Cleaning device, sweeping robot and control method of sweeping robot

Abstract

The embodiment of the invention provides a cleaning device, a sweeping robot and a control method thereof, and relates to the technical field of cleaning equipment. The cleaning device comprises a main shell, a driving mechanism and a cleaning mechanism, at least part of the main shell is constructed to be in the shape capable of being matched with a narrow area, the cleaning mechanism is provided with a cleaning part matched with a surface to be cleaned, the cleaning mechanism is rotationally connected to one end of the main shell, and the driving mechanism drives the main shell to rotate. The cleaning mechanism is connected to the output end of the driving mechanism, and the driving mechanism is used for driving the cleaning mechanism to rotate. According to the cleaning device, the whole cleaning device can stretch into the narrow area, the cleaning mechanism is driven by the driving mechanism to rotate so that the to-be-cleaned surface can be cleaned through the cleaning part, and therefore cleaning of the narrow area can be achieved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a cleaning device, a sweeping robot, and a control method thereof. Background Technology

[0002] Robotic vacuum cleaners clean up trash on the floor by moving around. However, they are typically quite large, and their design makes it difficult for them to clean narrow areas such as corners and crevices, thus limiting their usability. Summary of the Invention

[0003] This application provides a cleaning device, a sweeping robot, and a control method thereof, which can achieve cleaning of narrow areas.

[0004] The first aspect of this application provides a cleaning device, comprising:

[0005] The main housing has a receiving cavity, and at least a portion of the main housing is configured to have a shape that can adapt to narrow areas;

[0006] The drive mechanism is disposed in the receiving cavity;

[0007] The cleaning mechanism has a cleaning part adapted to the surface to be cleaned. The cleaning mechanism is rotatably connected to one end of the main housing and connected to the output end of the drive mechanism. The drive mechanism is used to drive the cleaning mechanism to rotate in order to clean the narrow area.

[0008] According to the cleaning device described in the first aspect of this application, the cleaning device includes a main housing, a drive mechanism, and a cleaning mechanism, wherein at least a portion of the main housing is configured to adapt to the shape of a narrow area, the drive mechanism is disposed in the main housing, and the cleaning mechanism is located at one end of the main housing, so that the entire cleaning device can extend into the narrow area. By driving the cleaning mechanism to rotate, the cleaning part can clean the surface to be cleaned, thereby achieving the cleaning of the narrow area.

[0009] In one possible implementation, the main housing is constructed in the shape of a strip.

[0010] In one possible implementation, the main housing includes a main body and a clearance portion, the clearance portion having a smaller external dimension than the main body, and the cleaning mechanism being rotatably connected to the clearance portion.

[0011] In one possible implementation, the clearance portion has a first surface and a second surface, the first surface being flush with the surface of the main body portion, the second surface being configured as an inclined surface sloping toward the first surface, and the cleaning mechanism being disposed on the outside of the second surface.

[0012] In one possible implementation, the drive mechanism includes a drive motor and a gear set connected to the drive motor, and the cleaning mechanism is connected to the gear set.

[0013] In one possible implementation, the cleaning mechanism includes a rotating shaft and a cleaning assembly, the rotating shaft being connected to the output end of the drive mechanism, the cleaning assembly being connected to the rotating shaft, and the cleaning assembly having the cleaning section.

[0014] In one possible implementation, the cleaning assembly includes a cleaning head assembly and a cleaning element fixedly connected to the rotating shaft. At least a portion of the cleaning head assembly is formed into a disc-shaped cleaning head, and the cleaning element is fitted around the outer periphery of the cleaning head, with the cleaning portion formed on the surface of the cleaning element.

[0015] In one possible implementation, the cleaning component includes a rag.

[0016] In one possible implementation, the cleaning assembly further includes a clamping ring for pressing the cleaning element against the cleaning head.

[0017] In one possible implementation, the cleaning head assembly includes a first connector fixedly connected to the pivot and a second connector sleeved on the first connector, with at least a portion of the second connector having the cleaning head.

[0018] In one possible implementation, the first connector has a connecting hole adapted to the outer periphery of the rotating shaft, the rotating shaft is provided with a shoulder, and the end of the rotating shaft is provided with a locking hole along the axial direction of the rotating shaft. The cleaning assembly further includes a locking member, the rotating shaft is sleeved in the connecting hole and the shoulder abuts against a first side of the first connector, the locking member is locked on the rotating shaft and the locking member abuts against a second side of the first connector, the first side and the second side being opposite to each other.

[0019] In one possible implementation, the second connector is fitted onto the first connector in a manner that allows it to move relative to the first connector.

[0020] In one possible implementation, the outer periphery of the first connector is provided with an engaging portion, and the inner wall surface of the second connector is formed with a slot, the slot extending along the axial direction of the rotating shaft, the engaging portion being adapted to be received in the slot and the engaging portion being movable along the extending direction of the slot.

[0021] In one possible implementation, the first connector includes a first connecting portion fixedly connected to the rotating shaft and a second connecting portion circumferentially connected to the first connecting portion, wherein at least a portion of the end of the second connecting portion is formed with a flange, the flange forming the engaging portion.

[0022] In one possible implementation, the second connecting portion is provided with at least a pair of strip grooves, an elastic arm is formed between the pair of strip grooves, and the end of the elastic arm forms the flange.

[0023] In one possible implementation, the second connector includes a sleeve fitted onto the engaging portion and a cleaning head connected to the sleeve, the inner wall surface of the sleeve having the slot formed thereon.

[0024] In one possible implementation, the cleaning assembly further includes an elastic element, one end of which is fixedly disposed and the other end is connected to the second connector.

[0025] In one possible implementation, the end of the main housing away from the cleaning mechanism forms a connection structure for connecting with the adapter.

[0026] In one possible implementation, the connection structure includes an annular wall and a protrusion located in the annular wall, the annular wall being formed at the end of the main housing away from the cleaning mechanism, and a gap between the protrusion and the annular wall for inserting an adapter.

[0027] In one possible implementation, the main housing includes a first housing and a second housing that can be fastened to the first housing. The end of the first housing away from the cleaning mechanism has a first annular wall and a first protrusion, the first protrusion being located inside the first annular wall. The end of the second housing away from the cleaning mechanism has a second annular wall and a second protrusion, the second protrusion being located inside the second annular wall. The first annular wall is connected to the second annular wall to form the annular wall, and the first protrusion is connected to the second protrusion to form the protrusion.

[0028] In one possible implementation, the connection structure further includes a resilient engagement component disposed in the protrusion, the resilient engagement component including at least one engagement member extending from one side of the protrusion and engaging with the adapter.

[0029] In one possible implementation, the resilient engagement assembly includes an engagement elastic element disposed in the protrusion, the engagement element being connected to the engagement elastic element, and the engagement element including an inclined guide surface for guiding the adapter into the connection structure.

[0030] In one possible implementation, the resilient engagement assembly further includes a pressing member connected to the engagement member, the pressing member protruding from one side of the protrusion and forming a pressing portion.

[0031] In one possible implementation, a first power supply assembly is provided in the main housing, the first power supply assembly including a first power supply connection end that extends out of the connection structure and is located on both sides of the protrusion.

[0032] A second aspect of this application provides a robotic vacuum cleaner, comprising:

[0033] Host;

[0034] A robotic arm, one end of which is connected to the host computer;

[0035] And a cleaning device, which is connected to the other end of the robotic arm.

[0036] According to the second aspect of this application, the robotic vacuum cleaner is equipped with a cleaning device on its robotic arm, which enables it to clean narrow areas, thereby expanding its applicability.

[0037] In one possible implementation, the robotic vacuum cleaner further includes an adapter connected to the robotic arm, and the cleaning device has a connection structure formed at the end of the main housing away from the cleaning mechanism for connecting with the adapter.

