Self-moving cleaning equipment and working method thereof

Abstract

The invention provides self-moving cleaning equipment and a working method thereof. The self-moving cleaning equipment comprises a main machine and a roller assembly which are assembled together. The roller assembly comprises a frame, a roller, a power source and a protective cover. The frame is attached to the host, and the drum is attached to the frame and is rotatable with respect to the frame about the central axis of the drum. The protective cover is in transmission connection with the power source which can drive the protective cover to move relative to the roller. And the protective cover can be positioned to a protective position for covering the bottom of the roller and a non-protective position for exposing the bottom of the roller in the moving process. In this way, the protective cover can prevent the bottom of the roller from polluting the carpet on the advancing face and protect the bottom of the roller, and the working efficiency of the self-moving cleaning equipment cannot be affected.

Description

Technical Field

[0001] This disclosure relates to the structure of a self-moving cleaning device and the method of operation of the self-moving cleaning device. Background Technology

[0002] Autonomous mobile devices refer to intelligent mobile devices that autonomously perform preset tasks. These devices can move autonomously on a travel surface based on the results sensed by their sensing components. Currently, autonomous mobile devices typically include, but are not limited to, self-moving cleaning devices (such as intelligent sweeping robots, intelligent floor cleaning robots, and window cleaning robots), companion mobile robots (such as intelligent electronic pets and nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting venues), industrial inspection intelligent devices (such as power inspection robots and intelligent forklifts), and security robots (such as home or commercial intelligent security guard robots).

[0003] As a typical example of autonomous mobile equipment, self-propelled cleaning devices can not only move autonomously on a surface to be cleaned, but also perform dry and / or wet cleaning operations as needed, thus finding widespread use in homes and offices. To perform cleaning operations, self-propelled cleaning devices require a dry cleaning component, including a main brush, and a wet cleaning component, including rollers, cloths, or mops. However, carpets are often present in scenarios where self-propelled cleaning devices are used, and the wet cleaning components such as rollers, cloths, or mops retain cleaning liquid (e.g., water) and dirt after wet cleaning operations, which can contaminate carpets upon contact. To avoid carpet contamination, some existing self-propelled cleaning devices incorporate a lifting mechanism that allows the wet cleaning component to move up and down relative to the main unit. However, even when using a lifting mechanism to raise the wet cleaning component relative to the main unit of the self-mobilizing cleaning device to avoid direct contact with the carpet, it is still difficult to prevent cleaning liquid and dirt adhering to the wet cleaning component from falling onto the carpet. Furthermore, while some existing self-mobilizing cleaning devices can detach the wet cleaning component to the base station, this will affect the operating efficiency of the self-mobilizing cleaning device. Summary of the Invention

[0004] In view of the problems of the prior art, one object of this disclosure is to provide a self-moving cleaning device that can prevent the rollers from contaminating the carpet when the self-moving cleaning device moves over the carpet without affecting its working efficiency. Another object of this disclosure is to provide a method for operating the above-mentioned self-moving cleaning device.

[0005] To achieve the above objectives, the present disclosure adopts the following technical solution.

[0006] This disclosure provides a self-moving cleaning device including a main unit and a roller assembly, the roller assembly comprising:

[0007] The frame, which is installed on the host;

[0008] A roller, which is mounted on the frame and is rotatable relative to the frame about its central axis;

[0009] A power source, which is mounted on the frame or the main unit; and

[0010] A protective cover is connected to the power source, which can drive the protective cover to move relative to the roller. During the movement, the protective cover can be positioned to a protective position that covers the bottom of the roller and to a non-protected position that exposes the bottom of the roller.

[0011] In an alternative embodiment, a speed reducer is further included, which is mounted on the frame, and the power source is connected to the protective cover via the speed reducer.

[0012] The reducer has a reduction ratio that allows the protective cover to be locked when the power source stops operating.

[0013] In another alternative scheme, an output gear, an intermediate gear, and a sector gear are also included.

[0014] The output gear is connected to the reducer for transmission.

[0015] The intermediate gear and the output gear are always meshed.

[0016] The sector gear is always meshed with the intermediate gear, and the sector gear is fixedly connected to the protective cover or is part of the protective cover, so that the torque from the power source is transmitted to the protective cover via the reducer, the output gear, the intermediate gear and the sector gear.

[0017] In another alternative embodiment, the frame is provided with a first limiting part and a second limiting part, which are located on both sides of the sector gear in the rotation direction of the sector gear. The first limiting part and the second limiting part cooperate with the circumferential end edges of the sector gear to limit the rotation range of the protective cover.

[0018] In another alternative, both the first limiting part and the second limiting part are limiting protrusions or limiting switches.

[0019] In another alternative embodiment, the protective cover includes a cover body, a first bracket, and a second bracket.

[0020] The cover is located radially outside the roller, extending axially across the entire roller while also extending circumferentially along the roller.

[0021] The first bracket and the second bracket are fixedly connected to both ends of the cover. The first bracket and the second bracket are respectively located on both sides of the roller in the axial direction. The first bracket and the second bracket are rotatably connected to the frame, so that the protective cover can rotate around the central axis.

[0022] In another alternative embodiment, the power source drives the protective cover to rotate via the first bracket, the first bracket being a sector gear and detachably assembled to the first end of the cover, the second bracket being fixed to the second end of the cover, and the second bracket being provided with bearings.

[0023] The frame includes a frame body and a side support frame that can be assembled in a detachable manner. The side support frame includes side plates and a shaft that are fixed to each other. The side plates are assembled detachably with the frame body, and the shaft passes through the bearing and is inserted into the roller.

[0024] In another alternative, the cover extends along the circumference across a central angle of 80 to 120 degrees.

