Autonomous cleaning device

Abstract

This application provides a self-cleaning device. When the roller assembly is in a specific outward-expanding position, in response to the self-cleaning device being hijacked and detached from the working surface, the self-cleaning device controls the roller mop to stop rotating. This prevents the rotating roller mop from catching the user's hand in the gap between the roller mop and the machine body. Furthermore, it maintains a distance greater than a preset threshold between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space, ensuring a large gap between the roller assembly and the machine body. This prevents the user's hand from being pinched if they accidentally put their hand into the gap, thus improving the safety of using the self-cleaning device and enhancing the user experience.

Description

Technical Field

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

[0002] Autonomous cleaning devices with roller assemblies (such as robotic vacuum cleaners) are an important part of modern home cleaning systems, especially in floor cleaning. Their core function is to efficiently clean floor stains through the outward expansion, inward retraction, and rotation of the roller module. In practical use, the roller module typically expands outward along the axial direction (parallel to the ground) to increase the cleaning area, and retracts inward after cleaning to adapt to narrow spaces or avoid collisions with obstacles.

[0003] However, the outward expansion of the roller module exposes structural gaps between it and the main body (such as the gap between the roller and the bottom shell, the groove for the handle, and the opening area of ​​the roller's movement path). These areas are prone to trapping foreign objects during the roller's movement, such as the user's fingers, pet tails, garbage fragments, hard objects (such as chopsticks and pencils), posing a safety risk of the user's hand being pinched. Summary of the Invention

[0004] This application provides a self-cleaning device to address the safety risk of users' hands being pinched in self-cleaning devices with roller assemblies.

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

[0006] The body has a receiving space at its bottom;

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

[0008] The middle sweeping component 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 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] The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop.

[0010] When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is kept greater than a preset distance threshold.

[0011] Optionally, after the autonomous cleaning device disengages from the hijacking and lands, the roller assembly is controlled to retract to the retracted position, and the roller mop is kept stationary.

[0012] The current position of the autonomous cleaning device is repositioned, and the movement of the roller assembly is controlled according to the task at the current position.

[0013] Optionally, at the specific outward expansion position, if the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space is greater than the preset distance threshold, then controlling the roller mop to stop rotating and maintaining the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space greater than the preset distance threshold includes:

[0014] The roller mop is controlled to stop rotating, and the roller assembly is controlled to retract inward by a first distance and then stop retracting, while maintaining the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space greater than the preset distance threshold.

[0015] Alternatively, control the roller mop to stop rotating, and control the roller assembly to expand outward a certain distance and then stop the outward expansion movement, while maintaining the distance between the end of the roller assembly located in the receiving space and the inner wall of the end opposite to the receiving space greater than the preset distance threshold;

[0016] Alternatively, control the roller mop to stop rotating and control the roller assembly to stop axial movement.

[0017] Optionally, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, controlling the roller mop to stop rotating and maintaining the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space greater than a preset distance threshold includes:

[0018] In response to the hijacking of the autonomous cleaning device and its detachment from the working surface, if the roller assembly is in the process of retracting inward, the roller mop is controlled to stop rotating, and the roller assembly is controlled to move axially a second distance, so that after the roller assembly moves axially a second distance, the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than a preset distance threshold.

[0019] Alternatively, in response to the autonomous cleaning device being hijacked and detached from the working surface, if the roller assembly is in the process of expanding from the transition position to the maximum expansion position, the roller assembly is controlled to continue expanding to the maximum expansion position, so as to keep the distance between the end of the roller assembly located in the receiving space and the inner wall of the end opposite to the receiving space greater than a preset distance threshold.

[0020] Optionally, if the autonomous cleaning device is hijacked and detached from the working surface, and there are foreign objects in the receiving space, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is kept greater than a preset distance threshold.

[0021] Optionally, the self-cleaning device further includes: drive wheels, disposed at the bottom of the body.

[0022] When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and the autonomous cleaning device being detached from the working surface, the drive wheel is controlled to stop rotating, and the roller brush and / or side brush is controlled to stop rotating.

[0023] After the autonomous cleaning device detaches from the contact point and lands, the side brush, the roller brush, and the drive wheel are kept stationary.

[0024] After repositioning the current position of the autonomous cleaning device, the movement of the side brush, the roller brush, and the drive wheel is controlled according to the work task at the current position.

[0025] Secondly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0026] The body has a receiving space at its bottom;

[0027] A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate.

[0028] The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0029] Roller assembly; the roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand outward or retract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop.

[0030] When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and the autonomous cleaning device being detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is kept greater than a preset distance threshold. The drive wheel is controlled to stop rotating, and the roller brush and / or the side brush are controlled to stop rotating.

[0031] When the roller assembly is in the outward position, in response to the autonomous cleaning device being hijacked and the autonomous cleaning device not detaching from the working surface, the roller assembly is controlled to retract to the inward position.

[0032] Thirdly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0033] The body has a receiving space at its bottom;

[0034] A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate.

[0035] The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0036] The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop.

[0037] When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is kept greater than a preset distance threshold. The drive wheel is controlled to stop rotating, and the roller brush and / or the side brush is controlled to stop rotating. After the autonomous cleaning device is detached from the hijacking, the roller assembly is controlled to retract to the retracted position, and the autonomous cleaning device is controlled to pause work and wait for user instructions.

[0038] When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and the autonomous cleaning device not being removed from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is unhijacked, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate.

[0039] Fourthly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0040] The body has a receiving space at its bottom;

[0041] A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate.

[0042] The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0043] The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop.

[0044] When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is unhijacked, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate. During the outward expansion movement, 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. When the roller assembly expands to the target outward expansion position, the outward expansion movement ends, and 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 240 revolutions per minute.

[0045] Fifthly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0046] The body has a receiving space at its bottom;

[0047] A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate.

[0048] The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0049] The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop.

[0050] When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than or equal to 0.5 cm and less than or equal to 8 cm is maintained. The drive wheel is controlled to stop rotating, and the roller brush and / or the side brush is controlled to stop rotating. After the autonomous cleaning device is detached from the hijacking, the roller assembly is controlled to retract to the retracted position. The autonomous cleaning device pauses work and waits for user instructions. In response to user instructions to continue work, the current position of the autonomous cleaning device is repositioned. According to the current position, the roller assembly is controlled to expand outward or remain in the retracted position. During the outward expansion movement, the rotation speed of the roller mop is controlled to be greater than or equal to 60 rpm and less than or equal to 210 rpm. When the roller assembly expands to the target outward expansion position, the outward expansion movement ends, and the rotation speed of the roller mop is controlled to be greater than or equal to 60 rpm and less than or equal to 240 rpm.

[0051] When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is unhijacked, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate. During the outward expansion movement, 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. When the roller assembly expands to the target outward expansion position, the outward expansion movement ends, and 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 240 revolutions per minute.

[0052] Sixthly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0053] The body has a receiving space at its bottom;

[0054] A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate.

[0055] The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0056] The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop.

[0057] If, during the retraction process of the roller assembly, a foreign object is present in the accommodating space, causing the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and to repeatedly perform the foreign object discharge action, which includes movement in multiple directions.

[0058] The failure of the roller assembly to retract means that the roller assembly has not reached the retracted position and cannot continue to retract.

[0059] Optionally, controlling the roller assembly to repeatedly perform the foreign object discharge action includes:

[0060] The roller assembly is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating;

[0061] or,

[0062] The roller assembly is controlled to repeatedly perform the following set of retraction actions: retracting inward, raising to the limit position if retracting inward fails, retracting inward, lowering to the mopping position if retracting inward fails, and expanding outward to the expanding position; until the roller assembly retracts to the retracted position, or until the duration of the retraction action reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating.

[0063] Optionally, during the repeated foreign object discharge operation of the roller assembly, the roller mop is controlled to remain rotating.

[0064] Seventhly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0065] The body has a receiving space at its bottom;

[0066] A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate.

[0067] The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0068] The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop.

[0069] If, during the retraction process of the roller assembly, a foreign object is present in the accommodating space causing the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating;

[0070] or,

[0071] The roller assembly is controlled to repeatedly perform the following set of retraction actions: retracting inward, raising to the limit position if retracting inward fails, retracting inward, lowering to the mopping position if retracting inward fails, and expanding outward to the expanding position; until the roller assembly retracts to the retracted position, or until the duration of the retraction action reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating;

[0072] During the retraction of the roller assembly, if there are foreign objects in the accommodating space, the side brush, the roller brush, and the drive wheel are controlled to rotate continuously.

[0073] During the reciprocating motion or the retraction action, the roller mop is controlled to keep rotating.

[0074] Eighthly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0075] The body has a receiving space at its bottom;

[0076] A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate.

[0077] The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0078] The roller assembly is located in the accommodating space at the bottom of the machine body. The roller assembly can move outward or inward in the axial direction and can move up or down in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are arranged sequentially in the rotation direction of the roller mop.

[0079] If, during the retraction process of the roller assembly, a foreign object is present in the accommodating space, causing the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and to repeatedly perform the foreign object discharge action, which includes movement in multiple directions.

[0080] The failure of the roller assembly to retract means that the roller assembly has not reached the retracted position and cannot continue to retract.

[0081] During the retraction of the roller assembly, if there are foreign objects in the accommodating space, the side brush, the roller brush, and the drive wheel are controlled to rotate continuously.

[0082] During the repeated foreign object discharge operation of the roller assembly, the roller mop is controlled to keep rotating, and 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.

[0083] Ninthly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0084] The body has a receiving space at its bottom;

[0085] A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate.

[0086] The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0087] The roller assembly is located in the accommodating space at the bottom of the machine body. The roller assembly can move outward or inward in the axial direction and can move up or down in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are arranged sequentially in the rotation direction of the roller mop.

[0088] If, during the retraction process of the roller assembly, a foreign object is present in the accommodating space causing the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating;

[0089] or,

[0090] The roller assembly is controlled to repeatedly perform the following set of retraction actions: retracting inward, raising to the limit position if retracting inward fails, retracting inward, lowering to the mopping position if retracting inward fails, and expanding outward to the expanding position; until the roller assembly retracts to the retracted position, or until the duration of the retraction action reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating;

[0091] During the retraction of the roller assembly, if there are foreign objects in the accommodating space, the side brush, the roller brush, and the drive wheel are controlled to rotate continuously.

[0092] During the reciprocating motion or the recovery action, the roller mop is controlled to keep rotating, and 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.

[0093] Tenthly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0094] The body has a receiving space at its bottom;

[0095] A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate.

[0096] The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0097] The roller assembly is located in the accommodating space at the bottom of the machine body. The roller assembly can move outward or inward in the axial direction and can move up or down in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are arranged sequentially in the rotation direction of the roller mop.

[0098] If, during the retraction process of the roller assembly, a foreign object is present in the accommodating space causing the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating;

[0099] or,

[0100] The roller assembly is controlled to repeatedly perform the following set of retraction actions: retracting inward, raising to the limit position if retracting inward fails, retracting inward, lowering to the mopping position if retracting inward fails, and expanding outward to the expanding position; until the roller assembly retracts to the retracted position, or until the duration of the retraction action reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating;

[0101] During the retraction of the roller assembly, if there are foreign objects in the accommodating space, the side brush, the roller brush, and the drive wheel are controlled to rotate continuously.

[0102] During the reciprocating motion or the recycling action, the roller mop is controlled to keep rotating;

[0103] In response to receiving a pause command, the autonomous cleaning device is controlled to enter a pause state, and the roller assembly is controlled to retract inward.

[0104] If the accommodating space is filled with foreign objects, causing the roller assembly to fail to retract, the roller assembly is controlled to perform the reciprocating motion in the axial direction until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration. At this time, the roller assembly is controlled to remain in the current raised state and outward expansion state, and the roller mop is controlled to stop rotating.

[0105] During the retraction process of the roller assembly, if a foreign object is present in the accommodating space, causing the roller assembly to fail to retract, and if the foreign object does not fill the accommodating space, the roller assembly is controlled to repeat the retraction action until the roller assembly retracts to the retracted position, or until the duration of the retraction action reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating.

[0106] Eleventhly, embodiments of this application provide a self-cleaning device, the self-cleaning device comprising:

[0107] The body has a receiving space at its bottom;

[0108] A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate.

[0109] The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate.

[0110] The roller assembly is located in the accommodating space at the bottom of the machine body. The roller assembly can move outward or inward in the axial direction and can move up or down in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are arranged sequentially in the rotation direction of the roller mop.

[0111] When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is kept greater than a preset distance threshold. The drive wheel is controlled to stop rotating, and the roller brush and / or the side brush is controlled to stop rotating. After the autonomous cleaning device is detached from the hijacking, the roller assembly is controlled to retract to the retracted position, and the autonomous cleaning device is controlled to pause work and wait for user instructions.

