Integrated cleaning equipment, control method thereof and computer readable storage medium

Abstract

The embodiment of the invention provides integrated cleaning equipment, a control method thereof and a computer readable storage medium, and relates to the technical field of household appliances. The integrated cleaning equipment comprises a sweeper body, a mechanical arm, a cleaning assembly and a connecting structure, one end of the mechanical arm is connected to the sweeper body, and the connecting structure is arranged between the other end of the mechanical arm and the cleaning assembly and used for enabling the cleaning assembly to be detachably connected to the other end of the mechanical arm. According to the embodiment of the invention, collaborative operation of the sweeping robot and the cleaning assembly can be realized, the use convenience of the cleaning assembly can be improved, and the cleaning function and the cleaning range of the integrated cleaning equipment can be improved.

Description

Technical Field

[0001] This application relates to the field of household appliance technology, and in particular to an integrated cleaning device and its control method, as well as a computer-readable storage medium. Background Technology

[0002] With the continuous development of technology, intelligent cleaning equipment (such as robotic vacuum cleaners) has become widely used. Intelligent cleaning equipment can clean floors through autonomous navigation and vacuuming systems, freeing users' hands and improving their quality of life.

[0003] Traditional cleaning equipment uses components such as roller brushes, side brushes, and mops to sweep and mop. However, the working range of these cleaning components is limited by the size and movement of the equipment itself. Traditional cleaning equipment cannot effectively cover areas such as furniture, corners, and tabletops that the main body of the robot vacuum cannot enter or reach.

[0004] To expand the operational capabilities of cleaning equipment, robotic vacuum cleaners with integrated robotic arms have emerged as a technology that can be used to collect items and move obstacles. However, these robotic arms are only used for handling items and do not have other functions that can expand the cleaning range.

[0005] In addition, there are standalone handheld vacuum cleaners on the market. These vacuum cleaners are small, handheld, and can be used to clean desktops, keyboards, car interiors, and other areas. However, these handheld vacuum cleaners are standalone devices that require individual user operation and cannot work in conjunction with robotic vacuum cleaners, so their ease of use still has room for improvement. Summary of the Invention

[0006] This application provides an integrated cleaning device and its control method, as well as a computer-readable storage medium, which enables the collaborative operation of a sweeping robot and cleaning components, thereby improving the ease of use of the cleaning components and enhancing the cleaning function and cleaning range of the integrated cleaning device.

[0007] The first aspect of this application provides an integrated cleaning device, comprising:

[0008] Main body of the sweeper;

[0009] A robotic arm, one end of which is connected to the main body of the sweeper;

[0010] Cleaning components;

[0011] A connecting structure is provided between the other end of the robotic arm and the cleaning component, for detachably connecting the cleaning component to the other end of the robotic arm.

[0012] According to the integrated cleaning equipment described in the first aspect of this application, the connection structure enables the connection between the robotic arm and the cleaning components. The main body of the sweeper can walk on the ground and clean up the garbage on the ground. The robotic arm can drive the cleaning components to complete the cleaning work in high places or narrow areas, thereby improving the ease of use of the cleaning components. The cleaning components and the robotic arm can work together. The cooperation between the main body of the sweeper and the cleaning components can improve the cleaning function and cleaning range of the integrated cleaning equipment.

[0013] In one possible implementation, the connection structure includes a first connecting portion and a second connecting portion that cooperate with each other;

[0014] The second connecting part is disposed at the other end of the robotic arm, and the first connecting part is disposed at one end of the cleaning component.

[0015] In one possible implementation, one of the first connecting portion and the second connecting portion includes a protrusion and an annular wall surrounding the outer periphery of the protrusion, with a gap between the protrusion and the annular wall;

[0016] The other of the first connecting portion and the second connecting portion includes a plug-in ring wall for insertion into the gap.

[0017] In one possible implementation, one of the first connecting portion and the second connecting portion is further provided with an elastic engagement component, the elastic engagement component including at least one engagement member;

[0018] The other of the first connecting part and the second connecting part is provided with a card interface adapted to the card fitting.

[0019] In one possible implementation, one of the first connecting portion and the second connecting portion includes a groove, and the other includes a protrusion adapted to the groove.

[0020] In one possible implementation, the first connecting portion and the second connecting portion include magnetic attraction elements that attract each other.

[0021] In one possible implementation, the sweeper body is equipped with a battery pack;

[0022] The robotic arm is equipped with a power supply line that is electrically connected to the battery pack.

[0023] The connection structure includes an electrical interface, and the connection structure is further provided with a power connector adapted to the electrical interface;

[0024] The cleaning component is electrically connected to the power supply line via the electrical interface and the power connector, and is powered by the battery pack.

[0025] In one possible implementation, the electrical interface includes a power supply connection terminal disposed on one of the first connection portion and the second connection portion;

[0026] The electrical connector is disposed on the other of the first connecting portion and the second connecting portion;

[0027] The power supply connection terminal can make electrical contact with the power connector.

[0028] In one possible implementation, the cleaning component includes a handheld vacuum cleaner with a dust cup having an exhaust port that automatically opens under negative pressure.

[0029] In one possible implementation, the dust cup includes:

[0030] The cup shell has an inner cavity and an outlet communicating with the inner cavity, the outlet forming the dust discharge port;

[0031] A sealed door structure is provided at the outlet, the sealed door structure having a first state of closing the outlet in a free state and a second state of opening the outlet under negative pressure.

[0032] In one possible implementation, the dust cup further includes:

[0033] The dust collection port is connected to the inner cavity and has a different orientation from the outlet.

[0034] A dust collection door structure is provided at the dust collection port, the dust collection door structure having a third state in which the dust collection port is closed in a free state and a fourth state in which the dust collection port is opened under negative pressure.

[0035] In one possible implementation, the airtight door structure includes:

[0036] A hinge is connected to the cup shell;

[0037] The door body is mounted on the door hinge;

[0038] And a self-locking elastic element, connected between the door hinge and the cup shell, for providing a pre-tightening force to the door body to close the outlet.

[0039] In one possible implementation, the cup shell has a shaft mounting area formed on one side of the outlet, and the door hinge is mounted in the shaft mounting area.

[0040] In one possible implementation, the cup shell has a supporting step formed around the periphery of the outlet;

[0041] The airtight door structure also includes a sealing ring, which is disposed on the support step and located between the door body and the support step.

[0042] In one possible implementation, one end of the cup shell has an opening for forming a sealed connection with the main unit of the handheld vacuum cleaner;

[0043] The other end of the cup shell is provided with a connecting protrusion ring for connecting with the vacuum head.

[0044] In one possible implementation, the inner wall surface of the cup shell at one end with an opening is provided with a cup shell slot;

[0045] The main unit housing of the handheld vacuum cleaner is provided with a main unit clip protrusion;

[0046] The host card protrudes and engages within the cup shell slot.

[0047] In one possible implementation, at least one resilient fastening component is provided at one end of the main housing near the dust cup;

[0048] The resilient fastening assembly is mounted on the main housing in a manner that allows it to rotate relative to the main housing.

[0049] At least a portion of the resilient fastening assembly protrudes from one side of the main housing and forms a pressing portion;

[0050] The main unit latching protrusion is formed at the end of the elastic fastening assembly near the dust cup.

[0051] In one possible implementation, the resilient fastening assembly includes:

[0052] Rotate the locking arm;

[0053] And the abutting elastic element that abuts against the fastening arm;

[0054] One end of the fastening arm has the main unit latching protrusion, and the fastening arm protrudes from one side of the main unit housing to form the pressing part.

[0055] In one possible implementation, the robotic arm includes at least two drive arms and a joint motor disposed between the two drive arms, the joint motor being used to drive the two drive arms to rotate relative to each other.

[0056] A second aspect of this application provides a control method for an integrated cleaning device, comprising:

[0057] Control the robotic arm to move to a pick-up / placement posture that is in contact with the cleaning component;

[0058] The cleaning component is connected to the other end of the robotic arm via the connection structure.

[0059] In one possible implementation, in response to a handheld use command, the connection structure is controlled to disconnect the robotic arm from the cleaning component, so that the cleaning component is detached from the robotic arm for handheld use.

[0060] In one possible implementation, after cleaning is complete, the robotic arm is controlled to retract, retrieving the cleaning component to its mounted position.

[0061] In one possible implementation, controlling the robotic arm to extend and deliver the cleaning assembly to the area to be cleaned includes:

[0062] Control the extension or retraction of the robotic arm to adjust the relative position of the cleaning component and the area to be cleaned;

[0063] And / or, control the main body of the sweeper to move along a predetermined path so as to drive the cleaning components to traverse the area to be cleaned.

[0064] In one possible implementation, image information of the area to be cleaned is acquired after cleaning is completed;

[0065] If the image information meets the preset cleaning requirements, the cleaning process ends.