[0025] In another alternative embodiment, the protective cover is mounted on the host and is formed as a flat plate. The power source is capable of driving the protective cover to reciprocate linearly relative to the host, so that the protective cover can extend relative to the host in the protected position and retract relative to the host in the unprotected position.

[0026] In another alternative embodiment, the protective cover includes a first split portion and a second split portion spaced apart from each other and disposed on the main unit. The main unit has a first guide groove and a second guide groove. One end of the first split portion is mounted in the first guide groove, and one end of the second split portion is mounted in the second guide groove.

[0027] The power source can drive the first split part to reciprocate along the first guide groove, and the power source can drive the second split part to reciprocate along the second guide groove, so that the first split part and the second split part can extend relative to the host in the protected position and retract relative to the host in the unprotected position.

[0028] In another alternative embodiment, the central axis of the roller extends along the left-right direction of the self-moving cleaning device, which also includes a lifting mechanism, via which the roller assembly is mounted to the main unit.

[0029] In another alternative embodiment, the lifting mechanism includes a lifting motor, a transmission component, a first connecting rod, and a second connecting rod.

[0030] The motor shaft of the lifting motor is threadedly engaged with the transmission component, enabling the transmission component to reciprocate along the motor shaft.

[0031] The first connecting rod is rotatably connected to both the main unit and the transmission component, and the second connecting rod is rotatably connected to both the transmission component and the roller assembly.

[0032] In another alternative embodiment, the second link is rotatably connected to the front end of the frame of the roller assembly.

[0033] The rear end of the frame is rotatably connected to the main unit; or the lifting mechanism further includes a rotating support link, and the top of the frame is rotatably connected to the main unit through the rotating support link.

[0034] This disclosure also provides a method for operating the self-moving cleaning device described in any one of the above technical solutions, characterized in that the method includes:

[0035] The determination step includes using parameters acquired by the sensing components of the self-moving cleaning device to determine whether a carpet exists on the traveling surface in the direction of travel of the self-moving cleaning device; and

[0036] In the first execution step, after determining the presence of a carpet in the determination step, the roller assembly is controlled to be in a raised position relative to the main unit and / or the protective cover of the roller assembly is controlled to be in a protective position.

[0037] In one alternative embodiment, the method further includes a second execution step, wherein the self-moving cleaning device is in wet cleaning mode and, after determining in the determination step that no carpet is present, controls the roller assembly to be in a lowered position relative to the main unit and controls the protective cover of the roller assembly to be in a non-protected position.

[0038] By adopting the above technical solution, this disclosure provides a self-moving cleaning device. This self-moving cleaning device includes a main unit and a roller assembly assembled together. The roller assembly includes a frame, a roller, a power source, and a protective cover. The frame is mounted on the main unit, and the roller is mounted on the frame and can rotate relative to the frame about its own central axis. The protective cover is driven by the power source, which can drive the protective cover to move relative to the roller. During movement, the protective cover can be positioned to a protective position covering the bottom of the roller and to a non-protected position exposing the bottom of the roller.

[0039] In this way, when it is necessary to prevent the bottom of the roller from contaminating carpets on the traveling surface, such as the surface to be cleaned, or when it is necessary to protect the bottom of the roller, the protective cover can be moved to a protective position to cover the bottom of the roller; when it is necessary for the bottom of the roller to clean the traveling surface, the protective cover can be moved to a non-protected position to expose the bottom of the roller, thereby allowing the bottom of the roller to clean the traveling surface. Moreover, the above solution eliminates the need for repeated disassembly and assembly of the roller, thus not affecting the working efficiency of the self-propelled cleaning equipment.

[0040] This disclosure also provides a method for operating the aforementioned autonomous mobile device. In this method, by determining whether there is a carpet in the direction of travel of the autonomous mobile device, the lifting and lowering of the roller assembly is controlled and the protective cover is positioned in a protective position, thereby preventing the bottom of the roller from contaminating the carpet on the travel surface or protecting the bottom of the roller. Attached Figure Description

[0041] Figure 1A This is a side view schematic diagram of a self-moving cleaning device according to a first embodiment of the present disclosure, wherein the roller assembly is in a lowered position relative to the main unit and the protective cover is in an unprotected position.

[0042] Figure 1B It shows Figure 1A A side view of the assembly of the roller assembly and the lifting mechanism.

[0043] Figure 1C It shows Figure 1B Another side view of the assembly.

[0044] Figure 1D It shows Figure 1B A three-dimensional schematic diagram of the assembly.

[0045] Figure 2A This is a side view schematic diagram of a self-moving cleaning device according to a first embodiment of the present disclosure, wherein the roller assembly is in a raised position relative to the main unit and the protective cover is in an unprotected position.

[0046] Figure 2B It shows Figure 2A A side view of the assembly of the roller assembly and the lifting mechanism.

[0047] Figure 2C It shows Figure 2B Another side view of the assembly.

[0048] Figure 2D It shows Figure 2B A three-dimensional schematic diagram of the assembly.

[0049] Figure 3A This is a side view schematic diagram of a self-moving cleaning device according to a first embodiment of the present disclosure, wherein the roller assembly is in a raised position relative to the main unit and the protective cover is in a protective position.

[0050] Figure 3B It shows Figure 3A A side view of the assembly of the roller assembly and the lifting mechanism.

[0051] Figure 3C It shows Figure 3A Another side view of the assembly.

[0052] Figures 4A to 4D It shows Figure 3A A three-dimensional schematic diagram of the structure of the two ends of the roller assembly.

[0053] Figures 5A to 5C It shows Figure 3A A schematic diagram showing the assembly state of the power source, reducer, gear transmission mechanism, and protective cover of the roller assembly.

[0054] Figures 6A to 6C It shows Figure 3A An illustrative diagram illustrating the assembly process of the frame of the roller assembly and the second support of the protective cover.