[0038] A third aspect of this application provides a control method for a robotic vacuum cleaner, the robotic vacuum cleaner including a main unit, a robotic arm connected to the main unit, and a cleaning device connected to the robotic arm, the control method for the robotic vacuum cleaner including:

[0039] Obtain the location information of the narrow area to be cleaned;

[0040] The host computer is moved to a narrow area based on location information;

[0041] The robotic arm is controlled to drive the cleaning device to clean narrow areas.

[0042] In one possible implementation, obtaining the location information of the narrow area to be cleaned includes:

[0043] Take photos of the interior environment;

[0044] Based on the captured image information, complete the indoor environment modeling to form an indoor environment model;

[0045] Identify narrow areas in the indoor environment model;

[0046] The location information of narrow areas is marked.

[0047] In one possible implementation, controlling the host to move to a narrow area based on location information includes:

[0048] Select a narrow area;

[0049] Control the retraction of the robotic arm so that the cleaning device is located within the projection area of ​​the host machine on the ground;

[0050] Based on the location information of the narrow area, control the host to move to a specified location away from the narrow area and make the host face the narrow area.

[0051] In one possible implementation, the controlled robotic arm drives the cleaning device to clean a narrow area, comprising:

[0052] The control unit moves from a first position toward a narrow area to drive the cleaning device to one end of the narrow area away from the control unit;

[0053] Control the robotic arm to press down so that the cleaning part of the cleaning mechanism of the cleaning device contacts the ground;

[0054] Control the cleaning mechanism to rotate and control the main unit to move towards the other end of the narrow area until the main unit returns to the first position.

[0055] In one possible implementation, after the control cleaning mechanism rotates and the main unit moves toward the other end of the narrow area until the main unit returns to the first position, the following is also included:

[0056] The control unit moves laterally a predetermined distance and is positioned in the second location;

[0057] The control unit moves from the second position toward the narrow area to drive the cleaning device to the end of the narrow area away from the control unit;

[0058] Control the robotic arm to press down so that the cleaning part of the cleaning mechanism of the cleaning device contacts the ground;

[0059] Control the cleaning mechanism to rotate and control the main unit to move towards the other end of the narrow area until the main unit returns to the second position.

[0060] In one possible implementation, after the controlled robotic arm drives the cleaning device to clean the narrow area, the following is also included:

[0061] Capture narrow areas to create cleaned image information;

[0062] If the image information meets the predetermined requirements, the cleaning ends and the host is controlled to return to the base station. If the image information does not meet the predetermined requirements, the robotic arm is controlled to drive the cleaning device to perform the next round of cleaning on the narrow area. Attached Figure Description

[0063] 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.

[0064] Figure 1 A schematic diagram of the structure of a sweeping robot according to an embodiment of this application is shown;

[0065] Figure 2 A schematic diagram of a cleaning device provided according to an embodiment of this application is shown;

[0066] Figure 3 This shows a structural schematic diagram of a cleaning device provided according to an embodiment of the present application from another angle;

[0067] Figure 4 An exploded structural diagram of a cleaning apparatus provided according to an embodiment of this application is shown;

[0068] Figure 5 A schematic diagram of a cleaning component provided according to an embodiment of this application is shown;

[0069] Figure 6 An exploded structural diagram of a cleaning assembly provided according to an embodiment of this application is shown;

[0070] Figure 7 A schematic diagram of a cleaning head assembly according to an embodiment of this application is shown;

[0071] Figure 8 A schematic diagram of the structure of a first connector according to an embodiment of this application is shown;

[0072] Figure 9 This shows a structural schematic diagram of a first connector provided according to an embodiment of the present application from another angle;

[0073] Figure 10 A schematic diagram of a second connector provided according to an embodiment of this application is shown;

[0074] Figure 11 It shows Figure 4 A magnified view of part A in the middle;

[0075] Figure 12A schematic diagram of the structure of an adapter provided according to an embodiment of this application is shown;

[0076] Figure 13 This shows a schematic diagram of the structure of an adapter provided according to an embodiment of the present application from another angle;

[0077] Figure 14 A schematic diagram of the exploded structure of the transfer device is shown;

[0078] Figure 15 A schematic diagram of a transfer device with a fourth housing removed, according to an embodiment of this application, is shown.

[0079] Figure 16 This is a schematic diagram of a connecting device according to an embodiment of this application, with the third housing removed.

[0080] Figure 17 This is a schematic diagram of a connecting device according to an embodiment of this application, with the fifth housing removed.

[0081] Figure 18 A flowchart of a control method for a sweeping robot according to an embodiment of this application is shown.

[0082] Figure label:

[0083] 100-Main housing; 101-Receiving cavity; 110-Main body; 120-Allowing part; 130-First housing; 140-Second housing; 150-Connecting structure; 121-First surface; 122-Second surface; 131-First annular wall; 132-First protrusion; 141-Second annular wall; 142-Second protrusion; 151-Annular wall; 152-Protrusion; 153-Elastic engaging assembly; 154-Fastening assembly; 1511-Flanged structure; 1521-Chamfer; 1531-Engineer; 1532-Engineerer; 1533-Pressing part; 1541-Fastening plate; 1542-Fastening screw; 1531a-Guide surface; 1533a-Pressing part;

[0084] 200 - Drive mechanism; 210 - Drive motor; 220 - Gear set; 221 - Input gear; 222 - Output gear; 223 - Reduction gear; 224 - Rotating shaft;

[0085] 300-Cleaning mechanism; 301-Cleaning section; 310-Shaft; 320-Cleaning assembly; 330-Bearing; 311-Shoulder; 312-First section; 313-Second section; 321-Cleaning head assembly; 322-Cleaning component; 323-Pressure ring; 324-Locking component; 325-Elastic component; 3211-Cleaning head; 3212-First connector; 3213-Second connector; 3212a-Connecting hole; 3212b-Engine; 3212c-First connector; 3212d-Second connector; 3213a-Slot; 3213b-Sleeve; 3212d1-Flange; 3212d2-Strip groove; 3212d3-Elastic arm;

[0086] 400 - First power supply component; 410 - First power supply connection terminal;

[0087] 500 - Adapter housing; 500a - Third housing; 500b - Fourth housing; 500c - Fifth housing; 500a1 - First part; 500a2 - Second part; 500b1 - Third part; 500b2 - Fourth part; 500b3 - First mounting position; 500b4 - First mounting opening; 500b5 - Second mounting position; 500b6 - Second mounting opening; 500b7 - Rear back; 500b8 - Reinforcing rib; 500a11 - Notch; 510 - Rotating connection part; 520 - Insertion part; 530 - Shooting part; 511 - Adapter hole; 521 - Insertion ring wall; 5211 - First side wall; 5212 - Second side wall; 5213 - Snap-on interface; 5211a - First exposed opening; 5212a - Second exposed opening;

[0088] 600-Rotary connection joint;

[0089] 700 - Second power supply component; 710 - Second power supply connection terminal; 720 - Circuit board; 730 - Insulation protection component;

[0090] 800-Camera Module;

[0091] 10-Host;

[0092] 20-Robotic arm;

[0093] 30 - Cleaning device;

[0094] 40 - Adapter device.

[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] With the development of intelligent technology, all kinds of robotic vacuum cleaners have gradually entered people's daily lives. The automated operation of robotic vacuum cleaners can replace human labor to complete the cleaning of garbage, saving time and effort.

[0098] As robotic vacuum cleaners continue to improve in structure and function, they have gradually evolved into a structure that includes a main unit and auxiliary structural components. The auxiliary structural components can be connected to the main unit, which is the main structure of the robotic vacuum cleaner. The main unit can contain a power mechanism, a negative pressure device, a garbage collection bin (or garbage bag), and other structures. The power mechanism can drive the main unit to move on the ground, the negative pressure device can create negative pressure in the main unit, and the garbage collection bin can complete the garbage collection.