[0112] If the autonomous cleaning device is hijacked and detached from the working surface, and there are foreign objects in the receiving space, the roller assembly is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than a preset distance threshold.

[0113] When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and the autonomous cleaning device not being removed from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is unhijacked, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate.

[0114] The self-cleaning device provided in this application embodiment, by controlling the roller mop to stop rotating when the roller assembly is in a specific outward expansion position, in response to the self-cleaning device being hijacked and detached from the working surface, can prevent the rotating roller mop from getting caught in the gap between the roller mop and the machine body. It also maintains a distance greater than a preset distance threshold between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space, thus ensuring a large gap between the roller assembly and the machine body. This prevents the user's hand from being pinched if they accidentally put their hand into the gap between the roller assembly and the machine body, thereby improving the safety of using the self-cleaning device and enhancing the user experience. Attached Figure Description

[0115] 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.

[0116] Figure 1 A schematic diagram of the self-cleaning equipment provided in this application;

[0117] Figure 2 A schematic diagram of the structure of the self-cleaning device provided in this application, showing the roller assembly in the outward expansion position;

[0118] Figure 3A schematic diagram of the roller assembly in the retracted position in the self-cleaning device provided in this application;

[0119] Figure 4 A schematic diagram of the first loop path provided for this application;

[0120] Figure 5 A schematic diagram of the second loop path provided in this application;

[0121] Figure 6 A schematic diagram of the third loop path provided in this application;

[0122] Figure 7 A schematic diagram of the fourth loop path provided in this application;

[0123] Figure 8 A schematic diagram of the fifth loop path provided in this application;

[0124] Figure 9 A schematic diagram of the sixth loop path provided in this application;

[0125] Figure 10 A schematic diagram showing the relationship between the cleaning effect evaluation index provided in this application and the rotation speed of the roller mop.

[0126] Explanation of reference numerals in the attached figures:

[0127] 100-Self-cleaning equipment;

[0128] 110-Body; 111-Accommodation space; 120-Roller assembly; 121-Roller mop; 130-Side sweeper assembly; 131-Side brush; 140-Center sweeper assembly; 141-Roller brush.

[0129] 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

[0130] 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.

[0131] This application provides a self-cleaning device 100, see [link to relevant documentation]. Figures 1 to 3As shown, the autonomous cleaning device 100 includes a body 110, a side sweeping assembly 130, a center sweeping assembly 140, and a roller assembly 120.

[0132] The bottom of the body 110 has a receiving space 111. A side-sweeping assembly 130 is disposed at the bottom or side of the body 110. The side-sweeping assembly 130 includes a side brush drive mechanism and a side brush 131. The side brush drive mechanism drives the side brush 131 to rotate. A center-sweeping assembly 140 is disposed at the bottom of the body 110. The center-sweeping assembly 140 includes a roller brush drive mechanism and a roller brush 141. The roller brush 141 is disposed within the suction chamber at the bottom of the body 110. The roller brush drive mechanism drives the roller brush 141 to rotate.

[0133] The roller assembly 120 is height-adjustable and / or axially movable within the receiving space 111, and the roller assembly 120 includes a rotatable and height-adjustable roller mop 121. A water replenishment mechanism and a sludge scraping mechanism are sequentially arranged in the rotation direction of the roller mop 121. Exemplarily, the roller assembly 120 can expand or contract in the axial direction, and can rise or fall vertically.

[0134] The roller assembly 120 has an inward-facing position and an outward-facing position. In the outward-facing position, the roller assembly 120 is further away from the receiving space 111 than in its inward-facing position. The roller assembly 120 has an inward-facing position located within the receiving space 111, and an outward-facing position with one end extending beyond the outer edge of the body 110. Furthermore, the roller assembly 120 includes an outward-facing path for movement from the inward-facing position to the outward-facing position, and an inward-facing path for movement from the outward-facing position to the inward-facing position.

[0135] It should be noted that the autonomous cleaning equipment 100 provided in this application embodiment includes, but is not limited to, sweeping robots (including those with one or more cleaning mechanisms), floor scrubbers (robots with mopping function but no sweeping function), sweeping and mopping integrated machines, and floor scrubbers (such as handheld floor scrubbers and non-handheld floor scrubbers).

[0136] The main body 110 is the main support structure of the autonomous cleaning device 100. The side sweeping assembly 130 can be located at the bottom or side of the main body 110, as long as the side brush 131 of the side sweeping assembly 130 can act on the ground. The side sweeping assembly 130 also includes a side brush drive mechanism, which drives the side brush 131 to rotate, thereby gathering dust, debris, and other dirt from the ground surface or corners towards the center of the device, improving overall cleaning efficiency.

[0137] The central sweeping assembly 140 is located at the bottom of the body 110. The central sweeping assembly 140 includes a roller brush drive mechanism and a roller brush 141, which is installed inside the suction chamber formed at the bottom of the body 110. Driven by the roller brush drive mechanism, it rotates continuously, effectively sweeping up hair and other impurities on the ground during the movement of the autonomous cleaning device 100. At the same time, it can work with the vacuuming system to suck up the dust into the suction chamber.

[0138] Furthermore, a roller assembly 120 is movably disposed within a receiving space 111 at the bottom of the body 110. During rotation, the roller mop 121 of the roller assembly 120 sequentially passes through a scraping mechanism and a water replenishment mechanism. The scraping mechanism and the water replenishment mechanism can be arranged sequentially along the rotation direction of the roller mop 121. Thus, the scraping mechanism can remove stains adhering to the surface of the roller mop 121 after one cleaning cycle, reducing the possibility of secondary contamination. The water replenishment mechanism is used to replenish the roller mop 121 with cleaning fluid or water to maintain its moisture and ensure effective mopping.

[0139] In this embodiment, the roller assembly 120 is vertically movable within the receiving space 111. The roller assembly 120 is movable in the height direction of the body 110. When the roller assembly 120 is lowered, it can contact the surface to be cleaned. When the roller assembly 120 is raised, it can disengage from the surface to be cleaned.

[0140] The autonomous cleaning device 100 has at least a single-sweeping working state and a sweeping and mopping working state. In the single-sweeping working state, the roller assembly 120 can be raised, and the roller mop 121 stops rotating. The roller brush 141 and / or the side brush 131 rotate. In the sweeping and mopping working state, the roller assembly 120 can be lowered to contact the surface to be cleaned, and the roller mop 121 can rotate to clean the surface to be cleaned.

[0141] Understandably, in single-sweeping mode, the roller assembly 120 is raised, and the roller mop 121 stops rotating. The roller brush 141 and / or the side brush 131 rotate. Since the roller mop 121 does not contact the ground, it prevents water-sensitive materials such as carpets, high-end flooring, paper, and wood from getting wet. This provides dry sweeping and suction conditions for the roller brush 141 and the side brush 131. In sweeping and mopping mode, the roller assembly 120 descends to contact the surface to be cleaned, and the roller mop 121 rotates. The roller mop 121 can move between an inward-retracting position and an outward-expanding position, working in conjunction with the side sweeping module and the center sweeping module to achieve the suction and sweeping of debris and the wiping of stains.

[0142] The roller assembly 120 moves axially within the receiving space 111 to have two working positions: an inward-facing position and an outward-facing position. In the inward-facing position, the roller assembly 120 is completely retracted within the receiving space 111. This facilitates movement or storage of the equipment in confined spaces. When switched to the outward-facing position, the roller assembly 120 extends outward. For areas with limited longitudinal space, i.e., height restrictions, the extended portion of the roller assembly 120 can be individually inserted into this area for cleaning, thereby increasing the cleaning coverage.

[0143] Specifically, the outward expansion position includes the maximum outward expansion position, which corresponds to the position where the roller assembly 120 extends to its maximum extent after performing the outward expansion action. Outward expansion positions other than the maximum outward expansion position are also called transition positions.

[0144] It should be noted that the retraction position includes multiple retraction point points. For example... Figure 3 As shown, when the roller assembly 120 retracts to the innermost position of the body 110, i.e., contacts the end of the receiving space 111, the roller assembly 120 is at the extreme position of the retracted position. The outward expansion position includes multiple outward expansion point points. When the roller assembly 120 expands to the outermost position of the body 110, i.e., the maximum outward expansion position, the roller assembly 120 is at the extreme position of the outward expansion position. Positions within a first predetermined distance range from the extreme position of the retracted position to the extreme position of the outward expansion position are all considered part of the retracted position. For example... Figure 2 As shown, the positions within a second predetermined distance range from the extreme position of the outward expansion position to the extreme position of the inward contraction position of the roller assembly 120 are all considered to be in the outward expansion position.

[0145] The direction in which the roller assembly 120 moves inward can be referenced. Figure 2 In the Y direction, the direction in which the roller assembly 120 moves towards the maximum outward expansion position can be referenced to the X direction in the figure. The X direction is the opposite of the Y direction.

[0146] In one embodiment, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than a preset distance threshold.

[0147] Hijacking of the autonomous cleaning device and its detachment from the working surface can be determined by the drop of its drive wheels. If both drive wheels are suspended in the air, the microswitches or suspension sensors (such as Hall effect sensors or light interruption sensors) on the drive wheels can detect this. The control unit, connected to these signals, can confirm that both drive wheels are suspended, indicating that the device has been hijacked and detached from the working surface. In this situation, the device is more likely to be lifted by the user, increasing the risk of hand pinching, especially between the roller assembly and the opposite end of the receiving space, and at the handle positions for assembling and removing the roller assembly.

[0148] Therefore, in this situation, by immediately stopping the roller mop, it's possible to prevent the rotating roller mop from catching the user's hand in the gap between the roller mop and the machine body. Maintaining a distance greater than a preset threshold between the end of the roller assembly within the receiving space and the inner wall of the opposite end of the receiving space ensures a larger gap between the roller assembly and the machine body. This prevents the user's hand from being pinched if they accidentally put their hand into the gap, thus avoiding hand pinching. By preserving the gap between the roller assembly and the opposite end of the receiving space, the user experiences a sense of security against hand pinching, effectively improving the user experience.

[0149] In practical applications, the outward expansion positions of the roller assembly include the maximum outward expansion position and the transition position. Specific outward expansion positions include the maximum outward expansion position and the transition position that satisfies the following condition: at the specific outward expansion position, the distance between the end of the roller assembly within the receiving space and the inner wall of the opposite end of the receiving space is greater than a preset distance threshold. The preset distance threshold can be set and adjusted according to actual application requirements; for example, it could be greater than the width of a typical adult's finger, such as greater than 1cm, 2cm, or 3cm. No specific limitation is made here.

[0150] After the autonomous cleaning device disengages and lands, the control roller assembly retracts to its inward position, keeping the roller mop stationary. The device then repositions itself, controlling the roller assembly's movement according to the current task. By retracting the roller assembly and stopping the roller mop before repositioning, the device avoids collisions caused by the roller assembly rotating outwards during repositioning due to a lack of environmental information. It also prevents the roller mop from protruding excessively from the device during repositioning. During repositioning, the device needs to move or rotate, but because the surrounding environment and device position are not yet clear, distance and edge sensors can only ensure the device doesn't collide with objects. However, protruding parts of the roller assembly could potentially collide with objects during repositioning, damaging them or the roller assembly itself. Since the device has disengaged, the user's hand is no longer trapped. Retracting the roller assembly in this case prevents hand pinching and avoids damage to surrounding objects or the device itself due to protruding parts during repositioning, effectively improving the user experience. Additionally, keeping the roller mop stopped rotating before the autonomous cleaning equipment redefines its tasks can save on the equipment's electricity.

[0151] After the autonomous cleaning device disengages from the hijacking and lands, the roller assembly is controlled to retract to the retracted position, while other components remain stationary (e.g., the roller mop is kept stationary). When the autonomous cleaning device returns from the hijacked state to the disengaged state, the roller assembly retracts again. At this point, the user's hand has been removed from the autonomous cleaning device. The retraction of the roller assembly prevents the user's hand from being pinched and allows the roller assembly to reset for subsequent tasks. During this phase, other components remain stationary. In the time between disengagement and landing and the execution of subsequent tasks—that is, before determining the area to be cleaned—the current position does not need to be cleaned, and therefore other components do not need to work. This aligns with the working scenario of autonomous cleaning devices and saves power.

[0152] In one optional embodiment, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract inward by a first distance before stopping the inward movement, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is kept greater than a preset distance threshold.