[0055] Figure 7A This is a perspective view showing an assembly of a roller assembly and a lifting mechanism of a self-moving cleaning device according to a second embodiment of the present disclosure, wherein the roller assembly is in a lowered position relative to the main unit and the protective cover is in a non-protected position.

[0056] Figure 7B It shows Figure 7A A side view of the assembly.

[0057] Figure 7C This is a perspective view showing an assembly of a roller assembly and a lifting mechanism of a self-moving cleaning device according to a second embodiment of the present disclosure, wherein the roller assembly is in a raised position relative to the main unit and the protective cover is in a protective position.

[0058] Figure 7D It shows Figure 7C A side view of the assembly.

[0059] Figure 8A This is a side view schematic diagram showing a partial structure of a self-moving cleaning device according to a third embodiment of the present disclosure, wherein the roller assembly is in a lowered position relative to the main unit and the protective cover is in an unprotected position.

[0060] Figure 8BThis is a side view schematic diagram showing a partial structure of a self-moving cleaning device according to a third embodiment of the present disclosure, wherein the roller assembly is in a raised position relative to the main unit and the protective cover is in a protective position.

[0061] Figure 9A This is a side view schematic diagram showing a partial structure of a self-moving cleaning device according to a fourth embodiment of the present disclosure, wherein the roller assembly is in a lowered position relative to the main unit and the protective cover is in an unprotected position.

[0062] Figure 9B This is a side view schematic diagram showing a partial structure of a self-moving cleaning device according to a fourth embodiment of the present disclosure, wherein the roller assembly is in a raised position relative to the main unit and the protective cover is in a protective position.

[0063] Explanation of reference numerals in the attached figures

[0064] MB—Main drive; c1—First boot slot; c2—Second boot slot;

[0065] RA—Drum assembly;

[0066] 1—Frame; 11—Frame body; 111—First limiting part; 112—Second limiting part; 12—Side support frame; 121—Side plate; 122—Shaft;

[0067] 2—Drum;

[0068] 3—Power source;

[0069] 4—Protective cover; 41—Cover body; 42—First support; 43—Second support; 44—Bearing; 4a—First sub-section; 4b—Second sub-section;

[0070] 5—Reducer;

[0071] 61—Output gear; 62—Intermediate gear; 63—Sector gear;

[0072] LM—Lifting mechanism;

[0073] 71—Lifting motor; 72—Transmission component; 73—First connecting rod; 74—Second connecting rod; 75—Rotating support connecting rod;

[0074] D1—Up and down direction; D2—Back and forth direction. Detailed Implementation

[0075] Embodiments of this disclosure are described below with reference to the accompanying drawings. For ease of understanding, the elements shown in the drawings may include elements such as dimensions and scales that are expressed differently from actual dimensions and scales.

[0076] In this disclosure, unless otherwise specified, "front," "rear," "left," "right," "upper," and "lower" refer to the normal operating state of the self-moving cleaning device according to this disclosure. Specifically, the self-moving cleaning device has a positive direction of movement (i.e., forward) in its normal operating state. The term "normal operating state" refers to the movement state of the self-moving cleaning device when performing a task, which is different from the abnormal operating states such as backward movement or swinging in the escape mode. "Front" and "rear" refer to the front and rear sides in the positive direction of movement of the self-moving cleaning device when it is in normal operating state on the travel surface (e.g., the surface to be cleaned). "Left" and "right" refer to the left and right sides when viewed from the front side in the positive direction of movement. "Up" and "lower" refer to the upper and lower sides in the vertical direction perpendicular to the travel surface when the self-moving cleaning device is in normal operating state on the travel surface.

[0077] In this disclosure, the self-moving cleaning device can move autonomously according to a preset control scheme in its processing unit. The surface on which the self-moving cleaning device moves autonomously (e.g., the surface to be cleaned) can be a plane or a curved surface with a large radius of curvature, typically such as the floor of each room in a building. The term "processing unit" in this disclosure is a general term and does not limit the type, number, or form of the processing units. Specifically, the processing unit can be one or more of MCU, DSP, FPGA, and GPU, or other hardware chips, processors, or software algorithms with data processing and computing capabilities. Further, the processing unit can be a unified, single processor for the self-moving cleaning device, or it can be a collection of multiple processing units. The connection method, function, and computing power allocation of the multiple processing units can be adjusted as needed. For example, in one optional scheme, a first processing unit and a second processing unit can be included. In this case, the first and second processing units collectively implement the various functions of the aforementioned processing units. Furthermore, the processing unit of the self-moving cleaning device of this disclosure can receive parameters from sensing components and perform relevant control on the self-moving cleaning device through a preset program stored in the storage unit. In this disclosure, the data, information, and programs required by the processing unit during processing can be stored in the storage unit and retrieved from the storage unit as needed. The processing unit can also store the processed data and information back into the storage unit. The storage unit can be RAM, ROM, or other devices and / or equipment with storage functions, such as cloud / server / mobile terminal connected via wired / wireless network.

[0078] In this disclosure, unless otherwise specified, "lifting" means the vertical movement of a self-moving cleaning device, such as a roller assembly, relative to the main unit in the vertical direction.

[0079] In this disclosure, "rotatable connection" of two components includes two components that are directly connected and can rotate relative to each other, and two components that are connected via other components and can rotate relative to each other.

[0080] The self-moving cleaning device according to the first embodiment of this disclosure will be described below with reference to the accompanying drawings.

[0081] The self-moving cleaning device according to a first embodiment of this disclosure has a wet cleaning component. For example... Figures 1A to 1D As shown, the autonomous mobile device includes a main unit MB, a roller assembly RA, and a lifting mechanism LM assembled together. In this embodiment, the roller assembly RA is mounted on the main unit MB and includes a roller 2 as a wet cleaning component. Furthermore, the lifting mechanism LM is connected to the main unit MB and the roller assembly RA, and is used to move the roller assembly RA up and down relative to the main unit MB in the vertical direction D1.