[0099] Depending on the functional requirements, auxiliary structural components can take various structural forms. For example, to assist the operation of a robotic vacuum cleaner, an auxiliary structural component can be a robotic arm or similar mechanism. This allows the robotic arm to assist in collecting and organizing items while the vacuum cleaner is cleaning the floor, thus expanding the robot's functionality to some extent. Furthermore, the robotic arm can also achieve diverse cleaning capabilities by connecting to cleaning devices. For instance, the robotic arm can use grippers to pick up cleaning items such as cloths, but this connection method is unstable.

[0100] As the application scope and frequency of use of robotic vacuum cleaners expand, their inherent shortcomings are becoming increasingly apparent. Robotic vacuum cleaners are typically large, and to achieve stable movement and smooth turning on the ground, their main unit is usually designed in a disc-shaped structure. This size and structural design makes it difficult for them to clean narrow areas such as corners and crevices under furniture, thus limiting their usability. Furthermore, the unstable connection between the robotic arm and the cleaning components also restricts their use.

[0101] Based on the above situation and problems, this application provides a cleaning device that can clean narrow areas. Specifically, the cleaning device can be used as a handheld device to clean narrow areas, in which case the cleaning device needs to be manually operated. Alternatively, the cleaning device can be stably connected to a robotic vacuum cleaner and the robotic vacuum cleaner can control the active cleaning of narrow areas. For example, the cleaning mechanism can be connected to the robotic arm of the robotic vacuum cleaner.

[0102] To achieve the above objectives, the cleaning device in this application embodiment is configured as a structure capable of extending into narrow areas, and the cleaning device includes a cleaning mechanism adapted to the surface to be cleaned, thereby enabling the cleaning of narrow areas.

[0103] In addition, in order to connect the cleaning device to the robotic arm, the cleaning device in this embodiment is equipped with a connection structure. The connection structure can be connected to the robotic arm through related structures, and the connection structure and related structures can cooperate to realize the connection between the cleaning device and the robotic arm.

[0104] The related structure on the robotic arm can be a component of the robotic arm or it can be mounted on the robotic arm.

[0105] Therefore, overall, structurally speaking, the embodiments of this application mainly involve three aspects of structural design. The first aspect is providing a cleaning device that can adapt to narrow areas; the second aspect is the reasonable design of the connecting structure on the cleaning device so that it can cooperate with related structures; and the third aspect is the design of related structures. As can be seen from the following embodiments, the related structures here can be adapters. Of course, it should be understood that the adapter can also be connected to other cleaning devices besides the cleaning device, such as handheld vacuum cleaners.

[0106] Furthermore, as mentioned above, the cleaning device can be connected to the robotic arm, allowing the cleaning device to be controlled by the sweeping robot. Therefore, this application also provides a sweeping robot and its control method. The sweeping robot may include a host, a robotic arm, a transfer device, and a cleaning device. The control method mainly involves the walking control of the sweeping robot, the motion control of the robotic arm, and the cleaning control of the cleaning device. Through these controls, automated cleaning of narrow areas can be achieved.

[0107] Figure 1 A schematic diagram of the structure of a sweeping robot provided according to an embodiment of this application is shown.

[0108] In the embodiments of this application, please refer to Figure 1The robotic vacuum cleaner includes a main unit 10, a robotic arm 20, and a cleaning device 30, wherein the robotic arm 20 is connected to the main unit 10, and the cleaning device 30 is connected to the robotic arm 20. In some embodiments, to achieve a reliable connection between the cleaning device 30 and the robotic arm 20, the robotic vacuum cleaner may further include an adapter 40, which is connected between the cleaning device 30 and the robotic arm 20.

[0109] The main unit 10 is the main body of the robotic vacuum cleaner, which may include a power mechanism, negative pressure equipment, a garbage collection bin (or garbage bag), and other structures. The main unit 10 can move along the ground. The specific structure of the main unit 10 can be understood by referring to relevant technologies.

[0110] The host 10 in this embodiment may be generally in the shape of a disk, or in other embodiments, the host 10 may be in other structures.

[0111] In addition to the above components, the main unit 10 may also include a control system, a power supply module, etc. The control system plays a control role and can be connected to the aforementioned power mechanism, negative pressure equipment, etc. The power supply module is used to provide power to the power mechanism, robotic arm 20 and other power-consuming units in the sweeping robot.

[0112] For the sweeping robot as a whole, the robotic arm 20, the drive mechanism 200, and the cleaning device 30 can share a power supply module, which can simplify the arrangement of the power supply module in the main unit 10. Specifically, the power supply module can be a battery pack or the like.

[0113] To enable the power supply module to deliver electrical energy to the robotic arm 20 and the cleaning device 30, it will be understood in conjunction with the following embodiments that a first power supply component 400 can be provided in the cleaning device 30 and a second power supply component 700 can be provided in the adapter 40. When the cleaning device 30 and the adapter 40 are connected, the first power supply component 400 can be electrically connected to the second power supply component 700, which can then be connected to the power supply module through internal wiring.

[0114] The specific structure of the robotic arm 20 can be selected according to requirements, and its degrees of freedom can be freely chosen. For example, the robotic arm 20 can be a four-axis cooperative robotic arm, etc., and it can extend and retract within a spatial range. It should be understood that the specific structure of the robotic arm 20 can be understood by referring to relevant technologies, and this application will not describe it in detail.

[0115] In some embodiments, the adapter 40 may be integrated into the robotic arm 20, for example, the adapter 40 may form the output end of the robotic arm 20.

[0116] For ease of understanding and description, this application mainly uses the adapter 40 as an example of a transition structure between the cleaning device 30 and the robotic arm 20 to describe the sweeping robot.

[0117] To achieve the transition connection function of the adapter 40, the adapter 40 may include at least a rotatable connection portion 510 adapted to be rotatably connected to the robotic arm 20 and a plug-in portion 520 adapted to be plugged into the cleaning device 30. The specific structure of the adapter 40 can be understood in conjunction with the relevant embodiments described below.

[0118] Of course, in embodiments excluding the adapter 40, one end of the robotic arm 20 may be connected to the host 10, and the other end of the robotic arm 20 may be connected to the cleaning device 30.

[0119] The cleaning device 30 in this embodiment is equipped with a main housing 100 and a cleaning mechanism 300. The main housing 100 has a shape adapted to narrow areas, and the cleaning mechanism 300 can clean the surface to be cleaned, so that the robotic arm 20 can drive the cleaning device 30 to extend into the narrow area, thereby completing the cleaning of the narrow area.

[0120] To achieve a stable connection with the adapter 40, the cleaning device 30 has a connection structure 150 formed at the end of the main housing 100 away from the cleaning mechanism 300 for connecting with the adapter 40. For example, the connection structure 150 can be plugged into the adapter 40. Specifically, the connection structure 150 can be plugged into the plug-in portion 520 on the adapter 40. The connection structure 150 and the plug-in engagement between the connection structure 150 and the plug-in portion 520 can be understood in conjunction with the embodiments described below.

[0121] The sweeping robot in this embodiment of the application has a cleaning device 30 connected to its robotic arm 20, which enables it to clean narrow areas, thereby increasing the applicability of the sweeping robot.

[0122] Figure 2 A schematic diagram of a cleaning device 30 provided according to an embodiment of this application is shown; Figure 3 This shows a structural schematic diagram of a cleaning device 30 provided according to an embodiment of the present application from another angle; Figure 4 An exploded structural diagram of a cleaning device 30 provided according to an embodiment of this application is shown.

[0123] In the embodiments of this application, please refer to Figures 2 to 4 The cleaning device 30 includes a main housing 100, a drive mechanism 200, and a cleaning mechanism 300.

[0124] The main housing 100 has a receiving cavity 101, and at least a portion of the main housing 100 is configured to have a shape that can adapt to narrow areas.