[0153] For example, when the roller assembly is in a specific outward expansion position, if the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space is much greater than a preset distance threshold (e.g., the difference between the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space and the preset distance threshold is greater than a preset difference), in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract inward by a first distance before stopping the inward movement, maintaining the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space greater than the preset distance threshold. This allows the roller assembly to retract by one end, preventing it from interfering with or colliding with surrounding objects due to excessive protrusion of the roller assembly after detachment and landing. On the other hand, it still maintains a large gap between the roller assembly and the machine body, providing a certain amount of space to prevent hand pinching and reducing the possibility of hand pinching.

[0154] In one optional embodiment, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to expand outward a certain distance before stopping the outward expansion movement, while maintaining a distance greater than a preset distance threshold between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space. This further increases the gap maintained between the roller assembly and the machine body, thereby further reducing the possibility of hand pinching, allowing users to more clearly perceive the anti-pinch action and anti-pinch distance, and further improving the user's sense of security.

[0155] In one alternative embodiment, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to stop axial movement.

[0156] Since the user's hands are placed on either side of the self-cleaning device near the roller's accommodating space, they are likely to come into contact with areas where objects might get stuck. If the outward-expanding roller assembly were to retract at this time, it could trap the user's hand. In this embodiment, if the self-cleaning device is hijacked and detached from the working surface, the roller assembly is controlled to stop axial movement; that is, the roller assembly does not retract, and the outward-expanding roller assembly is not moved to the retracted position. This prevents the roller assembly from trapping the user's hand during the retracting movement.

[0157] Since the rotating roller mop could pinch a user's hand, and the autonomous cleaning device stops performing its cleaning task when hijacked, the roller assembly does not need to continue performing the task, and the roller mop does not need to rotate. Therefore, controlling the roller mop to stop rotating when the autonomous cleaning device is hijacked and detached from the work surface can save electricity.

[0158] When a user lifts a self-cleaning device, if the roller assembly continues to retract or expand, it may create a feeling of being pinched, causing fright and reducing the user experience. When the self-cleaning device is hijacked and detached from the work surface (i.e., lifted by the user), regardless of the roller assembly's movement (e.g., expanding outwards or retracting inwards), the roller mop should stop rotating, and the roller assembly should stop axial movement until the self-cleaning device is released and lands on the ground. This avoids the feeling of being pinched, prevents fright, increases user safety, and improves the user experience.

[0159] In one optional embodiment, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, if the roller assembly is in the process of retracting into the inward position, the roller mop is controlled to stop rotating, and the roller assembly is controlled to move axially a second distance, so that after the roller assembly moves axially a second distance, the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than a preset distance threshold. Controlling the roller assembly to move axially a second distance includes: controlling the roller assembly to retract a second distance, or controlling the roller assembly to expand a second distance. By controlling the roller assembly to retract a distance, it is possible to prevent the roller assembly from protruding too much from the machine body after detachment and landing, thus preventing interference or collision with surrounding objects. On the other hand, it still maintains a large gap between the roller assembly and the machine body, providing a certain amount of space to prevent hand pinching and reducing the possibility of hand pinching. By controlling the roller assembly to expand a distance, the gap between the roller assembly and the machine body can be further increased, thereby further reducing the possibility of hand pinching. This allows users to more clearly perceive the anti-pinch action and anti-pinch distance, further improving user safety.

[0160] For example, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, during the inward retraction process of the roller assembly in the retracting position, and when the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space is less than or equal to a preset distance threshold, the roller mop is controlled to stop rotating, and the roller assembly is controlled to expand outward by a second distance, so that after the roller assembly expands outward by the second distance, the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space is greater than the preset distance threshold. By controlling the inward retraction distance of the roller assembly, it is possible to prevent the roller assembly from interfering with or colliding with surrounding objects due to excessive protrusion of the machine body after detachment and landing. On the other hand, it still maintains a large gap between the roller assembly and the machine body, providing a certain amount of space to prevent hand pinching, which can reduce the possibility of hand pinching. By controlling the roller mop to stop rotating, it is possible to further prevent the roller mop from interfering with or colliding with surrounding objects due to excessive protrusion of the roller assembly after landing, which can further reduce the possibility of hand pinching, further enhance user safety, and improve user experience.

[0161] For example, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, during the inward retraction process of the roller assembly in the retracting position, and when the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space is greater than a preset distance threshold, the roller mop is controlled to stop rotating, and the roller assembly is controlled to continue retracting a second distance, so that after the roller assembly retracts a second distance, the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space is greater than the preset distance threshold. By controlling the outward expansion distance of the roller assembly, the gap maintained between the roller assembly and the machine body can be further increased, thereby further reducing the possibility of pinching, allowing users to more clearly perceive the anti-pinch action and anti-pinch distance, and further improving the user's sense of security. By controlling the roller mop to stop rotating, the possibility of pinching can be further reduced, the user's sense of security can be further enhanced, and the user experience can be further improved.

[0162] In one optional embodiment, when the roller assembly is in a specific outward expansion position, and the autonomous cleaning device is hijacked and detached from the working surface, if the roller assembly is in the process of expanding from the transition position to the maximum outward expansion position, the roller assembly is controlled to continue expanding to the maximum outward expansion position. This maintains that the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space is greater than a preset distance threshold. This further increases the gap maintained between the roller assembly and the machine body, thereby further reducing the possibility of hand pinching.

[0163] In one alternative implementation, if the autonomous cleaning device is hijacked and detached from the working surface, and there are foreign objects in the receiving space, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than a preset distance threshold.

[0164] If the self-cleaning device is hijacked and detached from the work surface, and there are foreign objects (such as fingers stuck in the space) in the containment space, the roller assembly may pinch if it continues to retract. By controlling the roller mop to stop rotating, the user's hand can be prevented from being caught in the gap between the roller mop and the machine body. By keeping the distance between the end of the roller assembly in the containment space and the inner wall of the opposite end of the containment space greater than a preset distance threshold, a large gap is maintained between the roller assembly and the machine body. This can prevent the user from accidentally getting their hand caught in the containment space and reduce the possibility of pinching.

[0165] In an optional embodiment, the device further includes a drive wheel disposed at the bottom of the body. Based on any of the foregoing optional embodiments, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the drive wheel is controlled to stop rotating, and the roller brush and / or side brush is controlled to stop rotating. This can prevent the rotating drive wheel, side brush, and roller brush from pinching hands, and can also save the power of the autonomous cleaning device.

[0166] Optionally, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, other mechanisms of the roller assembly, such as the scraping mechanism and the water replenishment mechanism, are controlled to stop working. For example, the water replenishment mechanism stops replenishing water, and the scraping mechanism stops scraping. This can save water and electricity consumption of the autonomous cleaning device, increase the cleaning area of ​​the roller assembly and improve the cleaning effect of the roller assembly with limited water and electricity provided by the autonomous cleaning device; and it can also prevent users from getting their hands pinched.

[0167] After the autonomous cleaning device disengages from contact and lands, the side brush, roller brush, and drive wheel are kept stationary. After repositioning the autonomous cleaning device to its current position, the side brush, roller brush, and drive wheel are moved according to the work task at the current position.

[0168] After the autonomous cleaning device disengages from the hijacking and lands, the roller assembly retracts while other components remain stationary (such as the side brush, roller brush, and drive wheel). As the device recovers from being disengaged from the work surface, the roller assembly retracts again. By this time, the user's hand is free from the device, and the retraction of the roller assembly prevents the user's hand from being pinched, while simultaneously resetting the assembly to perform subsequent tasks. During this phase, other components remain stationary. From the time of disengagement until the execution of subsequent tasks—that is, before determining the area to be cleaned—the current location does not need cleaning, and therefore other components do not need to operate. This aligns with the autonomous cleaning device's operating scenario and conserves its power.

[0169] In one optional embodiment, when the roller assembly is in any outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is kept in an axial position without any outward or inward movement. The side brush, roller brush, and drive wheel are also controlled to stop rotating to avoid the roller assembly, side brush, roller brush, drive wheel, etc. continuing to move and causing the user to feel that their hand might be pinched, which would frighten the user and thus improve the user experience.

[0170] For example, the roller assembly may be in its maximum outward expansion position, or in an outward expansion position that exceeds half of the maximum outward expansion distance, or in an outward expansion position that is less than half of the maximum outward expansion distance. When the roller assembly is in any outward expansion position, if the self-cleaning device is hijacked and detached from the working surface (e.g., lifted by the user), the roller mop will be controlled to stop axial movement, and the roller mop, side brush, roller brush, and drive wheel will be controlled to stop rotating to avoid startling the user and thus improve the user experience.

[0171] After the autonomous cleaning device is released from hijacking and lands, keep the control roller mop from rotating, keep the side brush, roller brush, and drive wheel from rotating, and control the roller assembly to retract to the inward position, and the autonomous cleaning device is in standby mode.

[0172] In one embodiment, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is kept greater than a preset distance threshold. The drive wheel is controlled to stop rotating, and the roller brush and / or side brush are controlled to stop rotating.

[0173] When the roller assembly is in the outward position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller assembly is controlled to retract to the inward position.

[0174] When a self-cleaning device is hijacked, it usually involves user intervention, which increases the risk of hand pinching. However, the likelihood of pinching varies significantly depending on the hijacking method. In cases with a high probability of pinching, the lack of appropriate anti-pinch measures poses a significant risk. Conversely, in cases with a low probability of pinching, mechanically implementing anti-pinch measures may cause other problems. Therefore, in this embodiment, the likelihood of pinching during hijacking can be determined based on the device's contact or detachment from the ground. Specifically, if the device detaches from the surface to be cleaned after hijacking, it's highly likely the user has picked it up with both hands, increasing the risk of pinching. Furthermore, because it's detached from the ground, it won't collide with other objects during relocation. In this case, by controlling the roller assembly to ensure the distance between its end within the receiving space and the inner wall of the opposite end of the receiving space exceeds a preset threshold, sufficient space can be provided to accommodate the user's hand, reducing the likelihood of pinching and improving the user experience.

[0175] If the self-cleaning device is hijacked but remains on the work surface, the likelihood of a user holding onto it with both hands and preventing it from leaving the surface is extremely low, as this is not human behavior. Typically, users will push the device with their feet over a long distance, use cleaning tools like a mop, drag it by its front or back, or even have an animal bump or push it to the desired cleaning position. In short, the probability of the user's hands being in a pinching position is low, so anti-pinch measures are unnecessary in this situation. Instead, efforts should be made to reduce the probability of the self-cleaning device colliding with its surroundings during passive movement on the ground. Mechanically implementing anti-pinch measures could damage surrounding objects or the roller assembly itself, as the protruding parts of the roller assembly might collide with uneven surfaces during movement. This embodiment allows for detailed processing of user intervention scenarios, balancing hand-pinching prevention and interference / collision avoidance. It effectively prevents hand-pinching when the user picks the device up, and also effectively avoids interference / collision with surrounding objects or the ground when dragging or pushing it over long distances, making the autonomous cleaning device more flexible, intelligent, and providing a better user experience.

[0176] In this embodiment, when the roller assembly is in the outward-expanding position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller assembly is controlled to retract to the inward-expanding position. This prevents the outward-expanding roller assembly from hitting obstacles during the hijacking process, thus preventing breakage or damage to the outward-expanding roller assembly. For example, if the autonomous cleaning device is hijacked on uneven ground, and the outward-expanding roller assembly does not retract, the uneven ground may collide with the roller assembly, causing breakage or damage.

[0177] In one example scenario, a user wants to clean a narrow area. When dragging the autonomous cleaning device to the narrow area, if the roller assembly, which is in the outward position, does not retract, the autonomous cleaning device may be unable to enter the narrow area and perform the cleaning task required by the user. Therefore, when the roller assembly is in the outward position, in response to the autonomous cleaning device being hijacked and not detached from the work surface, the roller assembly is controlled to retract to the inward position to facilitate the subsequent cleaning task.

[0178] In one example scenario, when the autonomous cleaning device is being dragged and encounters low obstacles, if the outward-expanding roller assembly does not retract, the device's center of gravity will become unstable. During obstacle-crossing, the outward-expanding roller assembly can easily cause the device to tip over or fail to overcome the obstacle. It may also cause the outward-expanding roller assembly to snag on the obstacle, or for the obstacle to become stuck in the gap between the roller assembly and the receiving space, resulting in the device being dragged by the obstacle. Therefore, when the roller assembly is in the outward-expanding position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, controlling the roller assembly to retract to the inward-expanding position can prevent the device from tipping over or failing to overcome obstacles due to the outward-expanding roller assembly, and can also prevent the device from being dragged by obstacles.

[0179] When the roller assembly is in the outward position, in response to the hijacking of the autonomous cleaning device and the autonomous cleaning device not being removed from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. This can prevent the outward-expanding roller assembly from hitting obstacles during the hijacking process, which could lead to the breakage or damage of the outward-expanding roller assembly.