[0082] In this embodiment, the host MB may include a housing that is generally circular in top view. The shape of the housing is not limited to this; in alternative embodiments, the housing may have other shapes, such as elliptical, D-shaped, or square. When the self-moving cleaning device according to an embodiment of this disclosure is in normal operation, the bottom surface of the housing is opposite to the travel surface (e.g., the surface to be cleaned), and the bottom surface of the housing is parallel to the travel surface. Here, "parallel" includes not only geometric parallelism between the bottom surface of the housing and the travel surface, but also generally parallelism. "Generally" means that the parallelism is considered valid within a reasonable margin of error recognized by those skilled in the art. Furthermore, other components of the self-moving cleaning device may be disposed within the housing. To support and protect these other components, most of the structure of the self-moving cleaning device is installed inside or on the surface of the housing, or is connected to the housing. The self-moving cleaning device may also house a processing unit and sensing components within the housing. The processing unit can obtain environmental parameters through the sensing components. Based on the obtained environmental parameters, the processing unit can control the wheel assembly to drive the entire self-moving cleaning device to move autonomously on the travel surface. In this process, the travel surface can be cleaned by the wet cleaning components.

[0083] In this embodiment, as Figures 1A to 1D As shown, the roller assembly RA includes a frame 1, a roller 2, a power source 3, a protective cover 4, a reducer 5, and a gear transmission mechanism (output gear 61, intermediate gear 62, and sector gear 63) assembled together.

[0084] In this embodiment, as Figures 1B to 1DAs shown, frame 1 includes a frame body 11 and side support frames 12 that can be assembled in a detachable manner. The frame body 11 is used for mounting and supporting other components, and can have various shapes and structures as needed, not limited to those shown in the figure. Furthermore, in order to use the lifting mechanism LM to drive the roller assembly RA to lift relative to the main unit MB, the front end of the frame body 11 is rotatably connected to the lifting mechanism LM (second link 74), and the rear end of the frame body 11 is rotatably connected to the main unit MB. Additionally, as... Figures 6A to 6C As shown, the side support frame 12 includes a side plate 121 and a shaft 122 fixed to each other. The side plate 121 is detachably assembled with the frame body 11. With the side plate 121 assembled with the frame body 11, the shaft 122 passes through the bearing 44 of the second bracket 43, is inserted into the roller 2, and is arranged coaxially with the roller 2, so that the second bracket 43 is rotatably connected to the frame 1 via the shaft 122, thereby allowing the second bracket 43 to rotate about the central axis of the roller 2.

[0085] In this embodiment, as Figures 1A to 1D As shown, the roller 2 has a cylindrical shape and is capable of rotating relative to the main unit MB about its own central axis, which extends in the left-right direction of the main unit MB. During operation, the spray device of the autonomous mobile device sprays a cleaning liquid, such as water, onto the travel surface or the roller 2. The roller 2 contacts the travel surface and rotates, thereby performing wet cleaning on the travel surface.

[0086] In this embodiment, the power source 3 is an electric motor. For example... Figure 1D As shown, the power source 3 is fixedly installed on the frame body 11. The motor shaft of the motor is directly connected to the reducer 5, so that the torque from the motor can be directly transmitted to the reducer 5 and the torque is increased through the reducer 5.

[0087] In this embodiment, as Figures 1A to 1D as well as Figures 4A to 4D As shown, the protective cover 4 and the power source 3 are connected via a reducer 5. The power source 3 can drive the protective cover 4 to rotate relative to the roller 2. During rotation, the protective cover 4 can be positioned to a protective position covering the bottom of the roller 2 and a non-protected position exposing the bottom of the roller 2. It can be understood that in this disclosure, the "bottom of the roller 2" can be divided into corresponding areas on the roller 2 as needed, but it does not exceed half of the overall structure of the roller 2 (that is, the outer circumferential surface corresponding to the bottom does not exceed half of the entire outer circumferential surface of the roller 2). Specifically, the protective cover 4 includes a cover body 41, a first bracket 42, and a second bracket 43 fixed together with each other.

[0088] To adequately protect the bottom of roller 2, the cover 41 is formed with an arc structure and located radially outside roller 2. That is, the cover 41 is always spaced a certain distance from roller 2 to avoid interference with roller 2 during rotation. The cover 41 extends across the entire roller 2 along its axial direction (from the left-right direction of the mobile cleaning equipment) and also extends circumferentially along roller 2. Specifically, the cover 41 extends circumferentially across a central angle of 80 to 120 degrees. This is because if the range across which the cover 41 extends circumferentially across roller 2 is too large (greater than a central angle of 120 degrees), the cover 41 would need to rotate a very large amplitude to expose the bottom of roller 2. This would result in an excessively large space occupied by the mechanism for rotating the cover 41. If the area that the cover 41 extends across the circumference of the roller 2 is too small (less than a central angle of 80 degrees), the cover 41 cannot adequately cover the bottom of the roller 2, which means that even if the protective cover 4 is in the protective position, the roller 2 may still come into contact with the carpet on the traveling surface. Therefore, the cover 41 has a certain size in both the axial and circumferential directions of the roller 2, thereby enabling the necessary coverage of the bottom of the roller 2 in the protective position.