[0125] It should be noted that the main housing 100 can have different structural shapes depending on the narrow area. For example, when the narrow area is a corner gap or a gap under furniture, the main housing 100 can be designed as a long strip. The long strip main housing 100 has a length-to-diameter ratio that meets the design requirements, so that the main housing 100 can extend into the narrow area without being affected by the narrow area.

[0126] In conjunction with the foregoing, the cleaning device 30 can be used as a handheld device. For ease of operation, the main housing 100 can also be provided with a grip or other structure to facilitate holding and operation. This grip can be located at the end of the main housing 100, and can be formed by a recess in a certain part of the main housing 100. In addition, the cleaning device 30 can also be connected to the robotic arm 20. Therefore, the main housing 100 can also be configured with a connection structure 150, which can be understood with reference to the following embodiments.

[0127] The drive mechanism 200 is disposed in the receiving cavity 101, and the function of the drive mechanism 200 is to drive the cleaning mechanism 300 to rotate.

[0128] This application does not limit the specific type of the drive mechanism 200 in the embodiments. For example, in Figure 4 In the example shown, the drive mechanism 200 may include a drive motor 210 and a gear set 220 connected to the drive motor 210, and the cleaning mechanism 300 is connected to the gear set 220.

[0129] The drive motor 210 can be a servo motor to be controlled by the sweeping robot. The drive motor 210 includes an output shaft, and the gear set 220 includes at least an input gear 221 and an output gear 222. The input gear 221 is meshed with the output shaft, and the output gear 222 is meshed with the input gear 221. After the drive motor 210 is started, the output shaft can drive the input gear 221 and the output gear 222 to rotate. The cleaning mechanism 300 is connected to the output gear 222, thereby realizing the rotation of the cleaning mechanism 300.

[0130] It is understood that the drive motor 210 can be fixedly installed in the main housing 100, and the input gear 221, output gear 222, etc. can be rotatably installed in the main housing 100. Specifically, the input gear 221 and the output gear 222 can be installed in the main housing 100 through the rotating shaft 224, and the two ends of the rotating shaft 224 can be rotatably connected to the inner wall of the main housing 100.

[0131] It should be noted that the number of gears in gear set 220 and the transmission ratio between each gear can be set according to actual needs. For example, in Figure 4 In the example shown, the gear set 220 also includes a reduction gear 223 disposed between the input gear 221 and the output gear 222, thereby enabling the power of the output shaft to be stably transmitted to the cleaning mechanism 300 through the cooperation of the gear set 220.

[0132] In other embodiments, to enable the cleaning mechanism 300 to rotate, the drive mechanism 200 may also include a belt drive assembly, a lead screw drive assembly, etc.

[0133] The cleaning mechanism 300 has a cleaning part 301 adapted to the surface to be cleaned. For example, the cleaning part 301 can be a plane. The cleaning mechanism 300 is rotatably connected to one end of the main housing 100 and is connected to the output end of the drive mechanism 200.

[0134] In this embodiment, the cleaning device 30 includes a main housing 100, a drive mechanism 200, and a cleaning mechanism 300. At least a portion of the main housing 100 is configured to adapt to the shape of a narrow area. The drive mechanism 200 is disposed in the main housing 100, and the cleaning mechanism 300 is located at one end of the main housing 100, so that the entire cleaning device 30 can extend into the narrow area. By driving the cleaning mechanism 300 to rotate through the drive mechanism 200, the cleaning part 301 can clean the surface to be cleaned, thereby achieving the cleaning of the narrow area.

[0135] In some embodiments, please refer to Figure 1 and Figure 2 The main housing 100 includes a main body 110 and a clearance part 120, wherein the outer dimensions of the clearance part 120 are smaller than the outer dimensions of the main body 110, and the cleaning mechanism 300 is rotatably connected to the clearance part 120.

[0136] It should be understood that because the outer dimensions of the clearance part 120 are smaller than those of the main body part 110, the clearance part 120 can reserve installation space for the cleaning mechanism 300. After the cleaning mechanism 300 is installed on the clearance part 120, the cleaning mechanism 300 can make full use of the installation space, which can avoid increasing the overall size of the cleaning device 30 and facilitate the cleaning device 30 to be inserted into narrow areas.

[0137] Taking the main shell 100, which is roughly rectangular in shape, as an example, both the main body 110 and the clearance portion 120 can be constructed as rectangular structures, wherein the perimeter of the clearance portion 120 is smaller than the perimeter of the main body 110, and the clearance portion 120 can be recessed into the main body 110. Of course, in other embodiments, the clearance portion 120 can also have other structures, for example, in... Figure 1 and Figure 2 In the example shown, the avoidance part 120 has a wedge-shaped structure.

[0138] In some embodiments, please refer to Figure 1 and Figure 2 The clearance portion 120 has a first surface 121 and a second surface 122. The first surface 121 is flush with the surface of the main body portion 110. The second surface 122 is configured as an inclined surface that is inclined toward the first surface 121. The cleaning mechanism 300 is disposed on the outside of the second surface 122.

[0139] Taking the aforementioned rectangular main housing 100 as an example, both the clearance portion 120 and the main body portion 110 include four surfaces. For the clearance portion 120, the first surface 121 is composed of three adjacent surfaces. The first surface 121 is flush with the surface of the main body portion 110. The other surface of the clearance portion 120 forms a second surface 122. The second surface 122 is an inclined surface that slopes towards the first surface 121, so that the clearance portion 120 reserves an installation space on the side where the second surface 122 is located, and the cleaning mechanism 300 can be installed in the installation space.

[0140] Figure 5 A schematic diagram of the structure of a cleaning component 320 according to an embodiment of this application is shown; Figure 6 An exploded view of a cleaning assembly 320 provided according to an embodiment of this application is shown. Figure 7 A schematic diagram of the structure of a cleaning head assembly 321 provided according to an embodiment of this application is shown; Figure 8 A schematic diagram of the structure of a first connector 3212 provided according to an embodiment of this application is shown; Figure 9 This shows a structural schematic diagram of a first connector 3212 provided according to an embodiment of this application from another angle; Figure 10 A schematic diagram of the structure of a second connector 3213 provided according to an embodiment of this application is shown.

[0141] In some embodiments, please refer to Figures 2 to 6 The cleaning mechanism 300 includes a rotating shaft 310 and a cleaning component 320. The rotating shaft 310 is connected to the output end of the drive mechanism 200, and the cleaning component 320 is connected to the rotating shaft 310. The cleaning component 320 has a cleaning part 301.

[0142] The drive mechanism 200 may include a drive motor 210 and a gear set 220. In conjunction with the previous embodiments, it can be understood that the rotating shaft 310 can be sleeved in the output gear 222. When the drive motor 210 drives the output gear 222 to rotate, the output gear 222 can drive the rotating shaft 310 to rotate. Since the cleaning component 320 is connected to the rotating shaft 310, the rotation of the rotating shaft 310 can drive the cleaning component 320 to rotate, thereby cleaning the surface to be cleaned by the cleaning part 301.

[0143] To increase the reliability of the connection between the rotating shaft 310 and the output gear 222, the cross-section of the part of the rotating shaft 310 that connects to the output gear 222 can be constructed as a rounded rectangular structure. Correspondingly, a waist-shaped hole that matches the rounded rectangular structure can be opened at the center of the output gear 222, so that the rotating shaft 310 and the output gear 222 will not rotate relative to each other, thereby ensuring the motion transmission effect between the output gear 222 and the rotating shaft 310.

[0144] To facilitate the smooth rotation of the rotating shaft 310, the cleaning assembly 320 may also include at least one bearing 330, which may be sleeved on the end of the rotating shaft 310 and may be mounted on the main housing 100.