[0066] If the image information does not meet the preset cleaning requirements, the robotic arm is re-controlled to transport the cleaning component to the area to be cleaned to perform cleaning.

[0067] A third aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method described in the second aspect.

[0068] A fourth aspect of this application provides an integrated cleaning device, comprising:

[0069] processor;

[0070] and a memory, on which computer programs are stored;

[0071] When the computer program is executed by the processor, the integrated cleaning device performs the control method described in the second aspect. Attached Figure Description

[0072] 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.

[0073] Figure 1A schematic diagram of an integrated cleaning device according to an embodiment of this application is shown;

[0074] Figure 2 A schematic diagram of the structure of a handheld vacuum cleaner according to an embodiment of this application is shown;

[0075] Figure 3 This paper shows a structural schematic diagram of a handheld vacuum cleaner provided according to an embodiment of the present application from another angle;

[0076] Figure 4 An exploded view of the first housing and the second housing of a handheld vacuum cleaner according to an embodiment of this application is shown;

[0077] Figure 5 This diagram illustrates a host computer with its first housing removed, according to an embodiment of this application.

[0078] Figure 6 This diagram illustrates a structural schematic of a host computer with the first housing removed at another angle, according to an embodiment of this application.

[0079] Figure 7 A schematic diagram of a dust collection structure provided according to an embodiment of this application is shown;

[0080] Figure 8 A schematic diagram of the structure of a host removal fan assembly according to an embodiment of this application is shown;

[0081] Figure 9 A schematic diagram of the structure of a dust collection structure door provided according to an embodiment of this application is shown;

[0082] Figure 10 A schematic diagram of a cup shell provided according to an embodiment of this application is shown;

[0083] Figure 11 A first flowchart of a control method provided according to an embodiment of this application is shown;

[0084] Figure 12 A second flowchart of a control method provided according to an embodiment of this application is shown;

[0085] Figure 13 A third flowchart of a control method provided according to an embodiment of this application is shown.

[0086] Figure label:

[0087] 100-Main unit; 101-First connecting part; 102-Second connecting part; 110-Main unit housing; 120-Fan assembly; 130-Power supply assembly; 140-Shock absorption element; 150-Filter structure; 111-First housing; 112-Second housing; 113-Protective cover; 114-Main unit locking protrusion; 115-Supporting rib; 116-Threaded connection hole; 117-Mounting step; 131-Power supply connection end; 1111-First annular wall; 1112-First protruding post; 1113-Plug-in post; 1114-Bayonet; 1121-Second annular wall; 1122-Second protruding post; 1123-Plug-in protrusion; 1131-Upright part; 1132-Inclined part; 1151-Arc-shaped notch; 1011-Annular wall; 1012-Protruding post; 1011a-Flanged structure; 1012a-Chamfer;

[0088] 200-Dust collection structure; 210-Vacuum head; 220-Dust cup; 211-Brush; 221-Cup shell; 222-Sealed door structure; 2211-Inner cavity; 2212-Outlet; 2213-Shaft mounting area; 2214-Support step; 2215-Connecting protrusion ring; 2216-Cup shell slot; 2217-Dust collection port; 2221-Self-locking component; 2222-Door body; 2223-Sealing ring; 2221a-Door hinge; 2221b-Self-locking elastic element;

[0089] 300 - Flexible engaging assembly; 310 - Engaging element; 320 - Engaging elastic element; 311 - Guide surface;

[0090] 400 - Flexible fastening assembly; 410 - Fastening arm; 420 - Resilient abutment element; 411 - Pressing part;

[0091] 10 - Main body of the sweeper;

[0092] 20 - Robotic arm; 21 - Rotary arm; 22 - Joint motor;

[0093] 30 - Cleaning components; 30a - Handheld vacuum cleaner;

[0094] 40-Connection structure.

[0095] 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

[0096] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0097] A handheld vacuum cleaner is a type of handheld vacuuming device. Due to its compact structure, it can clean small areas such as bed legs, vehicles, house corners, desktops, keyboards, and car interiors. Some of the debris stuck in these areas can be sucked into the handheld vacuum cleaner.

[0098] The dust cup is a structure in a handheld vacuum cleaner used to collect trash. During operation, the handheld vacuum cleaner can create negative pressure in the dust cup, allowing trash from the area to be cleaned to enter the dust cup.

[0099] The design of dust cups in related technologies mainly focuses on maintaining a negative pressure environment inside and preventing waste leakage. Both of these require the dust cup to have a sealed inner cavity. Therefore, dust cups are usually designed as a sealed cavity structure except for necessary openings. These necessary openings are mainly used to connect the dust cup to other structures in the handheld vacuum cleaner, such as the main unit or vacuum head of the handheld vacuum cleaner. After the connection is completed, the necessary openings are also sealed, thus forming the aforementioned sealed inner cavity inside the dust cup.

[0100] The main function of the aforementioned main unit is to create a negative pressure environment within the internal cavity, while the main function of the suction head is to draw debris into the inner cavity of the dust cup. It can be understood that the suction head, dust cup, and main unit are internally connected.

[0101] The aforementioned handheld vacuum cleaners have at least two convenience issues during use: the first is the issue of daily maintenance, and the second is the issue of usage limitations.

[0102] Regarding the first aspect mentioned above, specifically, because the dust cup is a sealed cavity structure, after the dust cup is full of garbage, it needs to be emptied manually, or even the dust cup needs to be removed to empty the garbage. This makes the handheld vacuum cleaner inconvenient in daily maintenance and inconvenient in use.

[0103] Regarding the second aspect mentioned above, specifically, handheld vacuum cleaners usually require the operator to hold them for cleaning operations. These handheld vacuum cleaners cannot be connected to other power mechanisms, and cannot be driven by a power mechanism to actively complete the cleaning work, which also makes them inconvenient to use.

[0104] Furthermore, robotic vacuum cleaners can perform sweeping and mopping functions through components such as roller brushes, side brushes, and mops. However, the working range of these cleaning components is limited by the size and movement of the main body of the device. Traditional cleaning equipment struggles to effectively cover areas that the main body of the vacuum cleaner cannot access or has difficulty reaching, such as furniture, corners, and tabletops.

[0105] To address the aforementioned convenience issue in the first aspect, this application provides a dust cup that can work with external negative pressure equipment to automatically collect waste, thus avoiding the need for manual emptying and improving the ease of use of the handheld vacuum cleaner.

[0106] The dust cup in this embodiment is provided with a sealed door structure. In a free state, the sealed door structure can seal the dust cup to enable the dust cup to collect garbage normally. When the sealed door structure is under the action of a negative pressure device, the sealed door structure can open the inner cavity of the dust cup under the action of negative pressure adsorption force, so that the garbage in the inner cavity is absorbed by the negative pressure device under the action of negative pressure adsorption force.

[0107] The negative pressure device here can be any device that can create negative pressure. The negative pressure device is usually equipped with a negative pressure chamber. When the dust cup is in the negative pressure chamber, the sealed door structure on the dust cup can open the inner chamber under the action of negative pressure adsorption force, so that the garbage is autonomously absorbed into the negative pressure device.

[0108] As can be seen from the following embodiments, the negative pressure device mentioned above can be a waste treatment base station, etc., and the waste treatment base station can also recycle the waste in the sweeping robot.

[0109] When it is time to collect garbage, the handheld vacuum cleaner can be inserted into the designated position of the negative pressure device. The negative pressure suction force in the negative pressure device should be able to act on the sealed door structure, thereby opening the sealed door structure and allowing the garbage in the inner cavity to enter the negative pressure device.

[0110] Of course, it should be understood that because of the sealed door structure, the inner cavity can also be opened under the action of other pulling forces (the aforementioned negative pressure suction force is one type of pulling force), so that the handheld vacuum cleaner can empty the garbage without the need for a negative pressure device.

[0111] Overall, whether the inner cavity is opened using negative pressure or other pulling forces, the process of emptying the trash can be simplified, thereby improving the ease of use of the handheld vacuum cleaner.

[0112] Based on the aforementioned dust cup, this application embodiment also provides a dust collection structure, which may include a dust cup and a suction head, etc., and the dust collection structure can be installed on the main unit to form a complete handheld vacuum cleaner.

[0113] Understandably, the dust cup design allows the dust collection structure and handheld vacuum cleaner to be paired with a negative pressure device to achieve automatic waste collection, thereby avoiding manual emptying of the waste and improving the convenience of using the handheld vacuum cleaner.

[0114] Based on the aforementioned dust cup or dust collection structure, this application embodiment also provides a handheld vacuum cleaner, which may include a dust collection structure and a main unit. The main unit is mainly used to create negative pressure in the dust collection structure, and the dust collection structure is mainly used to absorb the garbage.