[0089] The first bracket 42 and the second bracket 43 are fixedly connected to both ends of the cover 41, respectively. The first bracket 42 and the second bracket 43 are located on both sides of the roller 2 along its axial direction. Both the first bracket 42 and the second bracket 43 are rotatably connected to the frame 1, allowing the protective cover 4 to rotate around the central axis of the roller 2. The two brackets 42 and 43 provide stable support to the cover 41 during rotation, thus preventing the protective cover 4 from tilting. In this embodiment, as... Figure 4A and Figure 4B As shown, the sector gear 63 of the gear transmission mechanism serves as the first support 42, which is rotatably connected to the frame body 11. The power source 3 can drive the protective cover 4 to rotate via the first support 42. The first support 42 and the first end of the cover 41 are detachably assembled together. Furthermore, the second support 43 and the second end of the cover 41 can be permanently fixed to each other by welding or bonding. The second support 43 is equipped with a bearing 44. As described above, the shaft 122 of the side support frame 12 of the frame 1 passes through the bearing 44 and is inserted into the roller 2, so that the second support 43 is supported by the bearing 44 of the side support frame 12. Thus, when the power source 3 drives the first support 42 to rotate, the first support 42 can drive the entire protective cover 4 to rotate. During the rotation of the protective cover 4, the second support 43 plays a role in following and maintaining the stable rotation of the cover 41. Furthermore, by utilizing the detachable connection structure between the side support frame 12 and the frame body 11, as well as the detachable connection structure between the cover 41 and the first bracket 42, the protective cover 4 is assembled with the roller 2 and the frame 1 in a structure that facilitates disassembly, thereby facilitating the maintenance and cleaning of the roller assembly RA.

[0090] like Figure 1D As shown, the reducer 5 is mounted on the frame 1, and the power source 3 is connected to the protective cover 4 via the reducer 5 and a gear transmission mechanism. The reducer 5 is a gear reducer and may include a planetary gear set and / or multiple pairs of meshing gears, thereby increasing the torque from the power source 3. Furthermore, the reducer 5 has a reduction ratio that allows the protective cover 4 to be locked when the power source 3 stops operating. This is because, with a sufficiently large reduction ratio, the reducer 5 can provide sufficient resistance to lock the protective cover 4. Thus, after increasing the torque through the reducer 5 to transmit it to the protective cover 4, the cover 41 can smoothly transition between different positions. The reducer 5 with its large reduction ratio enables the locking function of the cover 41, allowing it to be locked in the desired position.

[0091] like Figure 1C as well as Figures 5A to 5C As shown, the gear transmission mechanism includes an output gear 61, an intermediate gear 62, and a sector gear 63. The output gear 61 is mounted on the output shaft of the reducer 5 and is directly connected to the reducer 5, receiving torque from it. The intermediate gear 62 is mounted on the frame body 11 and rotatably connected to it, always meshing with the output gear 61. The sector gear 63, serving as the first support 42, is always meshed with the intermediate gear 62. The rotation axis of the sector gear 63 is aligned with the central axis of the roller 2. The sector gear 63 is fixedly connected to the protective cover 4, allowing torque from the power source 3 to be transmitted to the protective cover 4 via the reducer 5, output gear 61, intermediate gear 62, and sector gear 63. Using gears other than the reducer 5, the reduction ratio can be further changed as needed, and the structural layout of the roller assembly RA can be flexibly adjusted.

[0092] In this embodiment, as Figures 1A to 1D As shown, the roller assembly RA is mounted on the main unit MB via a lifting mechanism LM. The lifting mechanism LM is configured to allow the roller assembly RA to rise and fall relative to the main unit MB in the vertical direction D1, enabling the self-moving cleaning device to be applicable to more application scenarios. Specifically, as... Figure 1DAs shown, the lifting mechanism LM includes a lifting motor 71, a transmission component 72, a first connecting rod 73, and a second connecting rod 74. The motor shaft of the lifting motor 71 is threadedly engaged with the transmission component 72, allowing the transmission component 72 to reciprocate along the motor shaft. The lifting motor 71 is mounted on the main unit MB, and the motor shaft of the lifting motor 71 is threaded, maintaining a threaded engagement with the transmission component 72 to form a screw-nut mechanism. As the lifting motor 71 operates, the transmission component 72 is driven by the motor shaft to reciprocate linearly along the motor shaft. The first connecting rod 73 is rotatably connected to both the main unit MB and the transmission component 72, and the second connecting rod 74 is rotatably connected to both the frame 1 and the transmission component 72. Furthermore, as described above, the frame body 11 is rotatably connected to the main unit MB, allowing the frame 1 to rotate relative to the main unit MB within a predetermined range. Thus, when the transmission component 72 drives the frame 1 via the linkage mechanism formed by the first connecting rod 73 and the second connecting rod 74, the frame 1 drives the roller assembly RA to rotate relative to the main unit MB, thereby achieving vertical movement of the roller assembly RA relative to the main unit MB in the vertical direction D1. It is understood that after the roller assembly RA is raised or lowered relative to the main unit MB, a signal can be sent to the processing unit via a limit switch or motor encoder, and the processing unit controls the operation and stop of the lifting motor 71. Therefore, the aforementioned lifting mechanism LM can achieve a scheme where the roller assembly RA rises and falls relative to the main unit MB as needed. This scheme has a compact structure and high stability and reliability. Thus, when the roller assembly RA is in a raised state relative to the main unit MB, it not only improves the obstacle-crossing ability of the self-moving cleaning equipment, but also allows for a larger distance between the roller assembly RA and the travel surface, preventing the rollers 2 of the roller assembly RA from contaminating the travel surface.

[0093] By adopting the above solution, when it is necessary to prevent the bottom of roller 2 from contaminating the carpet on the travel surface, or when it is necessary to protect the bottom of roller 2, the protective cover 4 can be rotated and positioned to cover the bottom of roller 2; when it is necessary for the bottom of roller 2 to clean the travel surface, the protective cover 4 can be rotated and positioned to a non-protected position that exposes the bottom of roller 2, thereby allowing the bottom of roller 2 to clean the travel surface. Moreover, the above solution eliminates the need for repeated disassembly and assembly of roller 2, thus not affecting the working efficiency of the self-propelled cleaning equipment.