[0145] As can be seen from the following embodiments, the main housing 100 may include a first housing 130 and a second housing 140. To adapt the main housing 100 to this structure, the cleaning component 320 may include two bearings 330, one bearing 330 is fixed on the first housing 130 and the other bearing 330 is fixed on the second housing 140. The two bearings 330 may be spaced on the rotating shaft 310.

[0146] In some embodiments, please refer to Figure 5 and Figure 6 The cleaning assembly 320 includes a cleaning head assembly 321 and a cleaning element 322 fixedly connected to the rotating shaft 310. At least a portion of the cleaning head assembly 321 forms a disc-shaped cleaning head 3211, and the cleaning element 322 is sleeved on the outer periphery of the cleaning head 3211. The surface of the cleaning element 322 forms a cleaning section 301.

[0147] The embodiments of this application do not limit the specific type of the cleaning component 322. For example, in some embodiments, the cleaning component 322 may be a rag, and in other embodiments, the cleaning component 322 may be foam.

[0148] Understandably, regardless of whether a cloth or foam is used, the cleaning component 322 can be wetted with water or other cleaning solutions, which can improve the cleaning ability of the cleaning component 322.

[0149] It is understandable that, since the cleaning head assembly 321 has a disc-shaped cleaning head 3211, after the cleaning component 322 is fitted onto the cleaning head 3211, the cleaning component 322 can form a larger contact area with the surface to be cleaned, which is beneficial to improving the cleaning effect.

[0150] In some specific embodiments, please refer to Figure 5 and Figure 6 To prevent the cleaning component 322 from detaching from the cleaning head 3211, the cleaning assembly 320 may also include a clamping ring 323 for pressing the cleaning component 322 onto the cleaning head 3211.

[0151] The clamping ring 323 can be fitted with certain structures on the cleaning head 3211. For example, a groove can be provided on the cleaning head 3211, and a protrusion can be provided on the clamping ring 323. The clamping ring 323 can be fixed to the cleaning head 3211 by pressing the protrusion into the groove, so that the cleaning component 322 is not easy to detach from the cleaning head 3211.

[0152] Of course, in other embodiments, the clamping ring 323 and the cleaning head 3211 can also be magnetically attached to the cleaning member 322.

[0153] It is understood that the disc-shaped cleaning head 3211 is only an example. In other embodiments, cleaning heads 3211 with different structures can be configured according to different narrow areas, such as triangular or cuboid cleaning heads 3211.

[0154] In some embodiments, please refer to Figures 7 to 10 The cleaning head assembly 321 includes a first connector 3212 fixedly connected to the rotating shaft 310 and a second connector 3213 sleeved on the first connector 3212, at least a portion of the second connector 3213 forming a cleaning head 3211.

[0155] The cleaning head assembly 321 needs to rotate with the rotating shaft 310; therefore, the first connector 3212 can be fixedly connected to the rotating shaft 310. For example, please refer to... Figure 6 The first connector 3212 can be fixedly connected to the end of the rotating shaft 310, and the second connector 3213 is then sleeved on the outer periphery of the first connector 3212, so that the rotating shaft 310 can drive the cleaning head assembly 321 to rotate.

[0156] In some specific embodiments, please refer to Figure 5 , Figure 8 and Figure 9The first connector 3212 has a connecting hole 3212a that is adapted to the outer periphery of the rotating shaft 310. The rotating shaft 310 is provided with a shoulder 311. The end of the rotating shaft 310 is provided with a locking hole along the axial direction of the rotating shaft 310. The cleaning assembly 320 also includes a locking member 324. The rotating shaft 310 is sleeved in the connecting hole 3212a and the shoulder 311 abuts against the first side of the first connector 3212. The locking member 324 is locked on the rotating shaft 310 and abuts against the second side of the first connector 3212. The first side and the second side are opposite to each other.

[0157] Specifically, the connecting hole 3212a can be an oblong hole, and the cross section of the part of the rotating shaft 310 connected to the connecting hole 3212a is constructed as a rounded rectangle, which can improve the connection strength between the rotating shaft 310 and the first connecting member 3212, and can form a reliable connection between the rotating shaft 310 and the first connecting member 3212.

[0158] At this point, it can be understood that the rotating shaft 310 may include a first section 312 adapted to the output gear 222 and a second section 313 adapted to the first connector 3212. The cross sections of the first section 312 and the second section 313 are both constructed as rounded rectangles. The outer diameter of the first section 312 is larger than the outer diameter of the second section 313, thereby forming a shoulder 311 at the connection between the first section 312 and the second section 313.

[0159] After the first connector 3212 is installed onto the rotating shaft 310 via the locking member 324, the shoulder 311 and the locking member 324 can be respectively restricted to the first side and the second side of the first connector 3212, so that the first connector 3212 is stably connected to the rotating shaft 310.

[0160] In some embodiments, please refer to Figures 7 to 10 The second connector 3213 is fitted onto the first connector 3212 in a manner that allows it to move relative to the first connector 3212.

[0161] As can be seen from the above embodiments, the cleaning component 322 can be installed on the second connecting component 3213. Since the second connecting component 3213 can move relative to the first connecting component 3212, when the cleaning component 322 cleans the surface to be cleaned, the second connecting component 3213 can move along the axial direction of the rotating shaft 310. This allows the cleaning component 322 to adapt to uneven surfaces to be cleaned and to clean debris of different heights on the surface to be cleaned, thereby improving the cleaning ability of the cleaning device 30.

[0162] To enable the movement of the second connector 3213, please refer to some specific embodiments. Figures 7 to 10The first connector 3212 has an engaging portion 3212b on its outer periphery, and the second connector 3213 has a groove 3213a formed on its inner wall surface. The groove 3213a extends along the axial direction of the rotating shaft 310. The engaging portion 3212b is adapted to be received in the groove 3213a and can move along the extending direction of the groove 3213a.

[0163] After the second connector 3213 is fitted onto the first connector 3212, the engaging portion 3212b can be accommodated in the slot 3213a. Since the engaging portion 3212b can move along the extension direction of the slot 3213a, when the cleaning member 322 is cleaning the surface to be cleaned, the reaction force of the garbage or the ground on the cleaning member 322 can push the second connector 3213 to move away from the garbage. This can absorb the reaction force of the garbage on the second connector 3213 to a certain extent, thereby protecting the second connector 3213, the cleaning member 322, and the cleaning head assembly 321.

[0164] It should be noted that the number of engaging parts 3212b and slots 3213a is not limited; for example, in Figures 8 to 10 In the example shown, there are four engaging parts 3212b, which are spaced apart along the outer periphery of the first connector 3212, and there are also four slots 3213a, which are spaced apart along the inner wall of the second connector 3213.

[0165] You can refer to this first. Figure 8 and Figure 9 The first connector 3212 may include a first connecting portion 3212c and a second connecting portion 3212d disposed circumferentially on the first connecting portion 3212c. The first connecting portion 3212c may be fixedly connected to the rotating shaft 310. The first connecting portion 3212c may include the aforementioned connecting hole 3212a. The number of second connecting portions 3212d may be four, and each of the four second connecting portions 3212d forms an engaging portion 3212b. Specifically, the end of the second connecting portion 3212d is formed with a flange 3212d1, which forms the engaging portion 3212b. Please refer to [further details to be added]. Figure 10 The second connector 3213 may include a sleeve 3213b sleeved on the engaging part 3212b and a cleaning head 3211 connected to the sleeve 3213b. The inner wall surface of the sleeve 3213b is formed with a groove 3213a, and four grooves 3213a may be evenly spaced along the circumference to form on the inner wall surface of the sleeve 3213b.

[0166] In other embodiments, the number of engaging portions 3212b and slots 3213a may also be varied. It should be understood that engaging portions 3212b and slots 3213a may exist in pairs and be symmetrically arranged, thereby improving the reliability of the movement of the second connector 3213 along the first connector 3212.