[0180] In one embodiment, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is kept greater than a preset distance threshold. The drive wheel is controlled to stop rotating, and the roller brush and / or side brush are controlled to stop rotating. After the autonomous cleaning device is freed from hijacking, the roller assembly is controlled to retract to the retracted position, and the autonomous cleaning device is controlled to pause work and wait for user instructions.

[0181] When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is freed from hijacking, the roller assembly is controlled to expand outward and the roller mop is controlled to rotate.

[0182] When a self-cleaning device is hijacked, it usually involves user intervention, which increases the risk of hand pinching. However, the likelihood of pinching varies significantly depending on the hijacking method. In cases with a high probability of pinching, the lack of appropriate anti-pinch measures poses a significant risk. Conversely, in cases with a low probability of pinching, mechanically implementing anti-pinch measures may cause other problems. Therefore, in this embodiment, the likelihood of pinching during hijacking can be determined based on the device's contact or detachment from the ground. Specifically, if the device detaches from the surface to be cleaned after hijacking, it's highly likely the user has picked it up with both hands, increasing the risk of pinching. Furthermore, because it's detached from the ground, it won't collide with other objects during relocation. In this case, by controlling the roller assembly to ensure the distance between its end within the receiving space and the inner wall of the opposite end of the receiving space exceeds a preset threshold, sufficient space can be provided to accommodate the user's hand, reducing the likelihood of pinching and improving the user experience.

[0183] If the self-cleaning device is hijacked but remains on the work surface, the likelihood of a user holding onto it with both hands and preventing it from leaving the surface is extremely low, as this is not human behavior. Typically, users will push the device with their feet over a long distance, use cleaning tools like a mop, drag it by its front or back, or even have an animal bump or push it to the desired cleaning position. In short, the probability of the user's hands being in a pinching position is low, so anti-pinch measures are unnecessary in this situation. Instead, efforts should be made to reduce the probability of the self-cleaning device colliding with its surroundings during passive movement on the ground. Mechanically implementing anti-pinch measures could damage surrounding objects or the roller assembly itself, as the protruding parts of the roller assembly might collide with uneven surfaces during movement. This embodiment allows for detailed processing of user intervention scenarios, balancing hand-pinching prevention and interference / collision avoidance. It effectively prevents hand-pinching when the user picks the device up, and also effectively avoids interference / collision with surrounding objects or the ground when dragging or pushing it over long distances, making the autonomous cleaning device more flexible, intelligent, and providing a better user experience.

[0184] By retracting the roller assembly to its inward position after the autonomous cleaning device is unhooked, and pausing the device to await user commands, the system avoids the roller assembly from colliding with the surrounding environment during repositioning due to a lack of information about the environment. This prevents the roller from protruding excessively from the device during repositioning. During repositioning, the device needs to move or rotate, but because the surrounding environment and device position are not yet clear, distance and edge sensors can only ensure the device doesn't collide with objects. However, the protruding edge of the roller assembly could potentially collide with objects during repositioning, causing damage to surrounding objects or the roller assembly itself. Since the device is unhooked, the user's hand is no longer attached, and retracting the roller assembly in this situation prevents hand pinching and avoids damage to surrounding objects or the device itself due to protruding rollers during repositioning, effectively improving the user experience. Furthermore, keeping the roller stopped rotating before the device re-assigns its task conserves power.

[0185] After the autonomous cleaning device disengages from the hijacking and lands, the roller assembly is controlled to retract to the retracted position, while other components remain stationary (e.g., the roller mop is kept stationary). When the autonomous cleaning device returns from the hijacked state to the disengaged state, the roller assembly retracts again. At this point, the user's hand has been removed from the autonomous cleaning device. The retraction of the roller assembly prevents the user's hand from being pinched and allows the roller assembly to reset for subsequent tasks. During this phase, other components remain stationary. In the time between disengagement and landing and the execution of subsequent tasks—that is, before determining the area to be cleaned—the current position does not need to be cleaned, and therefore other components do not need to work. This aligns with the working scenario of autonomous cleaning devices and saves power.

[0186] By controlling the roller mop to stop rotating and the roller assembly to retract to the inward position when the roller assembly is in the outward position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the system can be activated. After the autonomous cleaning device is freed from hijacking, the roller assembly can be controlled to expand outward, and the roller mop can be controlled to rotate. Because the autonomous cleaning device did not detach from the working surface during the hijacking process, it still has sufficient information about the surrounding environment and its position after being freed from hijacking, so repositioning is not required. In this case, the rotation of the roller mop can be directly restored, and the outward movement of the roller assembly can be controlled according to the needs of the working environment. This can quickly restore the cleaning task, improve cleaning efficiency, and does not require excessive user intervention, effectively improving cleaning efficiency and user experience.

[0187] If the roller assembly in the extended position does not retract during long-distance pushing or the roller mop rotates, the autonomous cleaning device's center of gravity will become unstable. During obstacle-crossing, the extended roller assembly can easily cause the autonomous cleaning device to tip over or fail to overcome obstacles. It may also cause the extended roller assembly to snag on obstacles, or obstacles to become stuck in the gap between the roller assembly and the receiving space, resulting in the autonomous cleaning device being dragged down by the obstacle. In this embodiment, when the roller assembly is in the extended position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller mop is stopped rotating, and the roller assembly is retracted to the retracted position. This avoids the autonomous cleaning device tipping over or failing to overcome obstacles due to the extended roller assembly or the rotating roller mop, and also prevents the autonomous cleaning device from being dragged down by obstacles.

[0188] After the autonomous cleaning equipment is unhooked, the outward movement of the roller assembly and the rotation of the roller mop are controlled to continue the cleaning task, which can increase the cleaning area of ​​the roller assembly and improve the cleaning effect of the roller assembly.

[0189] In one embodiment, when the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is unhijacked, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate.

[0190] After the autonomous cleaning device is released from hijacking, during the outward expansion movement of the control roller assembly, the rotation speed of the control roller mop is greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute. When the roller assembly reaches the target outward expansion position, the outward expansion movement ends, and the rotation speed of the control roller mop is greater than or equal to 60 revolutions per minute and less than or equal to 240 revolutions per minute. The target outward expansion position is determined based on the task requirements of the cleaning mission performed by the autonomous cleaning device.

[0191] In this embodiment, regarding the situation where the self-cleaning device is hijacked but has not detached from the working surface, the likelihood of a user holding the device with both hands and preventing it from leaving the surface is extremely low, as this does not conform to human behavior. Typically, users push the device a long distance with their feet, or with cleaning tools such as a mop, or drag it by the front or back of the device, or even an animal bumping or pushing it. The goal is to move the device to the desired cleaning position. In short, the probability of the user's hands being in a pinch-prone position is low, so anti-pinch actions are unnecessary in this case. Instead, the focus should be on reducing the probability of the self-cleaning device colliding with its surroundings during passive movement on the ground. Mechanically implementing anti-pinch actions could damage surrounding objects or the roller assembly itself, as the protruding parts of the roller assembly might collide with uneven surfaces during movement. This embodiment allows for detailed processing of user intervention scenarios, balancing hand-pinch prevention and interference / collision avoidance. It effectively prevents hand pinching when the user is holding the device, and also avoids interference / collision with surrounding objects or the ground during long-distance dragging or pushing, enhancing the flexibility and intelligence of the autonomous cleaning equipment and improving the user experience. Furthermore, when the roller assembly is in the outward expansion position, in response to the autonomous cleaning equipment being hijacked but not detached from the work surface, the roller mop stops rotating, and the roller assembly retracts to the inward position. After the autonomous cleaning equipment is freed from hijacking, the roller assembly expands outward, and the roller mop rotates. Because the autonomous cleaning equipment did not detach from the work surface during hijacking, it still has sufficient information about the surrounding environment and its position after being freed, thus eliminating the need for repositioning. In this case, the roller mop rotation is directly resumed, and the outward expansion of the roller assembly is controlled according to the work environment requirements. This allows for rapid resumption of the cleaning task, improving cleaning efficiency without excessive user intervention, effectively enhancing both cleaning efficiency and user experience.Furthermore, by controlling the rotation speed of the roller mop to be greater than or equal to 60 rpm and less than or equal to 210 rpm during the outward expansion movement, and ending the outward expansion movement when the roller assembly reaches the target outward expansion position, the rotation speed of the roller mop is controlled to be greater than or equal to 60 rpm and less than or equal to 240 rpm. This allows the roller mop to effectively handle hijacking anomalies and resume effective cleaning work more quickly after being freed from hijacking. Maintaining rotation during outward expansion allows for simultaneous cleaning, avoiding mopping or weak mopping of the area being expanded. In the outward expansion state, since cleaning is generally done along the edges or around obstacles, the area to be expanded is usually heavily soiled, so a higher rotation speed is required. Through reasoning and experiments, it has been proven that at least 60 rpm can ensure at least one cycle from water replenishment to mopping to scraping dirt per second. Combined with the travel speed of the autonomous cleaning equipment, it can ensure the continuity of water cleaning, so that the ground being passed is cleaned by running water. Due to the miniaturization requirements and multi-functional needs of cleaning robots, the overall layout space is limited, and the battery pack capacity is restricted. This, in turn, limits the driving power of each cleaning component. Since the roller mop has a high water content and high rotational resistance, if the speed is too high, it will cause the drive motor of the roller mop to exceed the power limit or operate under overload, which may lead to overheating of the motor or battery pack and cause danger, or damage to the life of the motor and battery. Moreover, experimental verification has shown that the marginal contribution of increasing the speed beyond 240 rpm is relatively low. To balance the contribution to cleaning effect with energy consumption, safety and other factors, the upper limit of the speed is set to 240 rpm in the extended state.

[0192] Regarding the outward expansion of the roller assembly, since the roller assembly is moving, if the roller speed is insufficient, the contact time between the rollers in the affected area will be shorter than when the roller assembly is stationary. Insufficient speed will result in weaker mopping in the affected area compared to other areas, leading to a weak mopping effect, especially noticeable under heavy soiling conditions, impacting user experience. Furthermore, if the speed is too slow, the contaminated areas of the mop will move to uncleaned areas before the soiling is scraped and water is replenished, resulting in mopping dirty areas with dirty surfaces or insufficient water. Due to the outward expansion speed and distance, the entire outward expansion time is at least 1 second. At least one scraping-replenishing-mopping cycle must be completed within 1 second to ensure the affected area undergoes at least one cycle. Therefore, the lower limit of the roller mop speed during the outward expansion process is set to 60 revolutions per minute. Since the outward expansion drive mechanism is also working during the outward expansion process (one more motor operating than in the outward expansion state), the upper limit of the speed during this process needs to be lower than the upper limit in the outward expansion but stationary state. This balances the marginal contribution of increased speed to cleaning effect with energy consumption and lifespan factors. Based on experimental data, in this embodiment, the upper limit of the speed during the outward expansion process is set to 210 revolutions per minute. Of course, in other embodiments of this application, the rotation speed can also be set to other ranges according to actual cleaning needs and energy consumption, such as greater than or equal to 60 revolutions per minute and less than or equal to 180 revolutions per minute, or set to greater than or equal to 60 revolutions per minute and less than or equal to 200 revolutions per minute. This application does not limit this.

[0193] Figure 10 This diagram illustrates the relationship between the cleaning effect evaluation index and the roller mop speed provided in this application. The cleaning effect evaluation index characterizes the cleaning effect of the autonomous cleaning device on dirt. The specific testing method involves setting up a dirty floor with the same level of soiling, controlling the autonomous cleaning device to use different roller mop speeds to clean the dirty floor, and to avoid interference, the side sweeping and center sweeping are not activated during the cleaning process. Each time the autonomous cleaning device passes over the dirty floor once, multiple internal test users rate the cleanliness of the floor after the device passes, with scores ranging from 1 to 10. Figure 10As can be seen, when the roller mop reaches a speed of 60 revolutions per minute, the cleaning effect evaluation index reaches approximately 3.0. This value indicates that users can clearly perceive changes in the degree of dirt on the floor. At this speed, it ensures at least one cycle per second from water replenishment to mopping to scraping, and combined with the self-cleaning device's travel speed, it guarantees continuous water cleaning, ensuring that the floor it passes over is thoroughly cleaned. As the speed increases, the evaluation index continues to rise but gradually slows down. After reaching 180 revolutions per minute, the increase in the evaluation index becomes significantly slower, and after exceeding 240 revolutions per minute, the increase becomes minimal. Further increasing the roller speed has a relatively low marginal contribution to the cleaning effect. Therefore, balancing the contribution to cleaning effect with energy consumption and safety factors, the maximum speed in the extended state is set to 240 revolutions per minute.

[0194] In one embodiment, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than or equal to 0.5 cm and less than or equal to 8 cm is maintained; the drive wheel is controlled to stop rotating, and the roller brush and / or side brush are controlled to stop rotating.