[0094] The following describes a method for operating a self-moving cleaning device according to a first embodiment of the present disclosure. This operation may include a determination step, a first execution step, and a second execution step.

[0095] In the judgment step, parameters obtained from the sensing components of the self-moving cleaning device are used to determine whether there is carpet on the traveling surface in the direction of travel of the self-moving cleaning device. The sensing components can be cameras installed on the main unit MB, and the obtained parameters can be images or videos captured by the camera.

[0096] In the first execution step, after determining the presence of a carpet in the judgment step, the roller assembly RA is controlled to be in a raised position relative to the main unit MB and / or the protective cover 4 of the roller assembly RA is controlled to be in a protected position. It can be understood that when the roller assembly RA is in a raised position relative to the main unit MB and the protective cover 4 of the roller assembly RA is in a non-protected position (see...),... Figures 2A to 2D This improves the obstacle-crossing ability of self-moving cleaning equipment and reduces the possibility of the roller 2 soiling the carpet. When the roller assembly RA is in a raised position relative to the main unit MB and the protective cover 4 of the roller assembly RA is in a protected position (see...). Figures 3A to 3C This can more effectively prevent the cleaning liquid and dirt from roller 2 from staining the carpet.

[0097] In the second execution step, the self-moving cleaning device is in wet cleaning mode, and after determining the presence of carpet in the judgment step, the control roller assembly RA is in a lowered position relative to the main unit MB and the roller assembly RA is in an unprotected position (see...). Figures 1A to 1D Thus, roller 2 can come into contact with the traveling surface and perform wet cleaning operations on the traveling surface.

[0098] It is understood that the self-moving cleaning device according to this disclosure repeatedly performs the judgment step during autonomous movement, and after the judgment step, it can selectively perform the first execution step and the second execution step, thereby adopting different schemes according to the actual working mode of the self-moving cleaning device.

[0099] This allows the self-moving cleaning device to have multiple operating modes to suit different work scenarios. Specifically, when the roller assembly RA is lowered relative to the main unit MB and the protective cover 4 is in the unprotected position, the roller assembly RA can clean the traveling surface; when the roller assembly RA is raised relative to the main unit MB and the protective cover 4 is in the unprotected position, it is beneficial for the self-moving cleaning device to overcome obstacles and reduces the possibility of the roller 2 contaminating the carpet; when the roller assembly RA is raised relative to the main unit MB and the protective cover 4 is in the protected position, it not only is beneficial for the self-moving cleaning device to overcome obstacles, but it can also more effectively prevent the roller assembly RA from contaminating, for example, carpets.

[0100] The autonomous mobile device according to the second embodiment of this disclosure will be described below with reference to the accompanying drawings.

[0101] The structure of the autonomous mobile device according to the second embodiment of the present disclosure is basically the same as that of the autonomous mobile device according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0102] In this embodiment, as Figures 7A to 7DAs shown, the lifting mechanism LM includes four rotating support links 75. These four links 75 are located above the roller assembly RA in the vertical direction D1, and each extends parallel to the others in a direction perpendicular to the horizontal direction. One end of each link 75 is rotatably connected to the top of the frame 1, and the other end is rotatably connected to the main unit 1, so that the roller assembly RA is rotatably connected to the main unit 1 via multiple rotating support links 75. Furthermore, a second link 74 is rotatably connected to the front end of the frame 1, and each rotating support link 75 is rotatably connected to the rear end of the frame 1. Each rotating support link 75 has the same length and extends across the roller assembly RA in the front-rear direction D2. This allows for a larger lifting range of the roller assembly RA relative to the main unit 1, and the roller assembly RA has a small relative displacement in the front-rear direction D3 during rotation, thereby saving space occupied by the mechanism that lifts the object 2.

[0103] Furthermore, in this embodiment, such as Figures 7A to 7D As shown, the frame body 11 is provided with a first limiting part 111 and a second limiting part 112 corresponding to the first bracket 42 (sector gear 63). The first limiting part 111 and the second limiting part 112 are respectively located on both sides of the first bracket 42 in the rotation direction (circumferential direction of the roller 2). The first limiting part 111 and the second limiting part 112 respectively cooperate with the circumferential side edge of the first bracket 42 to limit the rotation range of the protective cover 4 in the circumferential direction. In this embodiment, the first limiting part 111 and the second limiting part 112 are both limiting protrusions, but this disclosure is not limited to this. The first limiting part 111 and the second limiting part 112 can also be mechanical limit switches. The mechanical limit switches can be signal-connected to the processing unit. Thus, when the first bracket 42 triggers the limit switch, the processing unit can control the power source 3 to stop, and can accurately limit the rotation range of the protective cover 4 through the first limiting part 111 and the second limiting part 112, thereby positioning the protective cover 4 while preventing the protective cover 4 from rotating excessively.

[0104] It is understood that the first limiting part 111 and the second limiting part 112 can be formed by other structures fixed to the frame body 111 (e.g., the housing of the reducer 5), so that the first limiting part 111 and the second limiting part 112 can be formed by the structure of the frame body 111 itself.

[0105] The autonomous mobile device according to the third embodiment of this disclosure will be described below with reference to the accompanying drawings.

[0106] The structure of the autonomous mobile device according to the third embodiment of the present disclosure is basically the same as that of the autonomous mobile device according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0107] In this embodiment, as Figure 8A and Figure 8B As shown, the power source can be fixedly mounted on the main unit MB, and the protective cover 4 is mounted on the main unit MB and formed into a flat plate structure. The power source can drive the protective cover 4 to reciprocate linearly relative to the main unit MB, so that the protective cover 4 can extend relative to the main unit MB in the protective position and be located below the bottom of the roller 2 (see...). Figure 8B ), and the protective shield 4 retracts relative to the host MB in the non-protected position (see Figure 8A This will not affect the lifting and lowering of roller 2 relative to the main unit MB.