[0167] In some embodiments, please refer to Figure 8 and Figure 9 The second connecting part 3212d is provided with at least one pair of strip grooves 3212d2, and an elastic arm 3212d3 is formed between the pair of strip grooves 3212d2. The end of the elastic arm 3212d3 is formed with a flange 3212d1.

[0168] The slot 3212d2 separates the elastic arm 3212d3 from the other parts of the second connecting part 3212d, making the elastic arm 3212d3 more prone to deformation under force, which is beneficial for the installation of the second connector 3213. Specifically, during the process of installing the second connector 3213 onto the first connector 3212, the sleeve 3213b of the second connector 3213 can act on the elastic arm 3212d3. After being squeezed by the sleeve 3213b, the elastic arm 3212d3 will retract inward until it returns to its original position and the engaging part 3212b is received in the slot 3213a, thus completing the installation of the second connector 3213.

[0169] In some embodiments, please refer to the reference Figure 6 The cleaning component 320 also includes an elastic element 325, one end of which is fixedly disposed and the other end of which is connected to the second connector 3213.

[0170] The elastic element 325 can be a spring, compression spring, or other similar components. It forms an elastic buffer between the first connector 3212 and the second connector 3213, allowing the cleaning element 322 to act more gently on the surface to be cleaned. This prevents the second connector 3213 from impacting the surface and damaging the second connector head, and also prevents damage to the surface. Furthermore, the elastic element 325 can provide a pre-tightening force to the second connector 3213. For example, it can be connected to the second connector 3213 in a compressed state, keeping the second connector 3213 away from the first connector 3212 (e.g., positioning the engaging portion 3212b at its limit position in the slot 3213a). This configuration ensures sufficient contact force between the cleaning element 322 and the surface to be cleaned, thereby achieving the cleaning of debris. When a greater contact force is required, the elastic element 325 can be further compressed.

[0171] In some embodiments, please refer to Figures 2 to 4 The end of the main housing 100 away from the cleaning mechanism 300 is formed with a connection structure 150 for connecting with the adapter 40.

[0172] In the above embodiments, the connecting structure 150 is formed by the main housing 100, and the connecting structure 150 and the main housing 100 can be integrally formed, thereby reducing the manufacturing cost of the main housing 100.

[0173] In addition, in some embodiments, the connecting structure 150 may also be manufactured independently and connected to the main housing 100 through subsequent mechanical connection processes. For ease of description, the embodiments of this application mainly use the main housing 100 itself forming the connecting structure 150 as an example for illustration.

[0174] In some embodiments, please refer to Figures 2 to 4 The connecting structure 150 includes an annular wall 151 and a protrusion 152 located in the annular wall 151. The annular wall 151 is formed at the end of the main housing 100 away from the cleaning mechanism 300. There is a gap between the protrusion 152 and the annular wall 151 for the insertion of the output end of the robotic arm 20 or the plug portion 520 of the adapter structure 40.

[0175] It is understood that the protruding post 152 can form a circumferential limit on the inner wall of the adapter 40, and the annular wall 151 can form a circumferential limit on the outer wall of the adapter 40. This ensures that after the adapter 40 is inserted into the gap, the protruding post 152 and the annular wall 151 not only provide necessary support for the adapter 40, but also limit its movement, thereby ensuring a stable connection to the connecting structure 150. Specifically, as can be seen from the following embodiments, the insertion portion 520 of the adapter 40 can be inserted into the aforementioned gap.

[0176] Furthermore, as can be seen from the following embodiments, in order to realize the connection between the adapter 40 and the connection structure 150, the adapter 40 needs to be configured with an adapter structure adapted to the connection structure 150. The adapter structure may include, for example, a plug-in ring wall 521.

[0177] The embodiments of this application do not limit the specific structure of the protruding post 152 and the annular wall 151. For example, the cross-section of the protruding post 152 can be square, triangular or circular, etc.

[0178] In some embodiments, please refer to Figures 2 to 4 The ring wall 151 extends away from the cleaning mechanism 300 and expands outward to form a flared structure 1511.

[0179] This can be understood as follows: taking the main housing 100 with a circular cross-section as an example, the direction away from the cleaning mechanism 300 can be the axial direction of the main housing 100, and outward expansion refers to expansion in the radial direction of the main housing 100. In the above embodiment, because the annular wall 151 expands outward to form a flared structure 1511, the diameter of the end of the main housing 100 away from the cleaning mechanism 300 can be increased, making it convenient for the adapter 40 to be inserted into the connecting structure 150.

[0180] In some embodiments, please refer to Figure 3 The end of the protruding post 152 has a chamfer 1521 formed in the circumferential direction. The chamfer 1521 is designed to facilitate the insertion of the adapter 40 into the connecting structure 150.

[0181] In some specific embodiments, chamfer 1521 may be a rounded corner.

[0182] In some embodiments, please refer to Figures 2 to 4 The main housing 100 includes a first housing 130 and a second housing 140. The first housing 130 is fastened to the second housing 140. The end of the first housing 130 away from the cleaning mechanism 300 has a first annular wall 131 and a first protrusion 132. The first protrusion 132 is located inside the first annular wall 131. The end of the second housing 140 away from the cleaning mechanism 300 has a second annular wall 141 and a second protrusion 142. The second protrusion 142 is located inside the second annular wall 141. The first annular wall 131 and the second annular wall 142 are connected to form an annular wall 151. The first protrusion 132 and the second protrusion 142 are connected to form a protrusion 152.

[0183] By configuring the main housing 100 to include a first housing 130 and a second housing 140, the main housing 100 can be disassembled, which is beneficial for assembling the main housing 100 and also for repairing or replacing related components in the main housing 100 at a certain stage after assembly.

[0184] The first housing 130 can be fastened to the second housing 140, which simplifies the assembly and disassembly process and also simplifies the structure.

[0185] In the above embodiments, the annular wall 151 and the protrusion 152 are both formed by the first housing 130 and the second housing 140. Specifically, after the first housing 130 is connected to the second housing 140, the first annular wall 131 can be mated with the second annular wall 141 to form the annular wall 151, and the second protrusion 142 can be mated with the first protrusion 132 to form the protrusion 152. This method of forming the annular wall 151 and the protrusion 152 together can simplify the structure of the first housing 130 and the second housing 140, and also facilitate the separate molding of the first housing 130 and the second housing 140.

[0186] Of course, in other embodiments, the annular wall 151 and the protrusion 152 may also be formed by one of the first housing 130 and the second housing 140. For example, the first housing 130 may form the protrusion 152 and the second housing 140 may form the annular wall 151.

[0187] Figure 11 It shows Figure 4 A magnified view of part A in the middle.

[0188] In some embodiments, please refer to Figures 2 to 4 , Figure 11 The connecting structure 150 also includes an elastic engaging component 153, which is disposed in the protrusion 152. The elastic engaging component 153 includes at least one engaging member 1531, which extends from one side of the protrusion 152 and engages with the adapter 40.

[0189] The function of the elastic engaging component 153 is to assist in fixing the adapter 40. Specifically, after the adapter 40 is inserted into the connecting structure 150, for example, when the insertion part 520 of the adapter 40 is inserted into the gap, the engaging member 1531 in the elastic engaging component 153 can extend and engage with the insertion part 520, thereby enabling the adapter 40 to be stably connected to the connecting structure 150. Specifically, as can be seen from the following embodiments, the engaging member 1531 can engage with the card interface 5213 on the insertion part 520.

[0190] In some embodiments, please refer to Figures 2 to 4 The elastic engagement assembly 153 includes an engagement elastic member 1532 disposed in the protrusion 152, an engagement member 1531 connected to the engagement elastic member 1532, and an inclined guide surface 1531a on the engagement member 1531 for guiding the adapter 40 to be inserted into the connection structure 150.

