrude from the first surface. For example, the structure of the rib at the notch (e.g., the structure corresponding to the first surface or the structure corresponding to the second surface) can be flush with the second surface or protrude from the second surface, and this disclosure does not impose any restrictions on either.

[0060] refer to Figure 1 In some examples, the sealing portion 110 includes a main body 1101 and a protrusion 1102 protruding from the main body 1101 along a second direction Z, which is perpendicular to the plane containing the groove opening 1312. The surfaces of the main body 1101 and the protrusion 1102 together form the sealing end face 112. For example, the surface of the main body 1101 can be a plane parallel to the groove opening 1312. For example, pressure can be applied to the wiping member fitted outside the cleaning disc structure by the protrusion 1102 protruding from the main body 1101, thereby increasing the friction between the wiping member and the surface S0 to be cleaned.

[0061] refer to Figure 1In some examples, the number of protrusions 1102 is twice the number of ribs 140 and they are evenly distributed circumferentially along the cleaning disc structure. Each protrusion 1102 includes a plurality of first ridges 01 connected to the ribs 140 and second ridges 02 located between adjacent first ridges 01. Providing the first ridges 01 connected to the ribs 140 simplifies the manufacturing process. Providing the second ridges 02 between adjacent first ridges 01 increases the friction between the wiping element and the surface S0 to be cleaned.

[0062] refer to Figure 1 For example, when the protrusion 1102 includes a first protruding ridge 01 and a second protruding ridge 02, both the first protruding ridge 01 and the second protruding ridge 02 can extend along the first direction X. However, this disclosure is not limited to this, and the protrusion 1102 can also be other structures, such as a columnar protrusion.

[0063] refer to Figure 1 In some examples, the end E1 of the protrusion 1102 away from the main body 1101 and the end E2 of the portion 142 of the rib 140 away from the bottom wall 1311 are approximately in the same plane. For example, the protrusion 1102 and the portion 142 of the rib 140 away from the notch 141 can press against the wiping member on both sides in the first direction X to increase the friction between the wiping member and the surface S0 to be cleaned. For example, the end E1 of the protrusion 1102 away from the main body 1101 and the end E2 of the portion 142 of the rib 140 away from the bottom wall 1311 can be completely in the same plane, or there may be a certain standard deviation due to factors such as manufacturing tolerances.

[0064] refer to Figure 1 In some examples, the end E0 of the annular wall 121 away from the bottom wall 1311 is located in the plane. For example, the annular wall 121 can work together with the portion other than the protrusion 1102 and the notch 141 of the rib 140 to press the wiping member together, thereby increasing the friction between the wiping member and the surface S0 to be cleaned.

[0065] refer to Figure 1 In some examples, the end E0 of the annular wall 121 away from the bottom wall 1311 is located on the side of the plane close to the bottom wall 1311. For example, when the portion other than the notch 141 of the protrusion 1102 and the rib 140 jointly presses against the wiping member, the end E0 of the annular wall 121 away from the bottom wall 1311 may not apply pressure to the wiping member. For example, there may be a gap between the end E0 of the annular wall 121 away from the bottom wall 1311 and the wiping member. In this case, the air inlet groove 131 and the adsorption hole 122 can communicate through the gap between the end E0 of the annular wall 121 away from the bottom wall 1311 and the wiping member.

[0066] refer to Figure 1 In some examples, at least two of the sealing portion 110, the intermediate portion 130, and the adsorption portion 120 are integrally formed, which simplifies the assembly steps of the cleaning disc structure. For example, any two of the sealing portion, the intermediate portion, and the adsorption portion can be integrally formed.

[0067] In some examples, the sealing part, the intermediate part, and the adsorption part are separate structures, which facilitates the replacement and maintenance of each part.

[0068] This disclosure provides a cleaning device that includes a cleaning tray structure as described in any of the above embodiments. Since the cleaning tray structure according to this disclosure is used in the above-described cleaning device, it also has corresponding beneficial technical effects, which will not be elaborated further here.