[0115] Understandably, the dust collection structure design allows handheld vacuum cleaners to be paired with negative pressure devices to achieve automatic waste collection, thus avoiding the need for manual emptying and improving the ease of use of handheld vacuum cleaners.

[0116] To address the convenience issues mentioned in the second aspect and the limited cleaning area of ​​the robotic vacuum cleaner, this application provides an integrated cleaning device. This integrated cleaning device, through a connection structure, allows cleaning components such as a handheld vacuum cleaner to be connected to a power mechanism such as a robotic arm. The robotic arm can be a component of the robotic vacuum cleaner, enabling the cleaning components such as the handheld vacuum cleaner to move along with the robotic arm. This allows the cleaning components such as the handheld vacuum cleaner to actively clean up debris, thereby improving the ease of use of the handheld vacuum cleaner and also increasing the cleaning range of the integrated cleaning device.

[0117] This application mainly uses a robotic arm as an example to illustrate the connection structure and the connection between the cleaning component and the robotic arm. It is understood that in other embodiments, the cleaning component may also be connected to other power mechanisms.

[0118] Handheld vacuum cleaners and robot vacuums are both common garbage cleaning devices, and some robot vacuums are equipped with robotic arms. These robotic arms can assist in cleaning the whole machine and picking up items, but they lack the function of improving the cleaning function and cleaning range of the robot vacuum.

[0119] Based on a robotic vacuum cleaner equipped with a robotic arm, in order to improve the cleaning function and cleaning range of the robotic vacuum cleaner, the above-mentioned integrated cleaning equipment also includes a robotic vacuum cleaner body. The robotic vacuum cleaner body can complete the cleaning of ground garbage, while cleaning components such as handheld vacuum cleaners can complete the cleaning of other small areas.

[0120] In conjunction with the foregoing, in some cases, the aforementioned integrated cleaning equipment can be configured with a waste disposal base station. The main body of the sweeper and cleaning components such as the handheld vacuum cleaner can be connected to the waste disposal base station. Based on the internal negative pressure adsorption force of the waste disposal base station, automatic waste recycling can be achieved.

[0121] This application does not go into detail about the specific structure of the waste disposal base station. Its specific structure can be understood by referring to relevant technologies. For example, the waste disposal base station can be equipped with pipes, garbage bags and other structures. The pipes can be connected to the main body of a handheld vacuum cleaner and / or a sweeper, so that garbage can enter the garbage bag through the pipes, thereby completing the recycling of garbage.

[0122] Figure 1 A schematic diagram of an integrated cleaning device according to an embodiment of this application is shown; Figure 2 A schematic diagram of the structure of a handheld vacuum cleaner 30a according to an embodiment of this application is shown; Figure 3 A structural schematic diagram of a handheld vacuum cleaner 30a provided according to an embodiment of this application is shown from another angle.

[0123] In the embodiments of this application, please refer to Figures 1 to 3 The integrated cleaning equipment includes a sweeper body 10, a robotic arm 20, a cleaning component 30, and a connecting structure 40.

[0124] The main body 10 of the sweeping robot is the main structure of the sweeping robot. The main body 10 of the sweeping robot can walk on the ground and clean up the garbage on the ground.

[0125] The sweeper body 10 in this embodiment can be understood with reference to related technologies, and the specific type and structure of the sweeper body 10 are not limited. For example, the sweeper body 10 can be in the shape of a disc, with a walking mechanism at the bottom that allows it to walk on the ground, and an adsorption structure inside the sweeper body 10, through which garbage on the ground can enter the interior of the sweeper body 10.

[0126] One end of the robotic arm 20 is connected to the main body 10 of the sweeper, and the other end of the robotic arm 20 is connected to the cleaning component 30.

[0127] The robotic arm 20 is mounted on the main body 10 of the sweeper. The robotic arm 20 may include an output end and a connection end. The output end is located outside the main body 10 of the sweeper, and the connection end may be located inside the main body 10 of the sweeper. The robotic arm 20 may share a control system with the main body 10 of the sweeper.

[0128] The embodiments of this application do not limit the specific type and structure of the robotic arm 20. The robotic arm 20 can be lifted or rotated within a spatial range.

[0129] The connection structure 40 is disposed between the other end of the robotic arm 20 and the cleaning component 30, for detachably connecting the cleaning component 30 to the other end of the robotic arm 20.

[0130] It is understandable that after the cleaning component 30 is connected to the robotic arm 20, the cleaning component 30 can be driven to complete the cleaning work in high places or small areas by driving the robotic arm 20 to lift, move in space, etc.

[0131] The cleaning component 30 can be a handheld vacuum cleaner 30a, a rag, or other structures that can clean small areas.

[0132] In this embodiment, the connection structure 40 enables the connection between the robotic arm 20 and the cleaning component 30. The sweeper body 10 can walk on the ground and clean up the garbage on the ground. The robotic arm 20 can drive the cleaning component 30 to complete the cleaning work in high places or narrow areas, thereby improving the ease of use of the cleaning component 30. The cleaning component 30 and the robotic arm 20 can work together. The cooperation between the sweeper body 10 and the cleaning component 30 can improve the cleaning function and cleaning range of the integrated cleaning equipment.

[0133] In addition, in some embodiments, when the cleaning component 30 adopts a handheld vacuum cleaner 30a, the handheld vacuum cleaner 30a may also be configured with a sealed door structure 222, so that the handheld vacuum cleaner 30a can realize automatic recycling of waste.

[0134] Specifically, for the aforementioned integrated cleaning equipment, a waste disposal base station can be configured. Waste from both the sweeper body 10 and the handheld vacuum cleaner 30a can be absorbed by this base station. To this end, the waste disposal base station can be equipped with a waste collection pipe and waste bags, with the waste bags connected to the waste collection pipe. The base station also includes a negative pressure generator, such as a fan, to create negative pressure in the collection pipe. When waste needs to be collected, the sweeper body 10 and / or the handheld vacuum cleaner 30a can be connected to the waste collection pipe, activating the negative pressure generator, allowing the waste in the sweeper body 10 to be transported to the waste bag through the waste collection pipe.

[0135] It should be noted that the robot vacuum cleaner body 10 and the handheld vacuum cleaner 30a can share a single waste collection pipe, which simplifies the internal structure of the waste disposal base station. In some embodiments, the robot vacuum cleaner body 10 and the handheld vacuum cleaner 30a can also be configured with their own independent waste collection pipes.

[0136] Of course, in addition to the above-mentioned automatic waste collection method, the sealed door structure 222 can also be opened by pulling force, so that the waste can be poured out of the handheld vacuum cleaner 30a.

[0137] The specific structure of the airtight door structure 222 can be referred to in the following embodiment.

[0138] In some embodiments, please refer to Figure 2 and Figure 3 The handheld vacuum cleaner 30a may include a main unit 100 and a dust collection structure 200.

[0139] The dust collection structure 200 is connected to one end of the host 100. The dust collection structure 200 includes an inner cavity 2211. The host 100 is used to create a negative pressure in the inner cavity 2211 of the dust collection structure 200 so that garbage can enter the dust collection structure 200.

[0140] As can be seen from the following embodiments, the inner cavity 2211 can be formed by the cup shell 221.

[0141] As can be seen from the following embodiments, the main unit 100 can be connected to the end of the cup shell 221 that is away from the dust collection head.

[0142] In this embodiment, the main unit 100 is the power unit and control unit of the handheld vacuum cleaner 30a, primarily intended to create negative pressure within the dust collection structure 200. Therefore, the handheld vacuum cleaner 30a in this embodiment can be configured with a fan assembly 120, a power supply assembly 130, etc. (see reference...) Figure 5 ( ), wherein the fan assembly 120 is used to generate negative pressure, and the power supply assembly 130 is used to supply power to the fan assembly 120.

[0143] In some embodiments, the connection structure 40 includes a first connection portion 101 and a second connection portion that cooperate with each other.

[0144] The cleaning component 30 can be connected or separated from the robotic arm 20 through the cooperation of the first connecting part 101 and the second connecting part.

[0145] The second connecting part is located at the other end of the robotic arm 20, and the second connecting part 101 is located at one end of the cleaning assembly 30.

[0146] Specifically, for example, when the cleaning component uses a handheld vacuum cleaner 30a, the main unit 100 of the handheld vacuum cleaner 30a is provided with a first connecting part 101 at the end away from the dust collection structure 200. The first connecting part 101 is used to engage and fix with the output end of the robotic arm. The output end may be provided with a second connecting part or the output end forms a second connecting part. The power supply component 130 is electrically connected to the robotic arm.

[0147] By placing the first connecting part 101 at the end of the host 100 away from the dust collection structure 200, the robotic arm can be prevented from affecting the dust collection structure 200 after the host 100 is connected to the robotic arm. For example, it can prevent garbage from having difficulty entering the dust collection structure 200 smoothly.