[0191] The engaging elastic element 1532 can be a spring or other component. The engaging elastic element 1532 can provide a force to the engaging element 1531 so that the engaging element 1531 can retract into the protrusion 152 when it is squeezed, and can be reset and engaged with the above-mentioned card interface 5213 under the action of elastic force.

[0192] The function of the aforementioned guide surface 1531a is to guide the adapter 40 to be smoothly inserted into the connecting structure 150. Specifically, during the process of inserting the adapter 40 into the connecting structure 150, the guide surface 1531a can reduce the obstruction of the locking member 1531 to the adapter 40, so that the insertion ring wall 521 in the adapter 40 can drive the locking member 1531 to retract into the protrusion 152. After the insertion ring wall 521 is inserted into place, the locking member 1531 can be reset and locked into the card interface 5213 under the action of the locking elastic member 1532.

[0193] In some embodiments, please refer to Figure 4 The elastic engaging assembly 153 also includes a pressing member 1533 connected to the engaging member 1531, the pressing member 1533 protruding from one side of the protrusion 152 and forming a pressing portion 1533a.

[0194] You can refer to the following: Figure 2 and Figure 3 The pressing part 1533a and the engaging part 1531 can be exposed from the same side of the protrusion 152. By pressing the pressing part 1533a, the engaging part 1531 can be retracted into the protrusion 152, thereby allowing the cleaning device 30 and the adapter 40 to be detached from each other.

[0195] The aforementioned engaging component 1531 and pressing component 1533 can be integrally formed, and the engaging component 1531 and pressing component 1533 can be two components on an integrally formed part.

[0196] In some embodiments, please refer to Figure 4 and Figure 11 The connection structure 150 also includes a fastening assembly 154 for fastening the engaging member 1531 and the pressing member 1533 in the main housing 100.

[0197] Specifically, the fastening assembly 154 may be a fastening plate 1541 and a fastening screw 1542. The fastening screw 1542 is used to lock the fastening plate 1541 in the main housing 100. The fastening plate 1541 can restrict the engaging member 1531 and the pressing member 1533, thereby realizing the installation of the engaging member 1531 and the pressing member 1533 in the main housing 100.

[0198] In some embodiments, please refer to Figure 3 , Figure 4 and Figure 11 The main housing 100 is provided with a first power supply component 400, which includes a first power supply connection end 410. The first power supply connection end 410 extends out of the connection structure 150 and is located on both sides of the protrusion 152.

[0199] The first power supply connection terminal 410 can be electrically connected to the second power supply connection terminal 710 in the adapter 40, thereby realizing the transmission of current between the cleaning device 30 and the adapter 40.

[0200] Figure 12 A schematic diagram of the structure of an adapter 40 provided according to an embodiment of this application is shown; Figure 13 This shows a structural schematic diagram of an adapter 40 provided according to an embodiment of the present application from another angle; Figure 14 An exploded structural diagram of the adapter 40 is shown.

[0201] In the embodiments of this application, please refer to Figure 12 and Figure 13 The adapter 40 includes an adapter housing 500, which has a rotatable connection portion 510 adapted to be rotatably connected to the robotic arm 20 and a plug-in portion 520 adapted to be plugged into the cleaning device 30.

[0202] The adapter 40 can serve as a transition structure between the cleaning device 30 and the robotic arm 20, allowing the cleaning device 30 to be connected to the robotic arm 20.

[0203] The rotating connection 510 allows the adapter 40 to serve as an extension structure of the robotic arm 20, which helps to expand the spatial operating range of the robotic arm 20. The insertion part 520 can be inserted into the connection structure 150 of the cleaning device 30, for example.

[0204] In this embodiment, the adapter 40 includes an adapter shell 500. The adapter shell 500 can be rotatably connected to the robotic arm 20 through the rotatable connection part 510, or it can be plugged into the cleaning device 30 through the plug-in part 520. This enables a reliable and stable connection between the cleaning device 30 and the robotic arm 20, which can improve the cleaning effect of the robot vacuum cleaner and thus expand the applicability of the robot vacuum cleaner.

[0205] In some embodiments, please refer to Figure 12 and Figure 13 The rotating connection portion 510 and the plug portion 520 are opposite to each other. In other words, the rotating connection portion 510 and the plug portion 520 can be located at both ends of the adapter shell 500. After the adapter shell 500 with this structure is installed on the robotic arm 20, it can expand the extension space of the machine, so that the robotic arm 20 can work in a larger working space.

[0206] In some embodiments, please refer to Figures 12 to 14The adapter shell 500 includes a third shell 500a and a fourth shell 500b that can be snapped onto the third shell 500a. The third shell 500a includes a first part 500a1 and a second part 500a2, and the fourth shell 500b includes a third part 500b1 and a fourth part 500b2. The first part 500a1 and the third part 500b1 form a plug-in part 520, and the second part 500a2 and the fourth part 500b2 form a rotating connection part 510.

[0207] By configuring the adapter housing 500 to include a third housing 500a and a fourth housing 500b, it is convenient to assemble certain components in the adapter device 40. For example, it is convenient to install the second power supply component 700 in the adapter housing 500.

[0208] In some embodiments, please refer to Figure 12 and Figure 13 The rotating connection portion 510 includes a transition hole 511, and the adapter 40 also includes a rotating connection joint 600, which extends out of the transition hole 511, with the opening of the transition hole 511 facing the side of the rotating connection portion 510.

[0209] You can refer to the following: Figure 14 The rotary connector 600 can be fitted between the third housing 500a and the fourth housing 500b. For example, during assembly, the rotary connector 600 can be limited by the relevant structures of the third housing 500a and the fourth housing 500b. After the third housing 500a and the fourth housing 500b are engaged, a fixed connection between the third housing 500a, the rotary connector 600, and the fourth housing 500b can be achieved by passing screws or the like through the rotary connector 600 from one side of the third housing 500a and extending them out of the fourth housing 500b.

[0210] In some embodiments, please refer to Figure 12 and Figure 13 The insertion part 520 includes a protruding insertion ring wall 521. The connection structure 150 of the cleaning device 30 has a gap. As mentioned above, the gap is formed by the gap between the protruding post 152 and the ring wall 151. The insertion ring wall 521 is adapted to be inserted into the gap.

[0211] Understandably, the insertion ring wall 521 can have different shapes depending on the gap, for example, in Figure 3 In the example shown, the gap is rectangular annular; therefore, the insertion ring wall 521 can be a rectangular structure. In other embodiments, the gap can also be annular, in which case the insertion ring wall 521 can be an annular structure.

[0212] The fit between the insertion ring wall 521 and the gap allows the insertion ring wall 521 to be confined between the protrusion 152 and the ring wall 151, which helps to improve the connection reliability between the insertion part 520 and the connecting part.

[0213] In some embodiments, please refer to Figures 12 to 14 The adapter 40 also includes a second power supply component 700 disposed in the adapter housing 500, the second power supply component 700 including a second power supply connection end 710 exposed from the insertion ring wall 521.

[0214] Generally speaking, there are at least two second power supply connection terminals 710, which correspond to the positive and negative terminals respectively. These two second power supply connection terminals 710 can be arranged opposite to each other in the plug ring wall 521.

[0215] To achieve the connection between the first power supply connection terminal 410 and the second power supply connection terminal 710, in some embodiments, please refer to... Figure 12 and Figure 13 The plug-in ring wall 521 includes a first side wall 5211 and a second side wall 5212 disposed opposite to each other. The first side wall 5211 forms a first exposed opening 5211a, and the second side wall 5212 forms a second exposed opening 5212a. The second power supply connection terminal 710 is exposed from the first exposed opening 5211a and the second exposed opening 5212a.