[0069] Figure 5 A flowchart illustrating a control method for a cleaning disc structure provided as an example in at least one embodiment of this disclosure.

[0070] This disclosure provides a method for controlling a cleaning disc structure. (See also...) Figure 1 and Figure 5 The control method includes the following steps S110 to S130.

[0071] Step S110: Control the formation of an adsorption cavity C between the cleaning disc structure and the surface S0 to be cleaned, and control the cleaning disc structure to move along a preset direction. For example, negative pressure can be provided to the adsorption cavity C through the adsorption holes 122 of the cleaning disc structure. For example, when the cleaning disc structure is circular, the entire machine can move forward along a preset direction by rotating the cleaning disc structure. For example, when the cleaning disc structure is square, the entire machine can move forward in a straight line.

[0072] Step S120: A trigger signal is generated in response to the pressure difference between the gas pressure in the adsorption chamber C and the reference gas pressure being less than a preset pressure difference value. For example, when the pressure difference value is less than the preset pressure difference, it can be determined that the cleaning disc structure is in a leaking state, thereby generating a trigger signal.

[0073] Step S130: Based on the trigger signal, control the cleaning disc structure to move in the opposite direction to the preset direction during the signal transmission time. At least during the signal transmission time, the orthographic projection of the adsorption part 120 on the reference plane S1 where the groove opening 1312 is located is within the range of the orthographic projection of the surface to be cleaned S0 on the reference plane S1; the signal transmission time is the time difference between the moment the trigger signal is generated and the moment the cleaning disc structure moves in the opposite direction to the preset direction.

[0074] refer to Figure 1 and Figure 5When air leakage occurs in the cleaning disc structure, the pressure difference between the air pressure in the adsorption chamber C and the reference air pressure is less than a preset pressure difference value, generating a trigger signal. At least during the signal transmission time, the orthographic projection of the adsorption portion 120 of the cleaning disc structure onto the reference plane S1 is within the range of the orthographic projection of the surface to be cleaned S0 onto the reference plane S1; that is, the adsorption portion 120 does not extend beyond the surface to be cleaned S0. This helps to maintain the minimum adsorption force required for the cleaning disc structure to stably adhere to the surface to be cleaned S0 through the adsorption portion 120.

[0075] For example, the parameters of the sealing part, intermediate part, and adsorption part of the cleaning disc structure can be designed based on parameters such as the actual signal transmission time of the cleaning device, the traveling speed of the cleaning disc structure, and the adsorption force of the adsorption part (e.g., the power generated by different specifications of fans varies). This disclosure does not impose any limitations on this.

[0076] Figure 6 A schematic diagram of the groove opening and the surface to be cleaned of the cleaning disc structure provided in at least one embodiment of the present disclosure, projected onto a reference plane.

[0077] refer to Figure 1 , Figure 2 and Figure 6 In some examples, when at least a portion of the outer contour of the groove opening 1312 is outside the outer contour of the orthographic projection PS of the surface to be cleaned S0 on the reference plane S1, the pressure difference between the gas pressure in the adsorption chamber C and the reference gas pressure decreases to less than a preset pressure difference value to generate a trigger signal.

[0078] refer to Figure 1 , Figure 2 and Figure 6 For example, if at least a portion of the outer contour of the groove opening 1312 is located outside the outer contour of the orthographic projection PS of the surface to be cleaned S0 on the reference plane S1, then the sealing end face 112 fails to seal the adsorption cavity C. For example, the portion of the outer contour of the groove opening 1312 located outside the outer contour of the orthographic projection of the surface to be cleaned S0 corresponds to the portion of the groove opening 1312 that leaks air.

[0079] refer to Figure 1 , Figure 2 and Figure 6 Taking a circular cleaning disc structure as an example, when the cleaning disc structure rotates beyond a certain range beyond the surface S0 to be cleaned, the groove opening 1312 connects to the external space. For example, as the cleaning disc structure continues to rotate outward from the surface S0 to be cleaned, the area of ​​leakage in the cleaning disc structure increases, and the pressure difference between the air pressure in the adsorption chamber C and the reference air pressure decreases. When the pressure difference is less than a preset pressure difference value, it is determined that the cleaning disc structure is in a leaking state, thereby generating a trigger signal. For example, the reference air pressure can be the atmospheric pressure of the external space.