[0195] After the autonomous cleaning device is unhooked, the control roller assembly retracts to the retracted position, and the device pauses operation awaiting user commands. In response to a user command to continue operation, the device repositions itself and, based on the current position, controls the roller assembly to either expand outwards or remain in the retracted position. During the outward expansion of the roller assembly, the control roller mop speed is greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute. When the roller assembly reaches the target expansion position, the expansion ends, and the control roller mop speed is greater than or equal to 60 revolutions per minute and less than or equal to 240 revolutions per minute. The target expansion position is determined based on the cleaning task required by the autonomous cleaning device.

[0196] When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and not detached from the work surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is unhijacked, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate. During the outward expansion movement of the roller assembly, the rotation speed of the roller mop is controlled to be greater than or equal to 60 rpm and less than or equal to 210 rpm. When the roller assembly expands to the target outward expansion position, the outward expansion movement ends, and the rotation speed of the roller mop is controlled to be greater than or equal to 60 rpm and less than or equal to 240 rpm.

[0197] In this embodiment, by maintaining a distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space that is greater than or equal to 0.5 cm and less than or equal to 8 cm, the possibility of the user's hand being pinched can be effectively reduced. Since the thickness of a human finger is typically less than 1 cm, and a child's finger thickness may be even lower, the finger can deform to some extent when pinched. Therefore, if the deformation is not significant enough, the finger will not be injured. Generally, within a distance of 0.5 cm or more, the finger will not be pinched or at least will not be injured. Therefore, in this example, the lower limit of the distance is 0.5 cm. Of course, in other embodiments of this application, the specific value of the lower limit can be adjusted according to the actual situation, such as 0.3 cm, etc., and this application does not limit this. However, if the distance is too large, it may detach from the roller assembly due to its outward expansion to the disassembly point, or the outward expansion distance may be too large and hit other parts of the user's body, causing fright. Generally, if the distance is greater than 8 cm, the roller assembly may detach, or the outward expansion distance may be too large and hit other parts of the user's body, causing fright. Therefore, in this example, the upper limit of the distance is set to 8cm. Of course, in other embodiments of this application, the value of the upper limit can also be adjusted according to the actual situation and needs, such as setting it to 6cm, 7cm, etc. This application does not limit this.

[0198] When a self-cleaning device is hijacked, it usually involves user intervention, which increases the risk of hand pinching. However, the likelihood of pinching varies significantly depending on the hijacking method. In cases with a high probability of pinching, the lack of appropriate anti-pinch measures poses a significant risk. Conversely, in cases with a low probability of pinching, mechanically implementing anti-pinch measures may cause other problems. Therefore, in this embodiment, the likelihood of pinching during hijacking can be determined based on the device's contact or detachment from the ground. Specifically, if the device detaches from the surface to be cleaned after hijacking, it's highly likely the user has picked it up with both hands, increasing the risk of pinching. Furthermore, because it's detached from the ground, it won't collide with other objects during relocation. In this case, by controlling the roller assembly to ensure the distance between its end within the receiving space and the inner wall of the opposite end of the receiving space exceeds a preset threshold, sufficient space can be provided to accommodate the user's hand, reducing the likelihood of pinching and improving the user experience.

[0199] If the self-cleaning device is hijacked but remains on the work surface, the likelihood of a user holding onto it with both hands and preventing it from leaving the surface is extremely low, as this is not human behavior. Typically, users will push the device with their feet over a long distance, use cleaning tools like a mop, drag it by its front or back, or even have an animal bump or push it to the desired cleaning position. In short, the probability of the user's hands being in a pinching position is low, so anti-pinch measures are unnecessary in this situation. Instead, efforts should be made to reduce the probability of the self-cleaning device colliding with its surroundings during passive movement on the ground. Mechanically implementing anti-pinch measures could damage surrounding objects or the roller assembly itself, as the protruding parts of the roller assembly might collide with uneven surfaces during movement. This embodiment allows for detailed processing of user intervention scenarios, balancing hand-pinching prevention and interference / collision avoidance. It effectively prevents hand-pinching when the user picks the device up, and also effectively avoids interference / collision with surrounding objects or the ground when dragging or pushing it over long distances, making the autonomous cleaning device more flexible, intelligent, and providing a better user experience.

[0200] After the autonomous cleaning device is released from hijacking, the control roller assembly retracts to the retracted position, and the device pauses operation awaiting user commands. In response to a user command to continue operation, the device repositions itself, and based on this position, either expands the roller assembly outwards or remains in the retracted position. During the outward expansion of the roller assembly, the control roller mop speed is greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute. When the roller assembly reaches the target outward expansion position, the outward expansion ends, and the control roller mop speed is greater than or equal to 60 revolutions per minute and less than or equal to 240 revolutions per minute. The target outward expansion position is determined based on the cleaning task required by the autonomous cleaning device. During the hijacking process after detaching from the work surface, the autonomous cleaning device cannot continuously collect surrounding environmental information and therefore cannot determine its position and surrounding environment; thus, repositioning is necessary. After repositioning, it is necessary to quickly restore effective cleaning ability and improve task execution efficiency. While preventing hand pinching and ensuring user safety, it is also necessary to maintain effective cleaning ability as continuously as possible. Therefore, it is necessary to control the speed of the roller mop to a certain range in order to achieve effective cleaning and balance the cost factors such as energy consumption of the autonomous cleaning equipment. In this example, if it is determined that outward cleaning is needed after repositioning, during the outward movement, the rotation speed of the roller mop is controlled to be greater than or equal to 60 rpm and less than or equal to 210 rpm. When the roller assembly reaches the target outward position, the outward movement ends, and the rotation speed of the roller mop is controlled to be greater than or equal to 60 rpm and less than or equal to 240 rpm. This allows the roller mop to effectively handle hijacking anomalies and resume effective cleaning work more quickly after being freed from hijacking. Maintaining rotation during outward expansion allows for simultaneous cleaning and avoids mopping or weak mopping of the area being expanded during the outward movement. In the outward state, since cleaning is generally done along the edges or around obstacles, the area to be expanded is usually heavily soiled, so a higher rotation speed is required. Through reasoning and experimentation, it has been proven that at least 60 rpm is required to ensure that at least one cycle from water replenishment to mopping to scraping is achieved per second. Combined with the travel speed of the autonomous cleaning equipment, this ensures the continuity of the running water cleaning, so that the ground being passed through is cleaned by running water. Due to the miniaturization requirements and multi-functional needs of cleaning robots, the overall layout space is limited, and the battery pack capacity is restricted. This, in turn, limits the driving power of each cleaning component. Since the roller mop has a high water content and high rotational resistance, if the rotation speed is too high, it will cause the drive motor of the roller mop to exceed the power limit or operate under overload, which may lead to overheating of the motor or battery pack and cause danger, or damage to the life of the motor and battery. Moreover, experimental verification has shown that the marginal contribution of increasing the rotation speed beyond 240 rpm is relatively low. To balance the contribution to cleaning effect with energy consumption, safety and other factors, the upper limit of rotation speed in the extended state is set at 240 rpm.

[0201] Regarding the outward expansion of the roller assembly, since the roller assembly is moving, if the roller speed is insufficient, the contact time between the rollers in the affected area will be shorter than when the roller assembly is stationary. Insufficient speed will result in weaker mopping in the affected area compared to other areas, leading to a weak mopping effect, especially noticeable under heavy soiling conditions, impacting user experience. Furthermore, if the speed is too slow, the contaminated areas of the mop will move to uncleaned areas before the soiling is scraped and water is replenished, resulting in mopping dirty areas with dirty surfaces or insufficient water. Due to the outward expansion speed and distance, the entire outward expansion time is at least 1 second. At least one scraping-replenishing-mopping cycle must be completed within 1 second to ensure the affected area undergoes at least one cycle. Therefore, the lower limit of the roller mop speed during the outward expansion process is set to 60 revolutions per minute. Since the outward expansion drive mechanism is also working during the outward expansion process (one more motor operating than in the outward expansion state), the upper limit of the speed during this process needs to be lower than the upper limit in the outward expansion but stationary state. This balances the marginal contribution of increased speed to cleaning effect with energy consumption and lifespan factors. Based on experimental data, in this embodiment, the upper limit of the speed during the outward expansion process is set to 210 revolutions per minute. Of course, in other embodiments of this application, the rotation speed can also be set to other ranges according to actual cleaning needs and energy consumption, such as greater than or equal to 60 revolutions per minute and less than or equal to 180 revolutions per minute, or set to greater than or equal to 60 revolutions per minute and less than or equal to 200 revolutions per minute. This application does not limit this.

[0202] Furthermore, when the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is freed from hijacking, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate. Because the autonomous cleaning device did not detach from the working surface during the hijacking process, it still has sufficient recognition of the surrounding environmental information and pose information after being freed from hijacking, so repositioning is not required. In this case, the rotation of the roller mop can be directly restored, and the outward expansion movement of the roller assembly can be controlled according to the working environment requirements. The cleaning task can be quickly restored, cleaning efficiency can be improved, and excessive user intervention is not required, effectively improving cleaning efficiency and user experience. Furthermore, by controlling the rotation speed of the roller mop to be greater than or equal to 60 rpm and less than or equal to 210 rpm during the outward expansion movement, and ending the outward expansion movement when the roller assembly reaches the target outward expansion position, the rotation speed of the roller mop is controlled to be greater than or equal to 60 rpm and less than or equal to 240 rpm. This allows the roller mop to effectively handle hijacking anomalies and resume effective cleaning work more quickly after being freed from hijacking. Maintaining rotation during outward expansion allows for simultaneous cleaning, avoiding mopping or weak mopping of the area being expanded. In the outward expansion state, since cleaning is generally done along the edges or around obstacles, the area to be expanded is usually heavily soiled, so a higher rotation speed is required. Through reasoning and experiments, it has been proven that at least 60 rpm can ensure at least one cycle from water replenishment to mopping to scraping dirt per second. Combined with the travel speed of the autonomous cleaning equipment, it can ensure the continuity of water cleaning, so that the ground being passed is cleaned by running water. Due to the miniaturization requirements and multi-functional needs of cleaning robots, the overall layout space is limited, and the battery pack capacity is restricted. This, in turn, limits the driving power of each cleaning component. Since the roller mop has a high water content and high rotational resistance, if the rotation speed is too high, it will cause the drive motor of the roller mop to exceed the power limit or operate under overload, which may lead to overheating of the motor or battery pack and cause danger, or damage to the life of the motor and battery. Moreover, experimental verification has shown that the marginal contribution of increasing the rotation speed beyond 240 rpm is relatively low. To balance the contribution to cleaning effect with energy consumption, safety and other factors, the upper limit of rotation speed in the extended state is set at 240 rpm.

[0203] Regarding the outward expansion of the roller assembly, since the roller assembly is moving, if the roller speed is insufficient, the contact time between the rollers in the affected area will be shorter than when the roller assembly is stationary. Insufficient speed will result in weaker mopping in the affected area compared to other areas, leading to a weak mopping effect, especially noticeable under heavy soiling conditions, impacting user experience. Furthermore, if the speed is too slow, the contaminated areas of the mop will move to uncleaned areas before the soiling is scraped and water is replenished, resulting in mopping dirty areas with dirty surfaces or insufficient water. Due to the outward expansion speed and distance, the entire outward expansion time is at least 1 second. At least one scraping-replenishing-mopping cycle must be completed within 1 second to ensure the affected area undergoes at least one cycle. Therefore, the lower limit of the roller mop speed during the outward expansion process is set to 60 revolutions per minute. Since the outward expansion drive mechanism is also working during the outward expansion process (one more motor operating than in the outward expansion state), the upper limit of the speed during this process needs to be lower than the upper limit in the outward expansion but stationary state. This balances the marginal contribution of increased speed to cleaning effect with energy consumption and lifespan factors. Based on experimental data, in this embodiment, the upper limit of the speed during the outward expansion process is set to 210 revolutions per minute. Of course, in other embodiments of this application, the rotation speed can also be set to other ranges according to actual cleaning needs and energy consumption, such as greater than or equal to 60 revolutions per minute and less than or equal to 180 revolutions per minute, or set to greater than or equal to 60 revolutions per minute and less than or equal to 200 revolutions per minute. This application does not limit this.

[0204] In one embodiment, if the presence of a foreign object in the receiving space causes the roller assembly to fail to retract during the retraction process, the roller assembly is controlled to stop its retraction movement and to repeatedly perform a foreign object removal action. This foreign object removal action involves movement in multiple directions to facilitate the removal of the foreign object from the receiving space. Here, "roller assembly retraction failure" means that the roller assembly has not reached the retraction position and cannot continue retracting.