[0148] In this embodiment, since the first connection part 101 is formed at the end of the host 100 away from the dust collection structure 200, the handheld vacuum cleaner 30a can be connected to the robotic arm without interfering with the dust collection structure 200. Furthermore, through the setting of the power supply component 130, the transmission of electrical energy from the robotic arm to the host 100 can be realized. Thus, the handheld vacuum cleaner 30a can be driven to perform automatic cleaning by the robotic arm, thereby improving the ease of use of the handheld vacuum cleaner 30a.

[0149] In this embodiment, the host 100 can be configured with a host housing 110, and the aforementioned fan assembly 120, power supply assembly 130, etc., can be housed inside the host housing 110.

[0150] In some embodiments, please refer to Figure 1 , Figure 2 and Figure 3 A first connecting portion 101 is formed at the end of the main housing 110 away from the dust collection structure 200.

[0151] In the above embodiment, the first connecting part 101 is formed by the main body shell 110, and the first connecting part 101 and the main body shell 110 can be integrally formed, thereby reducing the manufacturing cost of the main body shell 110 and the handheld vacuum cleaner 30a.

[0152] Furthermore, in some embodiments, the first connecting portion 101 may also be manufactured independently and connected to the main housing 110 via subsequent mechanical connection processes. For ease of description, the embodiments of this application are mainly described using the example of the main housing 110 itself forming the first connecting portion 101.

[0153] In some embodiments, please refer to Figure 3 One of the first connecting portion 101 and the second connecting portion includes a protruding post 1012 and an annular wall 1011 surrounding the outer periphery of the protruding post 1012, with a gap between the protruding post 1012 and the annular wall 1011.

[0154] The other of the first connecting portion 101 and the second connecting portion includes a plug-in ring wall for inserting into the gap.

[0155] For ease of description, the first connecting part 101 includes an annular wall 1011 and a protruding post 1012 as an example, and the second connecting part includes a plug-in annular wall as an example.

[0156] Understandably, the protruding post 1012 can circumferentially limit the inner wall of the insertion ring wall, and the ring wall 1011 can circumferentially limit the outer wall of the insertion ring wall. This allows the protruding post 1012 and the ring wall 1011 to not only provide necessary support for the insertion ring wall after it is inserted into the gap, but also to limit its movement, thereby ensuring that the insertion ring wall is stably connected to the first connecting part 101.

[0157] The embodiments of this application do not limit the specific structure of the protruding post 1012 and the annular wall 1011. For example, the cross-section of the protruding post 1012 can be square, triangular or circular, etc. Correspondingly, the annular wall 1011 can also be square, triangular or circular, etc.

[0158] In some embodiments, please refer to Figure 2 and Figure 3 The ring wall 1011 extends away from the dust collection structure 200 and expands outward to form a flared structure 1011a.

[0159] This can be understood as follows: taking the main unit 100 with a circular cross-section as an example, the direction away from the dust collection structure can be the axial direction of the main unit 100, and outward expansion refers to expansion in the radial direction of the main unit 100. In the above embodiment, because the annular wall 1011 expands outward into a flared structure 1011a, the diameter of the end of the main unit housing 110 away from the dust collection structure 200 can be increased, making it easier for the second connecting part of the robotic arm to be inserted into the first connecting part 101.

[0160] In some embodiments, please refer to Figure 3 The end of the protruding post 1012 has a chamfer 1012a formed circumferentially. The chamfer 1012a facilitates the insertion of the insertion ring wall into the first connecting part 101. The insertion ring wall can form an insertion interface. During the insertion process, the inner wall of the insertion interface can first contact the chamfer 1012a. The chamfer 1012a can reduce the external dimensions of the protruding post 1012 to a certain extent, making it easier for the insertion interface to fit into the protruding post 1012. Then, as the insertion ring wall is further inserted, the protruding post 1012 can abut against the inner wall of the insertion interface and form the aforementioned circumferential restriction.

[0161] In some specific embodiments, chamfer 1012a may be a rounded corner.

[0162] Figure 4 An exploded view of the first housing 111 and the second housing 112 of a handheld vacuum cleaner 30a provided according to an embodiment of this application is shown.

[0163] In some embodiments, please refer to Figure 3 and Figure 4The main housing 110 includes a first housing 111 and a second housing 112. The first housing 111 is fastened to the second housing 112. The end of the first housing 111 away from the dust collection structure 200 has a first annular wall 1111 and a first protrusion 1112. The first protrusion 1112 is located inside the first annular wall 1111. The end of the second housing 112 away from the dust collection structure 200 has a second annular wall 1121 and a second protrusion 1122. The second protrusion 1122 is located inside the second annular wall 1121. The first annular wall 1111 and the second annular wall 1121 are connected to form an annular wall 1011. The first protrusion 1112 and the second protrusion 1122 are connected to form a protrusion 1012.

[0164] By configuring the main unit housing 110 to include a first housing 111 and a second housing 112, the main unit housing 110 can be disassembled and assembled, which is beneficial for assembling the main unit 100 and also for repairing or replacing relevant components in the main unit housing 110 at a certain stage after assembly.

[0165] The first housing 111 can be fastened to the second housing 112, which simplifies the assembly and disassembly process and also simplifies the structure.

[0166] For example, please refer to Figure 4 In some specific embodiments, in order to achieve a snap-fit ​​connection, a plug-in post 1113 extending toward the second housing 112 may be provided on the first housing 111. The plug-in post 1113 may be formed on the edge of the first housing 111, and a bayonet 1114 may be formed in the plug-in post 1113. A plug-in protrusion 1123 may be provided on the second housing 112 at the position corresponding to the plug-in post 1113. The plug-in protrusion 1123 may be provided on the inner wall of the second housing 112. The snap-fit ​​connection between the first housing 111 and the second housing 112 can be achieved through the following process: the first housing 111 is driven close to the second housing 112, and the insertion post 1113 on the first housing 111 enters the second housing 112. As the insertion post 1113 gradually extends in, the insertion protrusion 1123 on the second housing 112 can press against the insertion post 1113, causing the insertion post 1113 to deform away from the insertion protrusion 1123. After the latch 1114 on the insertion post 1113 aligns with the insertion protrusion 1123, the insertion protrusion 1123 can be engaged in the latch 1114, thereby achieving the snap-fit ​​connection between the first housing 111 and the second housing 112.

[0167] In the above embodiments, the annular wall 1011 and the protrusion 1012 are both formed by the first housing 111 and the second housing 112. Specifically, after the first housing 111 is connected to the second housing 112, the first annular wall 1111 can be connected with the second annular wall 1121 to form the annular wall 1011, and the second protrusion 1122 can be connected with the first protrusion 1112 to form the protrusion 1012. This method of forming the annular wall 1011 and the protrusion 1012 together can simplify the structure of the first housing 111 and the second housing 112, and also facilitate the separate molding of the first housing 111 and the second housing 112.

[0168] Of course, in other embodiments, the annular wall 1011 and the protrusion 1012 may also be formed by one of the first housing 111 and the second housing 112. For example, the first housing 111 may form the protrusion 1012, and the second housing 112 may form the annular wall 1011.

[0169] In some embodiments, please refer to Figure 3 and Figure 4 The first connecting part 101 also includes a protective cover 113 located between the annular wall 1011 and the protrusion 1012, the protective cover 113 being attached to the annular wall 1011.

[0170] The protective cover 113 has a similar shape to the ring wall 1011. The protective cover 113 can prevent the plug ring wall from directly acting on the ring wall 1011, thus avoiding damage to the ring wall 1011.

[0171] It is understandable that different effects can be achieved by reasonably setting the structure of the protective cover 113 and reasonably selecting the material of the protective cover 113. For example, in some embodiments, the protective cover 113 may include an inclined portion 1132 and an upright portion 1131. The upright portion 1131 extends along the axial direction of the main unit 100, and the inclined portion 1132 extends outward from the end of the upright portion 1131 away from the dust collection structure 200. After the protective cover 113 with this structure is fitted onto the ring wall 1011, a buffer cavity can be formed between the protective cover 113 and the ring wall 1011, which can play a role in shock absorption. As another example, based on the above structure, a material with a certain degree of elasticity can be selected to make the protective cover 113, so that the protective cover 113 can contract towards the buffer cavity when compressed, thereby allowing the first connecting portion 101 to be adapted to the insertion of ring walls of different sizes.

[0172] In some embodiments, one of the first connecting portion 1011 and the second connecting portion includes a groove, and the other includes a protrusion adapted to the groove. The connection between the robotic arm 20 and the cleaning component 30 can also be achieved through the cooperation of the groove and the protrusion.