[0080] refer to Figure 1 and Figure 5 In some examples, step S130 includes generating a control signal based on a trigger signal, and controlling the cleaning disc structure to move in a direction opposite to a preset direction based on the control signal. For example, after generating the trigger signal, the trigger signal can be converted into a control signal by a module such as a computing module in the cleaning device, and the control signal can control the cleaning disc structure to retract.

[0081] refer to Figure 1 and Figure 5 Since signal transmission and conversion take time, the intermediate portion 130, located between the sealing portion 110 and the adsorption portion 120, allows time for the cleaning disc structure to retract. During this process, the adsorption portion 120 and the surface S0 to be cleaned can maintain a minimum adsorption force that allows the cleaning device to be stably adsorbed onto the surface S0, preventing the risk of the cleaning device stopping or falling off.

[0082] In some examples, the cleaning disc structure is controlled to move in a direction opposite to a preset direction, including controlling the cleaning disc structure to rotate in reverse around the axis of rotation to move, or controlling the cleaning disc structure to move in a straight line opposite to the preset direction.

[0083] For example, when the cleaning disc structure is entirely circular, it moves by rotating. For instance, when the cleaning disc structure moves forward by rotating clockwise, it can be reversed to move backward after a leak is detected.

[0084] For example, in the case where the overall cleaning disc structure is square, the cleaning disc structure moves forward in a straight line via a walking component such as tracks. Upon detecting a leak, the cleaning disc structure can be controlled to reverse direction to achieve backtracking.

[0085] This disclosure provides a cleaning apparatus including the cleaning disc structure described in any of the above examples. Since the cleaning apparatus according to this disclosure uses the aforementioned cleaning disc structure, it also possesses corresponding beneficial technical effects, which will not be elaborated upon here.

[0086] The following points need to be explained:

[0087] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure, and other structures can be referred to the general design.

[0088] (2) Where there is no conflict, features of the same embodiment and different embodiments of this disclosure may be combined with each other.

[0089] The above description is merely an exemplary embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure, which is determined by the appended claims.

Claims

1. A cleaning disc structure for forming an adsorption cavity between itself and a surface to be cleaned, the cleaning disc structure comprising: The sealing portion, located on the periphery of the cleaning disc structure, includes an inner sidewall and a sealing end face connected to each other. The inner sidewall forms at least a portion of the circumferential sidewall of the adsorption cavity, and the sealing end face is configured to seal the adsorption cavity circumferentially. The adsorption section, located in the middle of the cleaning disc structure, includes an annular wall and adsorption holes surrounded by the annular wall, the adsorption holes being configured to provide negative pressure to the adsorption chamber; The middle portion includes an air inlet groove located between the sealing portion and the adsorption portion; the air inlet groove includes a bottom wall connected to the inner sidewall of the sealing portion and the annular wall of the adsorption portion respectively, and a groove opening opposite to the bottom wall, wherein the two annular edges of the groove opening are located at the inner edge of the sealing end face and the outer edge of the annular wall away from the bottom wall respectively. The air intake groove and the adsorption hole are connected by a through hole, and the through hole includes an opening that communicates with the air intake groove. The area of ​​the orifice is smaller than the area of ​​the groove opening.

2. The cleaning tray structure according to claim 1, wherein, The through hole is located at the connection between the adsorption part and the bottom wall.

3. The cleaning tray structure according to claim 2, wherein, The bottom wall of the air intake groove includes a first surface and a second surface facing the opening of the groove, wherein the second surface is closer to the center of the cleaning disc structure than the first surface; The distance between the first surface and the groove opening is greater than the distance between the second surface and the groove opening.