[0108] Therefore, in this embodiment, the same effect as the autonomous mobile device in the first embodiment can be achieved. It can be understood that in this embodiment, a solenoid valve can be used in conjunction with a power source to drive the protective cover 4, or other transmission mechanisms can be used as needed to achieve reciprocating linear motion of the protective cover 4 relative to the host MB.

[0109] The autonomous mobile device according to the fourth embodiment of this disclosure will now be described with reference to the accompanying drawings.

[0110] The structure of the autonomous mobile device according to the fourth embodiment of the present disclosure is basically the same as that of the autonomous mobile device according to the first embodiment of the present disclosure. The following mainly describes the differences between the two.

[0111] In this embodiment, as Figure 9A and Figure 9B As shown, the power source can be fixedly installed on the main unit MB, and the protective cover 4 includes a first split portion 4a and a second split portion 4b separated from each other and placed on the main unit MB. The main unit MB has a first guide groove c1 and a second guide groove c2. One end of the first split portion 4a is installed in the first guide groove c1, and one end of the second split portion 4b is installed in the second guide groove c2. The same power source can drive the first split portion 4a to reciprocate along the first guide groove c1 while simultaneously driving the second split portion 4b to reciprocate along the second guide groove c2, thereby allowing the first split portion 4a and the second split portion 4b to extend and close together relative to the main unit MB in the protective position (see...). Figure 9B ), and in the unprotected position retracts relative to the host MB and separates from each other (see Figure 9A This will not affect the lifting and lowering of roller 2 relative to the main unit MB.

[0112] Therefore, in this embodiment, the same effect as the autonomous mobile device in the first embodiment can be achieved. It is understood that in this embodiment, a solenoid valve can be used in conjunction with a power source to drive the two separate parts 4a and 4b of the protective cover 4, or other transmission mechanisms can be used as needed to achieve reciprocating motion of the protective cover 4 relative to the host MB. Furthermore, the structure of the two separate parts 4a and 4b, and the transmission mechanism for achieving the closing and separation of the two separate parts 4a and 4b, can be set and adjusted as needed, as long as the protective cover 4 covers the bottom of the roller 2 in the protected position and exposes the bottom of the roller 2 in the non-protected position.

[0113] It should be understood that the above embodiments are merely exemplary and not intended to limit this disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teachings of this disclosure without departing from the scope of this disclosure. The following supplementary descriptions are provided regarding the technical solutions of this disclosure.

[0114] i. It is understood that the technical solutions of this disclosure are not only applicable to the self-moving cleaning devices described in the above embodiments, but can also be applied to autonomous mobile devices that achieve similar functions as needed. These autonomous mobile devices may include two-dimensional planar mobile robots with wheels or tracks as drive units, such as companion mobile robots (e.g., intelligent electronic pets, nanny robots), service mobile robots (e.g., reception robots in hotels, inns, and meeting places), industrial inspection intelligent devices (e.g., power inspection robots, intelligent forklifts, etc.), and security robots (e.g., household or commercial intelligent guard robots). Of course, the solutions of this disclosure can also be applied to other fields, which will not be exhaustively described.

[0115] ii. It is understood that, as long as there are no contradictions, the technical features in different embodiments can be combined with each other, thereby obtaining different solutions as needed.

[0116] iii. The above specific embodiments illustrate that the self-moving cleaning device includes a wet cleaning component, which includes a roller 2 as a wet cleaning element; however, this disclosure is not limited thereto. The self-moving cleaning device may also include a dry cleaning component disposed on the main unit MB, and may include, for example, a main brush or other dry cleaning element, as well as side brushes and a suction device. In the front-to-back direction D2, the dry cleaning element may be located in front of the wet cleaning element. Thus, when the autonomous mobile device travels on the travel surface, the travel surface can be cleaned by the dry cleaning component and / or the wet cleaning component. In different operating modes, the cleaning operations performed by the self-moving cleaning device include, but are not limited to, one or more of the following: sweeping, mopping, and vacuuming.

[0117] Furthermore, to achieve autonomous movement of the self-moving cleaning device, the self-moving cleaning device according to this disclosure includes a wheel assembly. The wheel assembly can be mounted on the main unit MB and protrude relative to the bottom surface of the main unit MB, for driving the entire self-moving cleaning device to move on the travel surface under the control of the processing unit. By causing the wheels (drive wheels) of the two wheel assemblies to rotate at the same speed and in the same direction (e.g., simultaneously clockwise or simultaneously counterclockwise), the self-moving cleaning device can be driven to move linearly in the forward direction; by causing the drive wheels of the two wheel assemblies to rotate at different speeds and / or in different directions (e.g., one drive wheel rotates clockwise while the other rotates counterclockwise), the self-moving cleaning device can be driven to turn in a direction different from the forward direction. The self-moving cleaning device may also include casters mounted on the main unit MB, so that regardless of how the drive wheels roll on the travel surface, the casters can support the entire self-moving cleaning device.

Claims

1. A self-moving cleaning device, characterized in that, Includes a main unit (MB) and a roller assembly (RA), the roller assembly (RA) comprising: The frame (1) is installed on the host (MB); A roller (2) is mounted on the frame (1) and is rotatable relative to the frame (1) about its central axis; A power source (3), which is mounted on the frame (1) or the main unit (MB); and A protective cover (4) is connected to the power source (3) for transmission. The power source (3) can drive the protective cover (4) to move relative to the roller (2). During the movement, the protective cover (4) can be positioned to a protective position that covers the bottom of the roller (2) and a non-protected position that exposes the bottom of the roller (2).