[0173] In some embodiments, the first connecting part 1011 and the second connecting part include magnetic elements that attract each other. The magnetic elements can be magnets or the like. The connection between the robotic arm 20 and the cleaning assembly 30 can be achieved through the attraction between the magnetic elements.

[0174] In some embodiments, please refer to Figure 3 One of the first connecting portion 1011 and the second connecting portion is further provided with an elastic engaging component 300, which includes at least one engaging member 310.

[0175] The first connecting part 1011 and the other of the second connecting parts are provided with a card interface adapted to the card connector 310.

[0176] The aforementioned elastic engaging component 300 is disposed in the protrusion 1012, and the engaging member 310 extends from one side of the protrusion 1012 and engages with the second connecting part. The aforementioned engaging interface can be formed on one side wall of the insertion ring wall.

[0177] The function of the elastic locking assembly 300 is to assist in fixing the second connecting part. Specifically, after the insertion ring wall is inserted into the first connecting part 101, for example, when the insertion interface of the insertion ring wall is inserted into the protrusion 1012, the locking member 310 in the elastic locking assembly 300 can extend and lock into the locking interface, thereby enabling the second connecting part to be stably connected to the first connecting part 101.

[0178] In some embodiments, please refer to Figure 3 The elastic engagement assembly 300 includes an engagement elastic member 320 disposed in the protrusion 1012, and an engagement member 310 connected to the engagement elastic member 320. The engagement member 310 includes an inclined guide surface 311 for guiding the output end to be inserted into the first connecting part 101.

[0179] The engaging elastic element 320 can be a spring or other component. The engaging elastic element 320 can provide a force to the engaging element 310 so that the engaging element 310 can retract into the protrusion 1012 when it is squeezed, and can be reset and engaged into the card interface under the action of elastic force.

[0180] The function of the aforementioned guide surface 311 is to guide the insertion ring wall to be smoothly inserted into the first connecting part 101. The specific function of the elastic engaging component 300 will be described below in conjunction with the above-mentioned insertion interface and the mating structure of the protrusion 1012.

[0181] During the process of inserting the plug ring wall into the first connecting part 101, the protrusion 1012 will gradually enter the plug interface. As the output end continues to penetrate, the inner wall of the plug interface will contact the locking member 310. Because the locking member 310 is provided with a guide surface 311, which is inclined towards the output end, the output end can continue to penetrate and squeeze the locking member 310. At this time, the locking member 310 will retract into the protrusion 1012. After the output end is inserted into place, the locking member 310 can be reset and locked into the designated position in the plug ring wall under the action of the locking elastic member 320. For example, the above-mentioned locking interface can be provided on the plug ring wall so that the locking member 310 can be locked into the locking interface.

[0182] In some embodiments, the main body 10 of the sweeping robot is provided with a battery pack, the robotic arm 20 is provided with a power supply line that is electrically connected to the battery pack, the connection structure 40 includes an electrical interface, and the connection structure 40 is also provided with a connector adapted to the electrical interface. The cleaning component 30 is electrically connected to the power supply line through the electrical interface and the connector to be powered by the battery pack.

[0183] By setting up power supply lines, electrical interfaces, and electrical connectors, the power from the battery pack can be delivered to the cleaning component 30. At this time, the sweeper body 10 and the cleaning component 30 can share a power supply system, which can simplify the structural design of the power supply system of the integrated cleaning equipment.

[0184] In some embodiments, please refer to Figure 3 The main unit housing 110 is provided with a power supply component 130, which includes a power supply connection end 131. The power supply connection end 131 extends out of the first connection part 101 and is located on both sides of the protrusion 1012. The power supply connection end 131 can form the above-mentioned electrical interface.

[0185] It is understood that the power supply connection 131 needs to be connected to the fan assembly 120 to supply power to the fan assembly 120. The end of the power supply connection 131 extending out of the first connection portion 101 can be connected to the electrical connector.

[0186] The power supply connection terminal 131 can adopt a pin structure, that is, one end of the pin structure is connected to the fan assembly 120, and the other end of the pin structure is connected to the electrical connector, which can adopt a pin, contact spring, or other structure.

[0187] It is understood that the power supply connection terminal is disposed on one of the first connection portion 1011 and the second connection portion; the power receiving component is disposed on the other of the first connection portion 1011 and the second connection portion; and the power supply connection terminal can make electrical contact with the power receiving component.

[0188] In the above embodiment, since the power supply connection terminal 131 is provided on both sides of the protrusion 1012, after the second connection part is connected to the first connection part 101, the electrical transmission between the second connection part and the fan assembly 120 can be realized. This allows the cleaning assembly 30 to share the power supply unit with the robotic arm 20 after it is connected to the robotic arm 20, thereby simplifying the structure.

[0189] In some embodiments, please refer to Figure 1 The robotic arm 20 includes at least two drive arms 21 and a joint motor 22 disposed between the two drive arms 21. The joint motor 22 is used to drive the two drive arms 21 to rotate relative to each other.

[0190] The arrangement of at least two drive arms 21 can increase the degree of freedom of movement of the robotic arm 20, thereby driving the cleaning component 30 to perform more flexible movements.

[0191] Figure 5 This diagram illustrates a host 100 with the first housing 111 removed, according to an embodiment of this application. Figure 6 This diagram illustrates a structural schematic of a host 100 provided according to an embodiment of the present application, with the first housing 111 removed at another angle.

[0192] In some embodiments, please refer to Figure 5 and Figure 6 The fan assembly 120 and the power supply assembly 130 are disposed in the main housing 110, and the power supply assembly 130 is disposed at the end of the fan assembly 120 away from the dust collection structure 200.

[0193] The arrangement of the fan assembly 120 and the power supply assembly 130 allows the power supply connection terminal 131 in the power supply assembly 130 to extend from the first connection portion 101, thereby achieving electrical conduction with the second connection portion.

[0194] As described above, the end of the main unit 100 with the first connecting part 101 is used to connect with the second connecting part. This end is away from the dust collection structure 200. Therefore, the end of the main unit 100 that is close to the dust collection structure 200 needs to be connected to the dust collection structure 200. To simplify the connection, the dust collection structure 200 and the main unit housing 110 can also be connected by a snap-fit ​​connection.

[0195] Figure 7 A schematic diagram of a dust collection structure 200 provided according to an embodiment of this application is shown.

[0196] In some embodiments, please refer to Figures 5 to 7The inner wall surface of the cup shell 221 with an opening is provided with a cup shell slot 2216; the main unit shell 110 of the handheld vacuum cleaner 30a is provided with a main unit slot protrusion 114; the main unit slot protrusion 114 is engaged in the cup shell slot 2216.

[0197] Specifically, the outer wall of the main housing 110 near the dust collection structure 200 has a protrusion forming a main housing latch 114, and the inner wall of the dust cup 220 in the dust collection structure 200 is provided with a cup shell latching groove 2216. The main housing latch 114 is used to be latched into the cup shell latching groove 2216 and fixed.

[0198] For the handheld vacuum cleaner 30a as a whole, the connection between the dust collection structure 200 and the main unit 100 can be achieved by the cooperation between the main unit latch 114 and the cup shell latch 2216. Specifically, during the connection, the dust collection structure 200 can be driven closer to the main unit 100 and the main unit latch 114 can be engaged into the cup shell latch 2216.

[0199] It is understandable that there is no limit to the number of host card protrusions 114 and cup shell slots 2216. For example, there can be multiple host card protrusions 114 and cup shell slots 2216 arranged at intervals along the circumference.

[0200] The embodiments of this application do not limit the specific structure of the host card protrusion 114 and the cup shell slot 2216. For example, the host card protrusion 114 can be cylindrical or conical.

[0201] Furthermore, it should be understood that the main unit card protrusion 114 and the cup shell card slot 2216 are corresponding. In other words, the main unit card protrusion 114 can also be formed on the dust collection structure 200, and the cup shell card slot 2216 can also be formed on the main unit shell 110.

[0202] In some embodiments, please refer to Figure 5 and Figure 6 At least one elastic fastening component 400 is provided at one end of the main housing 110 near the dust cup 220. The elastic fastening component 400 is mounted on the main housing 110 in a manner that allows it to rotate relative to the main housing 110. At least a portion of the elastic fastening component 400 protrudes from one side of the main housing 110 and forms a pressing part 411. A main housing latch protrusion 114 is formed at one end of the elastic fastening component 400 near the dust cup 220.

[0203] Because the elastic fastening assembly 400 can rotate relative to the main housing 110, pressing the pressing part 411 of the elastic fastening assembly 400 can drive the elastic fastening assembly 400 to rotate into the main housing 110, thereby realizing the separation between the main housing latch 114 and the cup housing latch 2216, thus enabling the purpose of quickly disassembling the dust collection structure 200 when needed.

[0204] It is understandable that there is no limit to the number of elastic fastening components 400; there can be one or more. When multiple are used, the multiple elastic fastening components 400 can be arranged at intervals along the circumference.