[0205] In this embodiment, the roller assembly of the self-cleaning device can expand or retract along the axial direction, and can lift or lower vertically. The foreign object discharge action can include movements in multiple directions, such as expansion, retraction, lifting, and lowering.

[0206] Optionally, during the retraction process of the roller assembly, if the presence of foreign objects in the accommodating space causes the roller assembly to fail to retract, the roller assembly is controlled to repeatedly perform the foreign object removal action, including: controlling the roller assembly to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position (successfully removing the foreign object abnormality), or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating.

[0207] If the roller assembly fails to retract during the retraction process due to foreign objects within the containment space, further retraction may damage the foreign objects or the self-cleaning equipment (including burnout due to excessive current). In this case, the roller assembly should first reverse and expand outward to create space, giving the foreign objects time to leave or allowing them to detach within the space. This improves the ability to handle abnormal situations autonomously, ensures continuous cleaning, enhances the robustness of the cleaning system, reduces user demands, and improves the user experience.

[0208] Optionally, during the retraction process of the roller assembly, if the presence of foreign objects in the accommodating space causes the roller assembly to fail to retract, the roller assembly is controlled to repeatedly perform the foreign object removal action, including: controlling the roller assembly to repeatedly perform the following set of retraction actions: retraction, raising to the limit position if retraction fails, retraction, lowering to the mopping position if retraction fails, and expanding to the expanding position; until the roller assembly retracts to the retracted position (successfully removing the foreign object abnormality), or until the retraction action duration reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating.

[0209] For example, such as Figure 4 As shown, during the retraction process of the roller assembly, if a foreign object exists in the receiving space, causing the roller assembly to fail to retract, that is, when the roller assembly moves on the retraction path and comes into contact with the foreign object on the retraction path, it moves along the retraction path from the first position to the second position, and from the second position to the third position along the outward expansion path. It then cycles along the first circulation path at least once from the third position until it moves to the retraction position, so that the foreign object is removed from the receiving space. The foreign object is a non-rigid foreign object.

[0210] In the process of retracting the roller assembly, if the presence of foreign objects in the accommodating space causes the roller assembly to fail to retract, in addition to reciprocating in the axial direction (i.e., horizontal direction) to generate horizontal movement space to remove foreign objects, the roller assembly can further improve the efficiency and effectiveness of removing foreign objects by moving up and down in the vertical direction to generate vertical movement space.

[0211] Optionally, controlling the roller mop to keep rotating during the repeated foreign object removal action of the roller assembly can further improve the efficiency and effectiveness of removing trapped foreign objects.

[0212] Optionally, during the repeated foreign object removal action of the roller assembly, controlling the roller mop to keep rotating, and controlling the side brush, roller brush and drive wheel to keep rotating, can further improve the efficiency and effectiveness of removing foreign objects stuck in the roller.

[0213] In one example, when a foreign object is stuck in the containment space, the roller assembly is controlled to repeatedly perform the following actions: the roller assembly retracts and the roller mop rotates to mop the floor → the roller assembly rises and the roller mop rotates → the roller assembly descends and the roller mop rotates to mop the floor → the roller assembly expands and the roller mop rotates → the roller assembly retracts and the roller mop rotates to mop the floor; during this repetitive process, the roller mop continues to rotate, and the side brush, roller brush, and drive wheel also continue to rotate.

[0214] For example, such as Figure 5 As shown, during the retraction process, the roller assembly moves from a first position to a second position along the retraction path. If it comes into contact with a foreign object on the retraction path, preventing further retraction, it circulates at least once along the second circulation path from the second position to remove the foreign object from the receiving space. The foreign object is a non-rigid object. See also... Figure 5 As shown, the second loop path cycles along the directions of the lifting path, the descending path, the outward expansion path, and the inward contraction path.

[0215] In another example, when a foreign object is stuck in the containment space, the control roller assembly repeatedly performs the following actions: the roller assembly moves from the outward expansion position to the inward retraction position → retraction fails, the roller assembly expands to the outward expansion position → the roller assembly moves from the outward expansion position to the inward retraction position, the roller assembly rises, at this time the roller assembly begins to rise before retracting to the inward retraction position → at the raised position, it attempts to retract at least once (e.g., 3 times) → retraction fails, the roller assembly descends to bring the roller mop to the mopping position → the roller assembly expands to the outward expansion position → the roller assembly attempts to retract → retraction fails, the roller assembly expands to the outward expansion position; during this process of repeated multiple times, the roller mop is rotating, and the side brush, roller brush and drive wheel all continue to rotate.

[0216] In another example, when a foreign object is stuck in the containment space, the roller assembly is controlled to repeatedly perform the following actions: the roller assembly retracts, the roller mop rotates and mops the floor → the roller assembly rises → the roller assembly retracts → retraction fails, the roller assembly descends → the roller assembly retracts → retraction fails, the roller assembly expands → the roller assembly retracts; during this repetitive process, the roller mop continues to rotate, and the side brush, roller brush and drive wheel also continue to rotate.

[0217] For example, such as Figure 6 As shown, during the retraction process, the roller assembly moves from a first position to a second position along the retraction path. If it comes into contact with a foreign object on the retraction path, preventing further retraction, it circulates at least once along a third circulation path from the second position to remove the foreign object from the receiving space. The foreign object is a non-rigid object. See also... Figure 6 As shown, the third cycle path cycles along the directions of the lifting path, the inward path, the descending path, the inward path, the outward path, and the inward path.

[0218] In one embodiment, during the retraction process of the roller assembly, if the presence of foreign objects in the accommodating space causes the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating.

[0219] In the process of retracting the roller assembly, if the presence of foreign objects in the accommodating space causes the roller assembly to fail to retract, in addition to reciprocating in the axial direction (i.e., horizontal direction) to generate horizontal movement space to remove foreign objects, the roller assembly can further improve the efficiency and effectiveness of removing foreign objects by moving up and down in the vertical direction to generate vertical movement space.

[0220] Alternatively, if a foreign object in the accommodating space causes the roller assembly to fail to retract during the retraction process, the roller assembly is controlled to stop retraction and repeatedly perform the following set of retraction actions: retract, if retraction fails, raise to the limit position, retract, if retraction fails, lower to the mopping position, expand to the expanding position; until the roller assembly retracts to the retracted position, or until the retraction action duration reaches the third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating.

[0221] In the process of retracting the roller assembly, if the presence of foreign objects in the accommodating space causes the roller assembly to fail to retract, in addition to reciprocating in the axial direction (i.e., horizontal direction) to generate horizontal movement space to remove foreign objects, the roller assembly can further improve the efficiency and effectiveness of removing foreign objects by moving up and down in the vertical direction to generate vertical movement space.

[0222] During the retraction process of the roller assembly, if there are foreign objects in the accommodating space, controlling the side brush, roller brush, and drive wheel to continuously rotate can further improve the efficiency and effectiveness of removing foreign objects.

[0223] By controlling the roller mop to keep rotating during reciprocating motion or retrieval, the efficiency and effectiveness of removing foreign objects stuck in it can be further improved.

[0224] In one embodiment, if the presence of a foreign object in the accommodating space during the retraction process of the roller assembly causes the retraction of the roller assembly to fail, the roller assembly is controlled to stop its retraction movement and to repeatedly perform the foreign object removal action. The foreign object removal action includes movement in multiple directions, as detailed in the aforementioned embodiment, and will not be repeated here. Here, "retraction failure of the roller assembly" means that the roller assembly has not reached the retraction position and cannot continue to retract.

[0225] During the retraction process of the roller assembly, if there are foreign objects in the accommodating space, controlling the side brush, roller brush, and drive wheel to continuously rotate can further improve the efficiency and effectiveness of removing foreign objects.

[0226] During the repeated foreign object removal process of the roller assembly, controlling the roller mop to keep rotating, with the roller mop speed being greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute, can further improve the efficiency and effectiveness of removing foreign objects stuck in the roller.

[0227] In the process of the roller assembly retracting, if the presence of foreign objects in the accommodating space causes the roller assembly to fail to retract, further retraction of the roller assembly may damage the foreign objects or the self-cleaning equipment (including burnout due to excessive current). In this case, the roller assembly first reverses and expands outward to create space, giving the foreign objects time to leave or allowing them to detach within the space. This improves the ability to handle abnormal situations autonomously, ensures continuous cleaning, enhances the robustness of the cleaning system, reduces user demands, and improves the user experience. During the foreign object removal process, 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. Since the roller assembly is moving back and forth, if the roller speed is insufficient, the contact time between the rollers in the affected area will be shorter than when the roller assembly is not moving. If the speed is insufficient, the mopping effect in the affected area will be weaker than that in other areas, resulting in weak mopping, which will be particularly noticeable under heavy soiling conditions, affecting the user experience. Moreover, if the speed is too slow, the contaminated area of ​​the mop will move to the uncleaned area before the dirt is scraped and water is added, resulting in mopping the dirty area with dirty mops or mopping the area with insufficient water. Due to the outward expansion speed and distance, the entire outward expansion time is at least about 1 second. At least one scraping-replenishing-mopping cycle must be formed within 1 second to ensure that the affected area undergoes at least one cycle. Therefore, the lower limit of the roller mop speed is set to 60 revolutions per minute during the outward expansion process. Because the expansion drive mechanism is also working during the expansion process, with one more motor operating compared to the expansion state without movement, the upper limit of the rotational speed during the expansion process needs to be lower than the upper limit of the rotational speed in the expansion but still-stationary state. This balances the marginal contribution of increased rotational speed to cleaning effectiveness with energy consumption and safety factors. Based on experimental data, the upper limit of the rotational speed during the expansion process in this embodiment is set to 210 revolutions per minute. Of course, in other embodiments of this application, the rotational speed can also be set to other ranges according to actual cleaning needs and energy consumption, such as greater than or equal to 60 revolutions per minute and less than or equal to 180 revolutions per minute, or greater than or equal to 60 revolutions per minute and less than or equal to 200 revolutions per minute. This application does not limit this.

[0228] In one embodiment, during the retraction process of the roller assembly, if the presence of foreign objects in the accommodating space causes the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating. For the specific implementation principle and technical effects, please refer to the aforementioned embodiment, which will not be repeated here.

[0229] Alternatively, during the retraction process of the roller assembly, if a foreign object exists in the accommodating space causing the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and repeatedly executes the following set of retraction actions: retraction, raising to the limit position if retraction fails, retraction, lowering to the mopping position if retraction fails, and expanding to the expanding position; until the roller assembly retracts to the retracted position, or until the retraction action duration reaches the third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating. For the specific implementation principle and technical effects, please refer to the aforementioned embodiments, which will not be repeated here.

[0230] During the retraction process of the roller assembly, if there are foreign objects in the accommodating space, controlling the side brush, roller brush, and drive wheel to continuously rotate can further improve the efficiency and effectiveness of removing foreign objects.

[0231] During the reciprocating motion or retrieval operation, the roller mop is kept rotating. Maintaining the roller mop's rotation speed to be greater than or equal to 60 revolutions per minute and less than or equal to 210 revolutions per minute further improves the efficiency and effectiveness of removing foreign objects. For the specific implementation principle and technical effects, please refer to the aforementioned embodiments, which will not be repeated here.

[0232] In one embodiment, during the retraction process of the roller assembly, if the presence of foreign objects in the accommodating space causes the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating. For the specific implementation principle and technical effects, please refer to the aforementioned embodiment, which will not be repeated here.

[0233] Alternatively, during the retraction process of the roller assembly, if a foreign object exists in the accommodating space causing the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and repeatedly executes the following set of retraction actions: retraction, raising to the limit position if retraction fails, retraction, lowering to the mopping position if retraction fails, and expanding to the expanding position; until the roller assembly retracts to the retracted position, or until the retraction action duration reaches the third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating. For the specific implementation principle and technical effects, please refer to the aforementioned embodiments, which will not be repeated here.

[0234] During the retraction process of the roller assembly, if there are foreign objects in the accommodating space, controlling the side brush, roller brush, and drive wheel to continuously rotate can further improve the efficiency and effectiveness of removing foreign objects.

[0235] By controlling the roller mop to keep rotating during reciprocating motion or retrieval, the efficiency and effectiveness of removing foreign objects stuck in it can be further improved.

[0236] In response to receiving a pause command, the autonomous cleaning equipment is controlled to enter a pause state, and the roller assembly is controlled to retract in order to reset the roller assembly and prepare for the execution of subsequent tasks.

[0237] In one example, if the space is filled with foreign objects and the roller assembly fails to retract, the roller assembly is controlled to reciprocate in the axial direction until it retracts to the retracted position, or until the reciprocating motion time reaches a second preset time. At this point, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating.