4. The cleaning tray structure according to claim 3, wherein, The bottom wall also includes a connecting surface between the first surface and the second surface, the connecting surface being perpendicular to the plane where the groove opening is located.

5. The cleaning disc structure according to claim 3 further includes a plurality of ribs spaced circumferentially along the adsorption holes, the ribs extending in a first direction, the first direction being the direction from the center of the cleaning disc structure to the edge; One end of the rib is connected to the adsorption portion, and the other end is connected to the sealing portion; The plurality of ribs divide the air intake groove into a plurality of sub-grooves, and the ribs are provided with notches at least at positions corresponding to the first surface, so that adjacent two sub-grooves can communicate with each other.

6. The cleaning tray structure according to claim 5, wherein, On the reference plane where the groove opening is located, a portion of the orthographic projection of the notch overlaps with the orthographic projection of the first surface, and another portion of the orthographic projection of the notch overlaps with the orthographic projection of the second surface.

7. The cleaning tray structure according to claim 5, wherein, The sealing portion includes a main body and a protrusion that protrudes from the main body along a second direction, the second direction being perpendicular to the plane where the groove opening is located; The surface of the main body and the surface of the protrusion together form the sealing end face.

8. The cleaning tray structure according to claim 7, wherein, The end of the protrusion away from the main body and the end of the rib away from the bottom wall, other than the notch, are approximately in the same plane.

9. The cleaning tray structure according to claim 8, wherein, The end of the annular wall away from the bottom wall lies within the plane.

10. The cleaning tray structure according to claim 8, wherein, The end of the annular wall away from the bottom wall is located on the side of the plane closest to the bottom wall.

11. The cleaning tray structure according to claim 7, wherein, The number of protrusions is twice the number of ribs and is evenly distributed along the circumference of the cleaning disc structure. Each protrusion includes a plurality of first ribs connected to the ribs and a second rib located between two adjacent first ribs.

12. The cleaning disc structure according to any one of claims 1-11, wherein, At least two of the sealing portion, the intermediate portion, and the adsorption portion are integrally formed; or... The sealing part, the intermediate part, and the adsorption part are separate structures.

13. The cleaning tray structure according to claim 1, wherein, The through hole is formed in the bottom wall.

14. A method for controlling a cleaning disc structure according to any one of claims 1-13, comprising: The cleaning disc structure is controlled to form the adsorption cavity between itself and the surface to be cleaned, and the cleaning disc structure is controlled to move along a preset direction. A trigger signal is generated in response to the pressure difference between the gas pressure in the adsorption chamber and the reference gas pressure being less than a preset pressure difference value; Based on the trigger signal, the cleaning disc structure is controlled to move in a direction opposite to the preset direction during the signal transmission time; Wherein, at least during the signal transmission time, the orthographic projection of the adsorption portion on the reference plane where the groove opening is located is within the range of the orthographic projection of the surface to be cleaned on the reference plane; the signal transmission time is the time difference between the moment the trigger signal is generated and the moment the cleaning disc structure moves in the opposite direction to the preset direction.

15. The method according to claim 14, wherein, When at least a portion of the outer contour of the groove opening is located outside the outer contour of the orthographic projection of the surface to be cleaned onto the reference plane, the pressure difference between the gas pressure in the adsorption chamber and the reference gas pressure decreases to less than the preset pressure difference value, thereby generating the trigger signal.

16. The method of claim 14, wherein, Controlling the cleaning disc structure to move in a direction opposite to the preset direction based on the trigger signal includes: A control signal is generated based on the trigger signal; Based on the control signal, the cleaning disc structure is controlled to move in a direction opposite to the preset direction.

17. The method according to claim 14, wherein, Controlling the cleaning disc structure to move in a direction opposite to the preset direction includes: The cleaning disc structure is controlled to rotate in reverse around its axis of rotation to move; or, The cleaning disc structure is controlled to travel in a straight line opposite to the preset direction.

18. A cleaning device comprising the cleaning disc structure as described in any one of claims 1-13.

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