[0205] In some embodiments, please refer to Figure 5 and Figure 6 The elastic fastening assembly 400 includes a rotatably configured fastening arm 410 and an abutting elastic member 420 abutting against the fastening arm 410. One end of the fastening arm 410 forms a main unit latching protrusion 114. The fastening arm 410 protrudes from one side of the main unit housing 110 and forms a pressing part 411.

[0206] To enable the rotating installation of the locking arm 410, a rotating shaft can be installed inside the main housing 110, and then the locking arm 410 can be connected to the rotating shaft. The abutting elastic element 420 can be a spring or the like. The function of the abutting elastic element 420 is to drive the locking arm 410 to remain in a state that can engage with the dust collection structure 200. When it is necessary to install or remove the dust collection structure 200, simply press the pressing part 411 formed by the locking arm 410 to drive the locking arm 410 to rotate.

[0207] In some embodiments, please refer to Figure 5 and Figure 6 The main housing 110 is also provided with a shock-absorbing element 140, which can be a shock-absorbing cotton or the like. The shock-absorbing element 140 is located on the outer periphery of the fan assembly 120 and is used to reduce the vibration generated during the operation of the fan assembly 120.

[0208] Figure 8 A schematic diagram of the structure of a host 100 removing the fan assembly 120 is shown according to an embodiment of this application.

[0209] In some embodiments, please refer to Figure 8 The first housing 111 and the second housing 112 are also provided with support ribs 115 for supporting the fan assembly 120. The support ribs 115 are formed with arc-shaped notches 1151 that are adapted to the shape of the fan assembly 120, so that the fan assembly 120 can be stably installed on the support ribs 115.

[0210] In some embodiments, please refer to Figure 5 and Figure 6 Threaded connection holes 116 are also provided on the first housing 111 and the second housing 112, so that the first housing 111 and the second housing 112 can be connected by fasteners such as screws, which can improve the connection reliability between the first housing 111 and the second housing 112.

[0211] In some embodiments, please refer to Figure 6The end of the main housing 110 near the dust collection structure 200 is also provided with an installation step 117. During the process of connecting the dust collection structure 200 to the main unit 100, the installation step 117 can indicate the position of the dust collection structure 200. That is, when the dust cup 220 in the dust collection structure 200 abuts against the installation step 117, it indicates that the dust collection structure 200 is installed in place. At this time, the main unit locking protrusion 114 on the main housing 110 can be locked into the cup shell locking groove 2216 in the dust cup 220.

[0212] In some embodiments, please refer to Figure 5 , Figure 6 and Figure 8 The main unit 100 also includes a filter structure 150 disposed at one end of the main unit housing 110 near the dust collection structure 200. The filter structure 150 can be selected and designed according to actual needs. For example, the filter structure 150 can include multiple layers of filter cotton, or the filter structure 150 can be designed as a porous structure. The filter structure 150 can absorb small particles in the garbage and prevent small particles from entering the main unit 100.

[0213] In some embodiments, please refer to Figure 1 and Figure 7 The dust collection structure 200 includes a suction head 210 and a dust cup 220. The suction head 210 is connected to one end of the cup shell 221 of the dust cup 220. Specifically, as can be seen from the following embodiments, the suction head 210 can be connected to the end of the cup shell 221 of the dust cup 220 that has a dust collection port 2217.

[0214] The vacuum head 210 can be designed with reference to relevant technologies. For example, the vacuum head 210 may include a brush 211 for cleaning.

[0215] The vacuum head 210 is connected to the dust cup 220, and the dust cup 220 is connected to the main unit 100, so that the main unit 100 can create a negative pressure in the dust cup 220, and the garbage can enter the dust cup 220 through the vacuum head 210 to achieve the collection of garbage by the dust cup 220.

[0216] In some embodiments, the handheld vacuum cleaner includes a dust cup 220, which has a dust outlet that can be automatically opened under negative pressure.

[0217] The dust outlet here can be connected with the aforementioned negative pressure device to achieve automatic waste recycling. That is, after the dust cup 220 is placed in the negative pressure device, the negative pressure generated by the negative pressure device can open the dust outlet, thereby achieving automatic waste recycling.

[0218] In some embodiments, please refer to Figure 1 and Figure 7The dust cup 220 includes a cup shell 221 and a sealed door structure 222. The dust cup 220 may also include a dust collection door structure.

[0219] The specific structure of the cup shell 221 is not limited, and it can be set according to the structure of the main body shell 110. The cup shell 221 can be constructed into a cylindrical, rectangular or other structure.

[0220] The dust cup 221 has openings at both ends, which are the necessary openings in the dust cup 220 described earlier. One opening is designed to facilitate the connection of the dust cup 220 to the main housing 110, and the other opening is designed to enable communication between the dust cup 220 and the vacuum head 210. In addition, another purpose of the opening design is to achieve internal communication between the vacuum head 210, the dust cup 220, and the main housing 110.

[0221] The cup shell 221 has an inner cavity 2211, an outlet 2212 communicating with the inner cavity 2211, and a dust collection port 2217 communicating with the inner cavity 2211. The outlet 2212 can form the aforementioned dust discharge port. (Refer to...) Figure 9 and Figure 10 The inner cavity 2211 can store waste, and the outlet 2212 can be combined with the airtight door structure 222 to realize the dumping or automatic recycling of waste. The dust collection port 2217 is the inlet for waste to enter the inner cavity 2211. For example, waste can enter the inner cavity 2211 through the dust collection port 2217 under the action of the aforementioned suction head 210. The dust collection door structure can realize the opening and closing of the dust collection port 2217, so that the dust collection port 2217 can be opened to absorb waste when needed, and can be closed when not needed.

[0222] The dust collection port 2217 and the discharge port 2212 have different orientations, so that the entry of garbage and the automatic recycling of garbage do not interfere with each other.

[0223] The airtight door structure 222 is located at the outlet 2212. The airtight door structure 222 has a first state in which the outlet 2212 is closed in a free state and a second state in which the outlet 2212 is opened under the action of a pulling force.

[0224] The natural state refers to the state in which the handheld vacuum cleaner 30a is in normal use. In the natural state, the sealing door structure 222 is in the first state of closing the outlet 2212, which can prevent the garbage in the inner cavity 2211 from leaking out.

[0225] As mentioned above, there are several ways to generate tension. For example, it could be the negative pressure adsorption force generated by negative pressure equipment such as waste treatment stations, or it could be a force applied manually to the sealed door structure 222. Under the action of tension, the sealed door structure 222 is in the second state with the outlet 2212 open. At this time, waste can be dumped or automatically recycled. The former can be achieved by manually operating the dust cup 220, while the latter can be achieved by negative pressure equipment such as waste treatment stations.

[0226] The dust collection door structure is installed at the dust collection port 2217. The dust collection door structure has a third state in which the dust collection port is closed in a free state and a fourth state in which the dust collection port is opened under the action of tension.

[0227] The dust collection door structure can be set according to the airtight door structure 222. Of course, the dust collection door structure can also be other structures.

[0228] In this embodiment, the dust collection door structure and the airtight door structure 222 can operate in reverse. In other words, when the airtight door structure 222 opens the outlet 2212, the dust collection door structure closes the dust collection port 2217. When the airtight door structure 222 closes the outlet 2212, the dust collection door structure can open the dust collection port 2217.

[0229] Among them, the airtight door structure 222 can open the outlet 2212 through a negative pressure device, and the dust collection door structure can open the dust collection port 2217 through the negative pressure in the inner cavity 2211.

[0230] In this embodiment, the cup shell 221 is provided with an inner cavity 2211, an outlet 2212, and a dust collection port 2217. The inner cavity 2212 can collect waste, the outlet 2212 can be combined with a sealed door structure 222 to realize the dumping or automatic recycling of waste, and the dust collection port 2217 can be combined with a dust collection door structure to realize the absorption of waste. Specifically, the sealed door structure 222 can open the outlet 2212 under the action of tension, so that the waste in the inner cavity 2211 can flow through the outlet 2212 to the negative pressure equipment such as the waste treatment base station, thereby realizing the automatic recycling of waste, or allowing the waste in the inner cavity 2211 to be poured out from the outlet 2212 to realize the dumping of waste. The dust collection door structure can open the dust collection port 2217 under the action of negative pressure in the inner cavity 2211, thereby completing the absorption of waste. In this embodiment, the arrangement of the outlet 2212 and the sealed door structure 222 facilitates the emptying of the dust cup 220, thereby improving the usability of the handheld vacuum cleaner. Furthermore, the dust collection port 2217 and the dust collection door structure allow for the absorption of waste when needed, and the dust collection port 2217 can be closed when not needed. This, combined with the sealed door structure 222, enables selective absorption and automatic recycling of waste, further enhancing the usability of the handheld vacuum cleaner 30a.