2. The self-moving cleaning device according to claim 1, characterized in that, It also includes a reducer (5) mounted on the frame (1), the power source (3) being connected to the protective cover (4) via the reducer (5), and the reducer (5) having a reduction ratio that allows the protective cover (4) to be locked when the power source (3) stops operating.

3. The self-moving cleaning device according to claim 2, characterized in that, It also includes an output gear (61), an intermediate gear (62), and a sector gear (63). The output gear (61) is connected to the reducer (5) in a transmission manner. The intermediate gear (62) and the output gear (61) are always meshed. The sector gear (63) is always meshed with the intermediate gear (62). The sector gear (63) is fixedly connected to the protective cover (4) or is part of the protective cover (4), so that the torque from the power source (3) is transmitted to the protective cover (4) via the reducer (5), the output gear (61), the intermediate gear (62) and the sector gear (63).

4. The self-moving cleaning device according to claim 3, characterized in that, The frame (1) is provided with a first limiting part (111) and a second limiting part (112). The first limiting part (111) and the second limiting part (112) are respectively located on both sides of the sector gear (63) in the rotation direction of the sector gear (63). The first limiting part (111) and the second limiting part (112) cooperate with the circumferential end edges of the sector gear (63) to limit the rotation range of the protective cover (4).

5. The self-moving cleaning device according to claim 4, characterized in that, Both the first limiting part (111) and the second limiting part (112) are limiting protrusions or limiting switches.

6. The self-moving cleaning device according to any one of claims 1 to 5, characterized in that, The protective cover (4) includes a cover body (41), a first bracket (42), and a second bracket (43). The cover (41) is located radially outside the roller (2), and the cover (41) extends axially across the entire roller (2) while also extending circumferentially along the roller (2). The first bracket (42) and the second bracket (43) are fixedly connected to both ends of the cover (41). The first bracket (42) and the second bracket (43) are located on both sides of the roller (2) in the axial direction. The first bracket (42) and the second bracket (43) are rotatably connected to the frame (1), so that the protective cover (4) can rotate around the central axis.

7. The self-moving cleaning device according to claim 6, characterized in that, The power source (3) drives the protective cover (4) to rotate via the first bracket (42). The first bracket (42) is a sector gear (63) and is detachably assembled with the first end of the cover (41). The second bracket (43) is fixed to the second end of the cover (41) and is provided with a bearing (44). The frame (1) includes a frame body (11) and a side support frame (12) that can be assembled in a detachable manner. The side support frame (12) includes a side plate (121) and a shaft (122) that are fixed to each other. The side plate (121) is assembled to the frame body (11) in a detachable manner, and the shaft (122) passes through the bearing (44) and is inserted into the roller (2).

8. The self-moving cleaning device according to claim 6, characterized in that, The cover (41) extends along the circumference across a central angle of 80 to 120 degrees.

9. The self-moving cleaning device according to claim 1, characterized in that, The protective cover (4) is mounted on the host (MB) and is formed as a flat plate. The power source (3) can drive the protective cover (4) to reciprocate linearly relative to the host (MB), so that the protective cover (4) can extend relative to the host (MB) in the protected position and retract relative to the host (MB) in the unprotected position.

10. The self-moving cleaning device according to claim 1, characterized in that, The protective cover (4) includes a first split part (4a) and a second split part (4b) separated from each other and disposed on the host (MB). The host (MB) has a first guide groove (c1) and a second guide groove (c2). One end of the first split part (4a) is installed in the first guide groove (c1), and one end of the second split part (4b) is installed in the second guide groove (c2). The power source (3) can drive the first split part (4a) to reciprocate along the first guide groove (c1), and the power source (3) can drive the second split part (4b) to reciprocate along the second guide groove (c2), so that the first split part (4a) and the second split part (4b) can extend relative to the host (MB) in the protected position and retract relative to the host (MB) in the unprotected position.

11. The self-moving cleaning device according to any one of claims 1 to 5, characterized in that, The central axis of the roller (2) extends along the left-right direction of the self-moving cleaning device, which also includes a lifting mechanism (LM), and the roller assembly (RA) is mounted on the main unit (MB) via the lifting mechanism (LM).

12. The self-moving cleaning device according to claim 11, characterized in that, The lifting mechanism (LM) includes a lifting motor (71), a transmission component (72), a first connecting rod (73), and a second connecting rod (74). The motor shaft of the lifting motor (71) is threadedly engaged with the transmission component (72), enabling the transmission component (72) to reciprocate along the motor shaft. The first link (73) is rotatably connected to both the main unit (MB) and the transmission component (72), and the second link (74) is rotatably connected to both the transmission component (72) and the roller assembly (RA).

13. The self-moving cleaning device according to claim 12, characterized in that, The second link (74) is rotatably connected to the front end of the frame (1) of the roller assembly (RA). The rear end of the frame (1) is rotatably connected to the host (MB); or the lifting mechanism (LM) further includes a rotating support link (75), and the top of the frame (1) is rotatably connected to the host (MB) through the rotating support link (75).

14. A method of operating the self-moving cleaning device according to any one of claims 11 to 13, characterized in that, The working method includes: The determination step includes using parameters acquired by the sensing components of the self-moving cleaning device to determine whether a carpet exists on the traveling surface in the direction of travel of the self-moving cleaning device; and In the first execution step, after determining the presence of a carpet in the determination step, the roller assembly (RA) is controlled to be in an elevated position relative to the host (MB) and / or the protective cover (4) of the roller assembly (RA) is controlled to be in a protective position.

15. The working method according to claim 14, characterized in that, Also includes: In the second execution step, the self-moving cleaning device is in wet cleaning mode and after determining in the judgment step that there is no carpet, the roller assembly (RA) is controlled to be in a lowered position relative to the main unit (MB) and the protective cover (4) of the roller assembly (RA) is controlled to be in a non-protected position.

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