[0238] If, during the retraction process of the roller assembly, a foreign object is present in the accommodating space, causing the roller assembly to fail to retract, and the foreign object does not fill the accommodating space, the roller assembly is controlled to repeatedly perform the retraction action until the roller assembly retracts to the retracted position, or until the retraction action duration reaches the third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating.

[0239] In one embodiment, when the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is kept greater than a preset distance threshold. The drive wheel is controlled to stop rotating, and the roller brush and / or side brush are controlled to stop rotating. After the autonomous cleaning device is freed from hijacking, the roller assembly is controlled to retract to the retracted position, and the autonomous cleaning device is controlled to pause work and wait for user instructions.

[0240] If the autonomous cleaning device is hijacked and detached from the working surface, and there are foreign objects in the containment space, the control roller assembly stops rotating and maintains that the distance between the end of the roller assembly located in the containment space and the inner wall of the opposite end of the containment space is greater than a preset distance threshold.

[0241] When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is freed from hijacking, the roller assembly is controlled to expand outward and the roller mop is controlled to rotate.

[0242] In this example, by immediately stopping the roller mop, the user's hand can be prevented from being caught in the gap between the roller mop and the machine body. Maintaining a distance greater than a preset threshold between the end of the roller assembly within the receiving space and the inner wall of the opposite end of the receiving space ensures a larger gap between the roller assembly and the machine body. This prevents the user's hand from being pinched if they accidentally put their hand into the gap, thus avoiding hand injuries. By preserving this gap between the roller assembly and the opposite end of the receiving space, the user experiences a sense of security, effectively improving the user experience.

[0243] In the event of hijacking and the autonomous cleaning device detaching from the work surface, and the presence of foreign objects within the containment space, the control system stops the roller assembly from rotating and maintains a distance greater than a preset threshold between the end of the roller assembly within the containment space and the inner wall of the opposite end of the containment space. This prevents hand pinching while allowing users to easily handle foreign objects within the containment space through distance settings. Furthermore, it keeps the roller assembly and the roller mop stationary during user handling, preventing hand pinching during manual removal of foreign objects.

[0244] In one embodiment, during the calibration of the autonomous cleaning device, if the accommodating space is filled with foreign objects causing the roller assembly to fail to retract, the roller mop is controlled to stop rotating, and the roller assembly is controlled to maintain its axial position, while the autonomous cleaning device is calibrated, and the side brush is controlled to stop rotating. Here, "roller assembly retraction failure" means that the roller assembly has not reached the retraction position and cannot continue to retract.

[0245] During calibration, the autonomous cleaning device first attempts to retract the roller assembly. If the retraction fails due to obstructed space (i.e., it cannot retract), calibration is performed with the roller mop stopped rotating and the roller assembly maintaining its axial position. This means that calibration can still be completed even when the roller assembly fails to retract due to obstructed space. Furthermore, controlling the side brush to stop rotating conserves power.

[0246] After successful calibration, during the cleaning process of the autonomous cleaning equipment, if the roller assembly fails to retract, the roller assembly is controlled to rise to the raised position, maintaining the axial position unchanged and keeping the roller mop rotating.

[0247] After successful calibration, the autonomous cleaning equipment performs the cleaning task. During the cleaning process, the roller assembly is raised to the raised position while maintaining its axial position and keeping the roller mop rotating. This increases the cleaning area of ​​the roller assembly and improves its cleaning effect, even when the space is full of foreign objects.

[0248] In one embodiment, during the calibration of the autonomous cleaning device, if a foreign object in the containment space causes the roller assembly to fail to retract, the roller mop is controlled to stop rotating, perform a lifting motion, and maintain its axial position. In this embodiment, "failure to retract the roller assembly" means that the roller assembly has not reached the retracted position and cannot continue to retract.

[0249] During calibration, the autonomous cleaning device first attempts to retract the roller assembly. If the retraction fails (i.e., it cannot retract), the roller assembly remains in an expanded state (possibly at its maximum expansion position or a transitional position), at which point the calibration task is interrupted. When the calibration task is restarted, the autonomous cleaning device no longer attempts to retract the roller assembly; instead, it maintains the roller assembly in an expanded state for calibration, and controls the side sweeper to return to its position and stop rotating, as well as the roller mop to stop rotating. This way, even if foreign objects in the containment space cause the roller assembly to fail to retract, the autonomous cleaning device can still complete the calibration.

[0250] After successful calibration, during the cleaning process of the autonomous cleaning equipment, if the roller assembly fails to retract, the roller assembly is controlled to repeatedly perform the following set of retraction actions: retract, if retraction fails, raise to the limit position, retract, if retraction fails, lower to the mopping position, expand to the expansion position; until the roller assembly retracts to the retract position, or until the retraction action duration reaches the fifth preset duration, the retraction action is stopped, and the roller assembly is controlled to remain in the current raised and expanded states.

[0251] After successful calibration, the autonomous cleaning equipment performs the cleaning task. During the cleaning process, the control roller assembly repeatedly performs the above-mentioned retraction action to facilitate the discharge of foreign objects. If the roller assembly repeatedly attempts to retract inward but fails, it indicates that the foreign objects are unlikely to be discharged through the retraction action. The control roller assembly is then kept in the current raised and expanded state to save the power of the autonomous cleaning equipment.

[0252] In addition, controlling the continuous rotation of the roller mop during the repeated recycling action of the roller assembly can improve the efficiency and effectiveness of removing foreign objects stuck in the roller.

[0253] It should be noted that the retraction action can be a set of actions in which the roller assembly switches between lifting, lowering, expanding outward, and retracting, and is not limited to the set of fixed actions given above. Different retraction actions can be set in different specific scenarios.

[0254] In one example scenario, when the storage space is full of foreign objects, the roller assembly cannot descend to the mopping position, nor can it retract to the retracted position:

[0255] When the space is full of foreign objects, the roller assembly is positioned further outward in the axial direction than its maximum outward expansion position (denoted as position A), and in the vertical dragging position. During calibration, after the user initiates the calibration (i.e., repositioning) task via the APP, calibration is typically performed when the roller assembly is in the raised and retracted positions. The system controls the roller assembly to rise and retract, and if retraction fails, the axial position of the roller assembly remains unrestricted to maintain its current outward expansion state. When the calibration task is interrupted and then restarted, the system does not attempt to retract the roller assembly, maintaining it in its current outward expansion state for calibration. The side sweeper is also prevented from rotating upon returning to its original position, and the roller mop is prevented from rotating. Optionally, if the roller assembly fails to retract during calibration, the system can also control the roller assembly to repeat the above-mentioned retraction action to facilitate the removal of foreign objects.

[0256] After successful calibration, the autonomous cleaning equipment performs the cleaning task, which requires the roller assembly to be in the dragging position and the extended position. During the cleaning process, the roller mop is rotated, and the roller assembly is controlled to be in the raised position and the current extended state (e.g., position A), or the roller assembly is controlled to be in the dragging position and the current extended state (e.g., position A).

[0257] When work is paused: control the roller assembly to attempt the above retraction action multiple times until the roller assembly retracts to the retracted position, or until the retraction action duration reaches the fifth preset duration and then stop the retraction action, and control the roller assembly to remain in the current outward expansion state for standby.

[0258] In an example scenario, when a foreign object gets stuck in the storage space but is not completely blocked (e.g., more than half or less of the storage space is blocked), and the roller assembly cannot be retracted to the retracted position:

[0259] During calibration, the roller assembly is usually calibrated when it is in the raised and retracted positions. The roller assembly is controlled to raise and retract. If the retraction fails, the axial position of the roller assembly is not limited to keep the roller assembly in the current outward expansion state. The roller assembly is kept in the raised and current outward expansion state, the side sweeper does not rotate when returning to position, and the roller mop does not rotate, and calibration is performed.

[0260] After successful calibration, during the cleaning process of the autonomous cleaning equipment, the roller mop and side brush are rotated, and the roller assembly is controlled to switch between lifting, lowering, expanding outward, and retracting, eventually stopping in the lifting and expanding state.

[0261] For example, taking the roller assembly in the transition position as an example, the roller assembly is controlled to switch between lifting, lowering, expanding and retracting as follows: the roller assembly is lifted to the lifting position → the roller assembly retracts → retraction fails, the roller assembly expands to cause the foreign object to be removed → the roller assembly retracts → retraction fails, the roller assembly lowers → after lowering, the roller assembly retracts → retraction fails, the roller assembly is lifted.

[0262] For example, during the retraction process, if the roller assembly moves from a first position to a second position along the retraction path and comes into contact with a foreign object on the retraction path, preventing further retraction, it will cycle at least once from the second position along a fourth circulation path to remove the foreign object from the receiving space. The foreign object is a non-rigid object. See also... Figure 7 As shown, the fourth circulation path cycles along the direction of the lifting path, the inward path, the outward expansion path, the inward path, the descending path, and the inward converging path, so that foreign objects can be squeezed out, or, after being squeezed out, foreign objects can actively detach from the containing space.

[0263] For example, taking the roller assembly in the transition position as an example, the roller assembly is controlled to switch between lifting, lowering, expanding and retracting as follows: the roller assembly is lifted to the lifting position → the roller assembly retracts → retraction fails, the roller assembly expands to cause the foreign object to be removed → the roller assembly retracts → retraction fails, the roller assembly lowers → after lowering, the roller assembly expands to cause the foreign object to be removed → the roller assembly retracts → retraction fails, the roller assembly is lifted.

[0264] For example, during the retraction process, if the roller assembly moves from a first position to a second position along the retraction path and comes into contact with a foreign object on the retraction path, preventing further retraction, it will cycle at least once from the second position along a fifth circulation path to remove the foreign object from the receiving space. The foreign object is a non-rigid object. See also... Figure 8 As shown, the fifth circulation path cycles along the direction of the lifting path, the inward path, the outward expansion path, the inward path, the descending path, the outward expansion path, and the inward expansion path, so that the foreign object can be squeezed out, or the foreign object can actively detach from the containing space after being squeezed.

[0265] For example, taking the roller assembly in the transition position as an example, the roller assembly is controlled to switch between lifting, lowering, expanding and retracting as follows: the roller assembly is lifted to the lifting position → the roller assembly retracts → retraction fails, the roller assembly lowers → after lowering, the roller assembly expands to cause the foreign object to be removed → the roller assembly retracts → retraction fails, the roller assembly is lifted.

[0266] For example, during the retraction process, if the roller assembly moves from a first position to a second position along the retraction path and comes into contact with a foreign object on the retraction path, preventing further retraction, it will cycle at least once from the second position along the sixth circulation path to remove the foreign object from the receiving space. The foreign object is a non-rigid object. See also... Figure 9 As shown, the sixth circulation path cycles along the directions of the lifting path, the inward path, the descending path, the outward expansion path, and the inward expansion path, so that foreign objects can be squeezed out, or, after being squeezed out, foreign objects can actively detach from the containing space.

[0267] For example, taking the roller assembly as being in the raised position and the transition position, the roller assembly is controlled to switch between raising, lowering, expanding and retracting as follows: the roller assembly is in the raised position and the transition position → the roller assembly retracts → retraction fails, the roller assembly lowers → after lowering, the roller assembly retracts → retraction fails, the roller assembly raises.

[0268] When the roller assembly is in the drag position and transition position, the principle of controlling the roller assembly to switch between lifting, lowering, expanding outward and retracting is similar, and will not be listed in detail here.

[0269] During the cleaning process, if the roller assembly needs to retract but fails to retract due to foreign objects stuck in the space, the roller assembly is controlled to stop retracting and to repeat the foreign object discharge action. The foreign object discharge action involves movement in multiple directions. For the specific implementation principle and technical effect, please refer to the aforementioned embodiments, which will not be repeated here.

[0270] When work is paused: the roller mop is not rotated, the roller assembly is controlled to attempt the above retraction action multiple times until the roller assembly is retracted to the retracted position, or until the retraction action duration reaches the fifth preset duration and the retraction action is stopped, and the roller assembly is controlled to remain in the raised position and the current outward expansion state in standby mode.

[0271] 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.

[0272] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A self-cleaning device, characterized in that, The self-cleaning device includes: The body has a receiving space at its bottom; A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate. The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate. The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop. When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and the autonomous cleaning device being detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to stop axial movement or move axially for a certain distance before stopping axial movement, so as to keep the distance between the end of the roller assembly located in the receiving space and the inner wall of the end opposite to the receiving space greater than a preset distance threshold. The specific outward expansion position includes the maximum outward expansion position and a transition position that satisfies the following condition: at the specific outward expansion position, the distance between the end of the roller assembly located in the receiving space and the inner wall of the end opposite to the receiving space is greater than the preset distance threshold.