[0231] Figure 9 This paper shows a schematic diagram of the removal door 2222 of a dust collection structure 200 provided according to an embodiment of the present application; Figure 10 A schematic diagram of the structure of a cup shell 221 provided according to an embodiment of this application is shown.

[0232] In some embodiments, please refer to Figure 2 , Figure 7 , Figure 9 and Figure 10 The airtight door structure 222 includes a self-locking assembly 2221 and a door body 2222 mounted on the self-locking assembly 2221. The self-locking assembly 2221 is used to drive the door body 2222 into a first state.

[0233] Understandably, the self-locking component 2221 is used to provide a preload to the door 2222 so that the door 2222 can remain in the first state.

[0234] In some embodiments, please refer to Figure 9 and Figure 10 The self-locking assembly 2221 includes a door hinge 2221a and a self-locking elastic element 2221b. The door hinge 2221a is connected to the cup shell 221, and the self-locking elastic element 2221b is connected between the door hinge 2221a and the cup shell 221. It is used to provide a pre-tightening force to the door body 2222 to close the outlet 2212. The door body 2222 is mounted on the door hinge 2221a.

[0235] The self-locking elastic element 2221b can be an elastic element such as a torsion spring. Its function is to provide preload to the door hinge 2221a, so that the door hinge 2221a is in the first position. During the process of dumping garbage or automatically recycling garbage, the pulling force will drive the door body 2222 to rotate, and the door hinge 2221a will rotate to the second position. At this time, the self-locking elastic element 2221b will undergo elastic deformation. After the pulling force disappears, the self-locking elastic element 2221b will drive the door hinge 2221a to rotate back to the first position, thereby realizing the closing of the door body 2222.

[0236] In the aforementioned self-locking assembly 2221, the self-locking elastic element 2221b can also be connected between the door body 2222 and the cup shell 221. As the door body 2222 rotates, the self-locking elastic element 2221b will also deform.

[0237] In addition to using a self-locking elastic element 2221b and a door hinge 2221a to form the self-locking assembly 2221, in some embodiments, the self-locking assembly 2221 may also include a self-closing hinge.

[0238] In some embodiments, please refer to Figure 9At least one side of the cup shell 221 has an outlet 2212, and a shaft mounting area 2213 is formed on one side of the outlet 2212. The door hinge 2221a is installed in the shaft mounting area 2213.

[0239] It is understood that the cup shell 221 needs to be provided with at least one outlet 2212, which can be located on either side of the cup shell 221. One side of the outlet 2212 is formed with a shaft mounting area 2213 for mounting the door hinge 2221a, which facilitates the installation of the door hinge 2221a.

[0240] In some embodiments, please refer to Figure 9 and Figure 10 The cup shell 221 has a supporting step 2214 formed around the outlet 2212. The airtight door structure 222 also includes a sealing ring 2223, which is disposed on the supporting step 2214 and is located between the door body 2222 and the supporting step 2214.

[0241] The sealing ring 2223 ensures a good sealing connection between the door 2222 and the outlet 2212 when the door 2222 is in the first state, which can prevent garbage leakage.

[0242] The height of the supporting step 2214 can be the sum of the heights of the sealing ring 2223 and the door body 2222, so that when the door body 2222 is in the first state, the surface of the door body 2222 is flush with the surface of the cup shell 221.

[0243] In some embodiments, please refer to Figure 10 One end of the cup shell 221 has an opening, and the other end of the cup shell 221 is provided with a connecting protrusion ring 2215. The opening is used to form a sealed connection with the main unit 100, and the connecting protrusion ring 2215 is used to form a connection with the vacuum head 210.

[0244] The connection between the cup shell 221 and the main unit 100 can be referred to the previous text and will not be repeated here. The connecting protrusion 2215 can cooperate with the relevant structure of the vacuum head 210. For example, the connecting protrusion 2215 can be engaged with the bottom of the vacuum head 210, so that the vacuum head 210 can be installed on the cup shell 221.

[0245] In some embodiments, the inner wall surface of the cup shell 221 with an opening is provided with the cup shell slot 2216, which is used to form a snap-fit ​​connection with the host card protrusion 114 on the host shell 110.

[0246] The connection between the cup shell slot 2216 and the host card protrusion 114 can be referred to the above description and will not be repeated here.

[0247] Figure 11A first flowchart of a control method provided according to an embodiment of this application is shown;

[0248] Figure 12 A second flowchart of a control method provided according to an embodiment of this application is shown; Figure 13 A third flowchart of a control method provided according to an embodiment of this application is shown.

[0249] In addition to the above-mentioned sweeping robot, this application also provides a control method for the sweeping robot, which can achieve cleaning of narrow areas.

[0250] Please refer to Figure 11 The control method includes:

[0251] S10. Control the robotic arm 20 to move to a pick-up / placement posture that is in contact with the cleaning component 30;

[0252] In this step, after receiving the cleaning instruction, the integrated cleaning device can control the sweeper body 10 to move, thereby moving the robotic arm 20 to a pick-up and place posture. In this pick-up and place posture, the robotic arm 20 and the cleaning component 30 are in a dockable state.

[0253] It is understandable that, as mentioned above, both the main body 10 of the sweeping machine and the cleaning component 30 can be housed in the waste disposal base station, with the two located in different positions within the waste disposal base station.

[0254] The cleaning component 30 here can be a handheld vacuum cleaner 30a, a small rag, or other similar structures.

[0255] S20. The cleaning component 30 is connected to the other end of the robotic arm 20 via the connecting structure 40.

[0256] As described above, the connection structure 40 may include a first connection part 1011 and a second connection part. During the continued movement of the sweeper body 10, the first connection part 1011 can dock with the second connection part, thereby realizing the connection between the robotic arm 20 and the cleaning component 30.

[0257] Of course, for another working mode, please refer to... Figure 12 The control methods may also include:

[0258] S30, in response to a handheld use command, control connection structure 40 disconnects the robotic arm 20 from the cleaning component 30, so that the cleaning component 30 is detached from the robotic arm 20 for handheld use.

[0259] In the above mode, the cleaning component 30 and the main body of the sweeping machine 10 can be used independently to complete the cleaning work of different areas.

[0260] The above steps can be understood as the preliminary work of the integrated cleaning equipment before it performs cleaning operations. When the integrated cleaning equipment needs to perform cleaning work, the waste treatment base station can receive relevant instructions and simultaneously realize the preliminary work of the integrated cleaning equipment.

[0261] For example, after receiving an instruction, the integrated cleaning device can dock the robotic arm 20 with the cleaning component 30 at the waste disposal base station. For example, the handheld vacuum cleaner 30a can be housed in the waste disposal base station and expose the first connection part 101. The integrated cleaning device can move to the cleaning component 30 and dock the robotic arm 20 with the cleaning component 30.

[0262] When performing cleaning work, please refer to Figure 13 The control methods may include:

[0263] S100: Obtain the location information of the area to be cleaned.

[0264] Integrated cleaning equipment can model the indoor environment upon initial use, and can identify and record all areas in the room that need to be cleaned, including gaps under furniture, tabletops, wall corners, bed legs, and room corners.

[0265] The location information of each area to be cleaned can be stored in the integrated cleaning device. When a certain area needs to be cleaned, an instruction can be sent to the integrated cleaning device to move to that location and start cleaning.

[0266] S200: Based on the location information, control the main body 10 of the sweeper to move to the starting position of the work area to be cleaned.

[0267] The location information of each area to be cleaned is stored in the integrated cleaning device. When an instruction is received that a certain area needs to be cleaned, the main body of the sweeper 10 can move to a location close to the area to be cleaned.

[0268] S300: Control the robotic arm 20 to unfold and transport the cleaning component 30 to the area to be cleaned.

[0269] After completing steps S100 and S200, the integrated cleaning device can be positioned directly in front of the area to be cleaned. Then, by controlling the movement of the robotic arm 20, the cleaning component 30 can be extended towards the area to be cleaned. Alternatively, the integrated cleaning device can be positioned below the area to be cleaned, and by controlling the extension and retraction of the robotic arm 20, the cleaning component 30 can be driven to extend towards the area to be cleaned.

[0270] Specifically, step S300 may include:

[0271] S310, control the robotic arm 20 to extend or retract to adjust the relative position of the cleaning component 30 and the area to be cleaned, and / or control the sweeper body 10 to move along a predetermined path to drive the cleaning component 30 to traverse the area to be cleaned.

[0272] The execution of step S310 can cause the cleaning component 30 to cover the area that needs to be cleaned, which may mainly include small areas.

[0273] The relative position setting allows the cleaning component 30 to face the narrow area. For example, when the narrow area is a rectangular area, the cleaning component 30 can be located at one end of the length direction of the narrow area.