2. The device according to claim 1, characterized in that, After the autonomous cleaning device disengages from the hijacking and lands, the roller assembly is controlled to retract to the retracted position, and the roller mop is kept stationary. The current position of the autonomous cleaning device is repositioned, and the movement of the roller assembly is controlled according to the task at the current position.

3. The device according to claim 1, characterized in that, At the specific outward expansion position, if the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space is greater than the preset distance threshold, then controlling the roller mop to stop rotating and controlling the roller assembly to stop axial movement or move axially a certain distance before stopping axial movement, to maintain the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space being greater than the preset distance threshold, includes: The roller mop is controlled to stop rotating, and the roller assembly is controlled to retract inward by a first distance and then stop retracting, while maintaining the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space greater than the preset distance threshold. Alternatively, control the roller mop to stop rotating, and control the roller assembly to expand outward a certain distance and then stop the outward expansion movement, while maintaining the distance between the end of the roller assembly located in the receiving space and the inner wall of the end opposite to the receiving space greater than the preset distance threshold; Alternatively, control the roller mop to stop rotating and control the roller assembly to stop axial movement.

4. The device according to claim 1, characterized in that, When the roller assembly is in the specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to stop axial movement or move axially a certain distance before stopping axial movement, so as to maintain the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space being greater than a preset distance threshold, including: In response to the hijacking of the autonomous cleaning device and its detachment from the working surface, if the roller assembly is in the process of retracting inward, the roller mop is controlled to stop rotating, and the roller assembly is controlled to move axially a second distance, so that after the roller assembly moves axially a second distance, the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than a preset distance threshold. Alternatively, in response to the autonomous cleaning device being hijacked and detached from the working surface, if the roller assembly is in the process of expanding from the transition position to the maximum expansion position, the roller assembly is controlled to continue expanding to the maximum expansion position, so as to keep the distance between the end of the roller assembly located in the receiving space and the inner wall of the end opposite to the receiving space greater than a preset distance threshold.

5. The device according to claim 1, characterized in that, In the event that the autonomous cleaning device is hijacked and detached from the working surface, and there are foreign objects in the receiving space, the roller mop is controlled to stop rotating, and the roller assembly is controlled to stop axial movement or move axially for a certain distance before stopping axial movement, so as to keep the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space greater than a preset distance threshold.

6. The device according to any one of claims 1-5, characterized in that, The self-cleaning device also includes: drive wheels, located at the bottom of the machine body. When the roller assembly is in the specific outward expansion position, in response to the autonomous cleaning device being hijacked and the autonomous cleaning device being detached from the working surface, the drive wheel is controlled to stop rotating, and the roller brush and / or side brush is controlled to stop rotating. After the autonomous cleaning device detaches from the contact point and lands, the side brush, the roller brush, and the drive wheel are kept stationary. After repositioning the current position of the autonomous cleaning device, the movement of the side brush, the roller brush, and the drive wheel is controlled according to the work task at the current position.

7. A self-cleaning device, characterized in that, The self-cleaning device includes: The body has a receiving space at its bottom; A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate. The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate. Roller assembly; the roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand outward or retract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop. When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is maintained greater than a preset distance threshold. The drive wheel of the autonomous cleaning device is controlled to stop rotating, and the roller brush and / or the side brush is controlled to stop rotating. The specific outward expansion position includes a maximum outward expansion position and a transition position that satisfies the following condition: at the specific outward expansion position, the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than the preset distance threshold. When the roller assembly is in the outward position, in response to the autonomous cleaning device being hijacked and the autonomous cleaning device not detaching from the working surface, the roller assembly is controlled to retract to the inward position.

8. A self-cleaning device, characterized in that, The self-cleaning device includes: The body has a receiving space at its bottom; A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate. The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate. The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop. When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is maintained greater than a preset distance threshold. The drive wheel is controlled to stop rotating, and the roller brush and / or the side brush is controlled to stop rotating. After the autonomous cleaning device is detached from the hijacking, the roller assembly is controlled to retract to the retracted position, and the autonomous cleaning device is controlled to pause work and wait for user instructions. The specific outward expansion position includes the maximum outward expansion position and a transition position that satisfies the following condition: at the specific outward expansion position, the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than the preset distance threshold. When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and the autonomous cleaning device not being removed from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is unhijacked, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate.

9. A self-cleaning device, characterized in that, The self-cleaning device includes: The body has a receiving space at its bottom; A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate. The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate. The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop. When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is unhijacked, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate. During the outward expansion movement, 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. When the roller assembly expands to the target outward expansion position, the outward expansion movement ends, and 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 240 revolutions per minute.

10. A self-cleaning device, characterized in that, The self-cleaning device includes: The body has a receiving space at its bottom; A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate. The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate. The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop. When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located within the receiving space and the inner wall of the opposite end of the receiving space is greater than or equal to 0.5 cm and less than or equal to 8 cm. The drive wheel is controlled to stop rotating, and the roller brush and / or the side brush are controlled to stop rotating. After the autonomous cleaning device is detached from the hijacking, the roller assembly is controlled to retract to the retracted position, and the autonomous cleaning device pauses work and awaits user instructions. In response to a user instruction to continue work, the current position of the autonomous cleaning device is repositioned according to the... At the current position, the roller assembly is controlled to expand outward or remain in the retracted position. During the expansion movement, 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. When the roller assembly expands to the target expansion position, the expansion movement ends, and 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 240 revolutions per minute. The specific expansion position includes the maximum expansion position and a transition position that satisfies the following condition: at the specific expansion position, the distance between the end of the roller assembly located in the receiving space and the inner wall of the end opposite to the receiving space is greater than a preset distance threshold. When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and not detached from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is unhijacked, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate. During the outward expansion movement, 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. When the roller assembly expands to the target outward expansion position, the outward expansion movement ends, and 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 240 revolutions per minute.

11. A self-cleaning device, characterized in that, The self-cleaning device includes: The body has a receiving space at its bottom; A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate. The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate. The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop. During the retraction process of the roller assembly, if a foreign object is present in the accommodating space, causing the roller assembly to fail to retract, the roller assembly is controlled to stop the retraction movement and the roller assembly is controlled to repeatedly perform the foreign object discharge action. The foreign object discharge action includes movements in multiple directions, such as outward expansion, inward contraction, lifting, and lowering. The failure of the roller assembly to retract means that the roller assembly has not reached the retracted position and cannot continue to retract. The control of the roller assembly to repeatedly perform the foreign object discharge action includes: The roller assembly is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating; or, The roller assembly is controlled to repeatedly perform the following set of retraction actions: retracting inward, raising to the limit position if retracting inward fails, retracting inward, lowering to the mopping position if retracting inward fails, and expanding outward to the expanding position; until the roller assembly retracts to the retracted position, or until the duration of the retraction action reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating.

12. The device according to claim 11, characterized in that, During the repeated foreign object discharge operation of the roller assembly, the roller mop is controlled to keep rotating.

13. A self-cleaning device, characterized in that, The self-cleaning device includes: The body has a receiving space at its bottom; A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate. The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate. The roller assembly is located in the receiving space at the bottom of the machine body. The roller assembly can expand or contract in the axial direction and can be lifted or lowered in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are provided in the rotation direction of the roller mop. If, during the retraction process of the roller assembly, a foreign object is present in the accommodating space causing the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating; or, The roller assembly is controlled to repeatedly perform the following set of retraction actions: retracting inward, raising to the limit position if retracting inward fails, retracting inward, lowering to the mopping position if retracting inward fails, and expanding outward to the expanding position; until the roller assembly retracts to the retracted position, or until the duration of the retraction action reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating; During the retraction of the roller assembly, if there are foreign objects in the accommodating space, the side brush, the roller brush, and the drive wheel are controlled to rotate continuously. During the reciprocating motion or the retraction action, the roller mop is controlled to keep rotating.

14. A self-cleaning device, characterized in that, The self-cleaning device includes: The body has a receiving space at its bottom; A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate. The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate. The roller assembly is located in the accommodating space at the bottom of the machine body. The roller assembly can move outward or inward in the axial direction and can move up or down in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are arranged sequentially in the rotation direction of the roller mop. If, during the retraction process of the roller assembly, a foreign object is present in the accommodating space causing the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating; or, The roller assembly is controlled to repeatedly perform the following set of retraction actions: retracting inward, raising to the limit position if retracting inward fails, retracting inward, lowering to the mopping position if retracting inward fails, and expanding outward to the expanding position; until the roller assembly retracts to the retracted position, or until the duration of the retraction action reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating; During the retraction of the roller assembly, if there are foreign objects in the accommodating space, the side brush, the roller brush, and the drive wheel are controlled to rotate continuously. During the reciprocating motion or the recovery action, the roller mop is controlled to keep rotating, and 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.

15. A self-cleaning device, characterized in that, The self-cleaning device includes: The body has a receiving space at its bottom; A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate. The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate. The roller assembly is located in the accommodating space at the bottom of the machine body. The roller assembly can move outward or inward in the axial direction and can move up or down in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are arranged sequentially in the rotation direction of the roller mop. If, during the retraction process of the roller assembly, a foreign object is present in the accommodating space causing the roller assembly to fail to retract, the roller assembly is controlled to stop its retraction movement and is controlled to perform the following reciprocating motion in the axial direction: first expanding outward by a third distance, then retracting inward; until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration, the roller assembly is controlled to remain in the current lifting and expanding state, and the roller mop is controlled to stop rotating; or, The roller assembly is controlled to repeatedly perform the following set of retraction actions: retracting inward, raising to the limit position if retracting inward fails, retracting inward, lowering to the mopping position if retracting inward fails, and expanding outward to the expanding position; until the roller assembly retracts to the retracted position, or until the duration of the retraction action reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating; During the retraction of the roller assembly, if there are foreign objects in the accommodating space, the side brush, the roller brush, and the drive wheel are controlled to rotate continuously. During the reciprocating motion or the recycling action, the roller mop is controlled to keep rotating; In response to receiving a pause command, the autonomous cleaning device is controlled to enter a pause state, and the roller assembly is controlled to retract inward. If the accommodating space is filled with foreign objects, causing the roller assembly to fail to retract, the roller assembly is controlled to perform the reciprocating motion in the axial direction until the roller assembly retracts to the retracted position, or until the reciprocating motion duration reaches a second preset duration. At this time, the roller assembly is controlled to remain in the current raised state and outward expansion state, and the roller mop is controlled to stop rotating. During the retraction process of the roller assembly, if a foreign object is present in the accommodating space, causing the roller assembly to fail to retract, and if the foreign object does not fill the accommodating space, the roller assembly is controlled to repeat the retraction action until the roller assembly retracts to the retracted position, or until the duration of the retraction action reaches a third preset duration, the roller assembly is controlled to remain in the current raised and expanded state, and the roller mop is controlled to stop rotating.

16. A self-cleaning device, characterized in that, The self-cleaning device includes: The body has a receiving space at its bottom; A side-sweeping assembly is disposed at the bottom or side of the machine body, including a side-brush drive mechanism and a side brush, wherein the side-brush drive mechanism is used to drive the side brush to rotate. The middle sweeping component 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 suction chamber at the bottom of the machine body, and the roller brush drive mechanism is used to drive the roller brush to rotate. The roller assembly is located in the accommodating space at the bottom of the machine body. The roller assembly can move outward or inward in the axial direction and can move up or down in a vertical manner. The roller assembly includes a roller mop, which can rotate around the axial direction. A scraping mechanism and a water replenishment mechanism are arranged sequentially in the rotation direction of the roller mop. When the roller assembly is in a specific outward expansion position, in response to the autonomous cleaning device being hijacked and detached from the working surface, the roller mop is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is maintained greater than a preset distance threshold. The drive wheel is controlled to stop rotating, and the roller brush and / or the side brush is controlled to stop rotating. After the autonomous cleaning device is detached from the hijacking, the roller assembly is controlled to retract to the retracted position, and the autonomous cleaning device is controlled to pause work and wait for user instructions. The specific outward expansion position includes the maximum outward expansion position and a transition position that satisfies the following condition: at the specific outward expansion position, the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than the preset distance threshold. If the autonomous cleaning device is hijacked and detached from the working surface, and there are foreign objects in the receiving space, the roller assembly is controlled to stop rotating, and the distance between the end of the roller assembly located in the receiving space and the inner wall of the opposite end of the receiving space is greater than a preset distance threshold. When the roller assembly is in the outward expansion position, in response to the autonomous cleaning device being hijacked and the autonomous cleaning device not being removed from the working surface, the roller mop is controlled to stop rotating, and the roller assembly is controlled to retract to the inward position. After the autonomous cleaning device is unhijacked, the roller assembly is controlled to expand outward, and the roller mop is controlled to rotate.

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