[0274] S400, Start cleaning component 30 to perform cleaning.

[0275] In some embodiments, the control method further includes:

[0276] After cleaning is completed, the robotic arm 20 is retracted, and the cleaning component 30 is retrieved to its mounted position.

[0277] The mounting posture here can be that the cleaning component 30 is retracted into the main body 10 of the sweeping machine, so that the main body 10 of the sweeping machine can avoid the cleaning component 30 from touching other objects when it is running.

[0278] In some embodiments, the control method further includes:

[0279] After cleaning is completed, acquire image information of the area to be cleaned;

[0280] If the image information meets the preset cleaning requirements, the cleaning process ends.

[0281] If the image information does not meet the preset cleaning requirements, the robotic arm 20 is re-controlled to transport the cleaning component 30 to the area to be cleaned to perform cleaning.

[0282] Therefore, it can be ensured that the cleaning effect of the area to be cleaned meets the requirements. Specifically, if the image information meets the predetermined requirements, the cleaning ends and the main body of the sweeper 10 is controlled to return to the garbage disposal base station. If the image information does not meet the predetermined requirements, the robotic arm 20 is controlled to drive the cleaning component 30 to perform the next round of cleaning on the narrow area.

[0283] Once all or designated areas to be cleaned have been cleaned, and the cleaning results meet the predetermined requirements, the integrated cleaning equipment can be moved to the waste disposal station. If the cleaning results do not meet the predetermined requirements, the next round of cleaning can proceed.

[0284] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the above-described control method.

[0285] In addition, the integrated cleaning equipment is equipped with a processor and a memory. The memory stores a computer program, which, when executed by the processor, causes the integrated cleaning equipment to perform the aforementioned control methods.

[0286] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0287] In the description of this application, it should be understood that the terms "comprising" and "having" and any variations thereof used in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0288] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0289] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An integrated cleaning device, characterized in that, include: Main body of the sweeper; A robotic arm, one end of which is connected to the main body of the sweeper; Cleaning components; A connecting structure is provided between the other end of the robotic arm and the cleaning component, for detachably connecting the cleaning component to the other end of the robotic arm.

2. The integrated cleaning equipment according to claim 1, characterized in that, The connection structure includes a first connection part and a second connection part that cooperate with each other; The second connecting part is disposed at the other end of the robotic arm, and the first connecting part is disposed at one end of the cleaning component.

3. The integrated cleaning equipment according to claim 2, characterized in that, One of the first connecting portion and the second connecting portion includes a protrusion and an annular wall surrounding the outer periphery of the protrusion, and there is a gap between the protrusion and the annular wall; The other of the first connecting portion and the second connecting portion includes a plug-in ring wall for insertion into the gap.

4. The integrated cleaning equipment according to claim 3, characterized in that, One of the first connecting portion and the second connecting portion is further provided with an elastic engaging component, the elastic engaging component including at least one engaging member; The other of the first connecting part and the second connecting part is provided with a card interface adapted to the card fitting.

5. The integrated cleaning equipment according to claim 2, characterized in that, One of the first connecting portion and the second connecting portion includes a groove, and the other includes a protrusion adapted to the groove.

6. The integrated cleaning equipment according to claim 2, characterized in that, The first connecting portion and the second connecting portion include magnetic attraction elements that attract each other.

7. The integrated cleaning equipment according to claim 2, characterized in that, The sweeper body is equipped with a battery pack; The robotic arm is equipped with a power supply line that is electrically connected to the battery pack. The connection structure includes an electrical interface, and the connection structure is further provided with a power connector adapted to the electrical interface; The cleaning component is electrically connected to the power supply line via the electrical interface and the power connector, and is powered by the battery pack.

8. The integrated cleaning equipment according to claim 7, characterized in that, The electrical interface includes a power supply connection terminal, which is disposed on one of the first connection portion and the second connection portion; The electrical connector is disposed on the other of the first connecting portion and the second connecting portion; The power supply connection terminal can make electrical contact with the power connector.

9. The integrated cleaning equipment according to claim 1, characterized in that, The cleaning component includes a handheld vacuum cleaner, which includes a dust cup and has a dust outlet that can be automatically opened under negative pressure.

10. The integrated cleaning equipment according to claim 9, characterized in that, The dust cup includes: The cup shell has an inner cavity and an outlet communicating with the inner cavity, the outlet forming the dust discharge port; A sealed door structure is provided at the outlet, the sealed door structure having a first state of closing the outlet in a free state and a second state of opening the outlet under negative pressure.

11. The integrated cleaning device according to claim 10, characterized in that, The dust cup also includes: The dust collection port is connected to the inner cavity and has a different orientation from the outlet. A dust collection door structure is provided at the dust collection port, the dust collection door structure having a third state in which the dust collection port is closed in a free state and a fourth state in which the dust collection port is opened under negative pressure.

12. The integrated cleaning equipment according to claim 10, characterized in that, The airtight door structure includes: A hinge is connected to the cup shell; The door body is mounted on the door hinge; And a self-locking elastic element, connected between the door hinge and the cup shell, for providing a pre-tightening force to the door body to close the outlet.

13. The integrated cleaning equipment according to claim 12, characterized in that, The cup shell has a shaft mounting area formed on one side of the outlet, and the door hinge is installed in the shaft mounting area.

14. The integrated cleaning equipment according to claim 12, characterized in that, The cup shell has a supporting step formed around the periphery of the outlet; The airtight door structure also includes a sealing ring, which is disposed on the support step and located between the door body and the support step.

15. The integrated cleaning device according to claim 10, characterized in that, One end of the cup shell has an opening, which is used to form a sealed connection with the main unit of the handheld vacuum cleaner; The other end of the cup shell is provided with a connecting protrusion ring for connecting with the vacuum head.

16. The integrated cleaning device according to claim 15, characterized in that, The inner wall surface of the cup shell at the open end is provided with a cup shell slot; The main unit housing of the handheld vacuum cleaner is provided with a main unit clip protrusion; The host card protrudes and engages within the cup shell slot.

17. The integrated cleaning device according to claim 16, characterized in that, At least one elastic fastening component is provided at one end of the main housing near the dust cup; The resilient fastening assembly is mounted on the main housing in a manner that allows it to rotate relative to the main housing. At least a portion of the resilient fastening assembly protrudes from one side of the main housing and forms a pressing portion; The main unit latching protrusion is formed at the end of the elastic fastening assembly near the dust cup.

18. The integrated cleaning device according to claim 17, characterized in that, The resilient fastening assembly includes: Rotate the locking arm; And the abutting elastic element that abuts against the fastening arm; One end of the fastening arm has the main unit latching protrusion, and the fastening arm protrudes from one side of the main unit housing to form the pressing part.

19. The integrated cleaning equipment according to claim 1, characterized in that, The robotic arm includes at least two drive arms and a joint motor disposed between the two drive arms, the joint motor being used to drive the two drive arms to rotate relative to each other.

20. A control method for an integrated cleaning device, applied to the integrated cleaning device according to any one of claims 1 to 19, characterized in that, include: Control the robotic arm to move to a pick-up / placement posture that is in contact with the cleaning component; The cleaning component is connected to the other end of the robotic arm via the connection structure.

21. The control method according to claim 20, characterized in that, Also includes: In response to a handheld use command, the connection structure is controlled to disconnect the robotic arm from the cleaning component, so that the cleaning component can be detached from the robotic arm for handheld use.

22. The control method according to claim 20, characterized in that, Also includes: Obtain the location information of the area to be cleaned; Based on the location information, the main body of the sweeper is controlled to move to the starting position of the work area to be cleaned; Control the robotic arm to extend and deliver the cleaning components to the area to be cleaned; The cleaning component is activated to perform cleaning.

23. The control method according to claim 22, characterized in that, Also includes: After cleaning is completed, the robotic arm is retracted to retrieve the cleaning component to its mounted position.

24. The control method according to claim 22, characterized in that, The step of controlling the robotic arm to extend and deliver the cleaning component to the area to be cleaned includes: Control the extension or retraction of the robotic arm to adjust the relative position of the cleaning component and the area to be cleaned; And / or, control the main body of the sweeper to move along a predetermined path so as to drive the cleaning components to traverse the area to be cleaned.

25. The control method according to claim 22, characterized in that, Also includes: After cleaning is completed, image information of the area to be cleaned is acquired; If the image information meets the preset cleaning requirements, the cleaning process ends. If the image information does not meet the preset cleaning requirements, the robotic arm is re-controlled to transport the cleaning component to the area to be cleaned to perform cleaning.

26. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method according to any one of claims 20 to 25.

27. An integrated cleaning device, characterized in that, include: processor; and a memory, on which computer programs are stored; When the computer program is executed by the processor, the integrated cleaning device performs the control method according to any one of claims 20 to 25.

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