[0216] Therefore, after inserting the plug ring wall 521 between the protrusion 152 and the ring wall 151, since the first power supply connection end 410 is located on both sides of the protrusion 152, the two first power supply connection ends 410 can respectively extend into the first exposed opening 5211a and the second exposed opening 5212a to realize the connection between the first power supply connection end 410 and the second power supply connection end 710.

[0217] Specifically, as described above, the first exposure opening 5211a can be formed by the third housing 500a and the fourth housing 500b. For example, a notch 500a11 can be formed on the first part 500a1 of the third housing 500a, so that after the second housing 140 is connected to the first housing 130, the notch 500a11 forms the first exposure opening 5211a. The second exposure opening 5212a can be formed by the fourth housing 500b. For example, the second sidewall 5212 can include two spaced-apart partitions, and the second exposure opening 5212a can be formed between the two partitions.

[0218] The above embodiments of this application mainly use the protruding post 152 and the annular wall 151 as the connecting structure 150 and the plug-in annular wall 521 as the plug-in part 520 as examples for description. It can be understood that in other embodiments, in order to form a reliable connection between the cleaning device 30 and the adapter 40, the connecting structure 150 can also be designed as other structures, and the plug-in part 520 can also be designed as other structures. For example, the connecting structure 150 can be constructed as a pair of protruding plug-in posts, the first power supply connection end 410 can extend from a certain position of the plug-in post, the plug-in part 520 can be constructed as a pair of plug-in circular holes, the plug-in post can be correspondingly inserted into the plug-in circular holes, and the second power supply connection end 710 can extend from the peripheral wall of the plug-in circular hole.

[0219] Figure 15 This diagram illustrates a structural schematic of an adapter 40 according to an embodiment of the present application, with the fourth housing 500b removed. Figure 16 This is a schematic diagram of the structure of an adapter 40 according to an embodiment of this application, with the third housing 500a removed; Figure 17 This is a schematic diagram of the structure of an adapter 40 provided according to an embodiment of this application, with the fifth housing 500c removed.

[0220] In some embodiments, please refer to Figures 12 to 15 The second power supply component 700 also includes a circuit board 720 and an insulating protective member 730 connected to the circuit board 720. The second power supply connection terminal 710 is connected to the circuit board 720 and extends out of the insulating protective member 730.

[0221] The insulating protective component 730 can be disposed on one side of the circuit board 720. The second power supply connection terminal 710 extends out from the insulating protective component 730, so that after the second power supply connection terminal 710 is connected to the first power supply connection terminal 410, the insulating protective component 730 can play an insulating protection role, which can separate the first power supply connection terminal 410 from the circuit board 720 and prevent short circuits and other phenomena.

[0222] To install the second power supply component 700, please refer to... Figure 16 A first mounting position 500b3 is formed on the fourth housing 500b. A first mounting opening 500b4 is formed on the side of the first mounting position 500b3 facing the third housing 500a. The second power supply component 700 can be installed by inserting it into the first mounting opening 500b4.

[0223] In some embodiments, please refer to Figure 12 and Figure 13 The insertion ring wall 521 is provided with a card interface 5213, which is used to cooperate with the card engagement piece 1531 in the cleaning device 30.

[0224] After the insertion ring wall 521 is inserted between the protrusion 152 and the ring wall 151, the engaging member 1531 can be engaged into the card interface 5213, thereby preventing the cleaning device 30 and the adapter 40 from disengaging. When it is necessary to disassemble the adapter 40 or the cleaning device 30, the pressing part 1533a in the previous embodiment can be pressed.

[0225] In some embodiments, please refer to Figures 12 to 14 The adapter shell 500 has a shooting part 530 protruding from one side of the insertion ring wall 521 in a direction away from the insertion ring wall 521. The adapter device 40 also includes a camera module 800, which is disposed in the shooting part 530 and exposes the lens.

[0226] The camera module 800 can be used to assist the host 10 in recognizing relevant images. For example, during cleaning operations, the camera module 800 can prevent collisions with furniture and other items in the room. It can also assist in guiding the host 10's route. Furthermore, the camera module 800 can accurately acquire the working scene of the cleaning mechanism 300 connected to the adapter 500, assisting the host 10 in controlling the cleaning mechanism.

[0227] Therefore, it is understandable that by placing the shooting unit 530 on one side of the insertion ring wall 521, more space can be provided for the camera module 800, thereby increasing the shooting range of the camera module 800.

[0228] The camera module 530 can be formed on the fourth housing 500b. For the assembly of the camera module 800, please refer to... Figure 17 The adapter housing 500 also includes a fifth housing 500c. The fourth housing 500b is provided with a second mounting position 500b5, which has a second mounting opening 500b6. The camera module 800 can enter the second mounting position 500b5 through the second mounting opening 500b6. After the camera module 800 is installed in place, the fifth housing 500c can be connected to the fourth housing 500b.

[0229] In some embodiments, please refer to Figure 17 The fourth housing 500b has an arc-shaped back back 500b7 on the side opposite to the insertion ring wall 521. The fifth housing 500c is constructed in an arc shape. After the fifth housing 500c is connected to the fourth housing 500b, the fifth housing 500c can be flush with the back back 500b7. The back back 500b7 and the fifth housing 500c can expand the outer space of the first mounting position 500b3 and the second mounting position 500b5, which is beneficial to the heat dissipation of the second power supply component 700 and the camera module 800.

[0230] To ensure the structural strength of the back 500b7, reinforcing ribs 500b8 and other structures are provided on the inner side of the back 500b7.

[0231] Figure 18 A flowchart of a control method for a sweeping robot according to an embodiment of this application is shown.

[0232] In the embodiments of this application, please refer to Figure 18 The control methods include:

[0233] S100: Obtain the location information of the narrow area to be cleaned.

[0234] When a robot vacuum cleaner is used for the first time, it can model the indoor environment and identify and record all the narrow areas in the room, including gaps under furniture and corners of walls.

[0235] The location information of each narrow area can be stored in the robot vacuum cleaner. When a narrow area needs to be cleaned, a command can be sent to the robot vacuum cleaner to move to that location and start cleaning.

[0236] Specifically, step S100 may include:

[0237] The cameras on the S110 and main unit 10 capture images of the indoor environment.

[0238] In this step, the host unit 10 can be moved to different locations inside the house to form a comprehensive and holistic image of the indoor environment through shooting from multiple angles. This shooting can be accomplished using the camera on the host unit 10 or the shooting unit 530 mentioned earlier; the two can work together to achieve shooting without blind spots.

[0239] S120. Based on the captured image information, complete the indoor environment modeling to form an indoor environment model.

[0240] Understandably, the indoor environment model should be able to correspond to various locations within the indoor environment, including not only narrow areas that need cleaning, but also other areas.

[0241] S130, Identify narrow areas in the indoor environment model.

[0242] This step requires precise identification of narrow areas, which provides a foundation for the robot vacuum cleaner to clean accurately.

[0243] S140. Mark the location information of the narrow area.

[0244] Understandably, when the layout of the room changes, step S100 can be restarted to update the location information of each narrow area in real time.

[0245] S200: Based on the location information, control the host 10 to move to a narrow area.

[0246] When a robotic vacuum cleaner needs to clean a narrow area, the base station can receive relevant instructions and initiate the initial cleaning process.

[0247] For example, after receiving the instruction, the robot vacuum cleaner can dock the robotic arm 20 with the cleaning device 30 at the base station. For example, the cleaning device 30 can be housed in the base station with the connection structure 150 exposed. The robot vacuum cleaner can move to the cleaning device 30 and dock the robotic arm 20 with the cleaning device 30.

[0248] Once the base station detects that the cleaning device 30 has left the base station, it can control the robotic vacuum cleaner to move to the cleaning area of ​​the base station to complete the immersion of the cleaning device 30, for example, by immersing the cleaning component 322 in water or other cleaning solutions. Afterward, the robotic vacuum cleaner can be controlled to move to a designated location based on its location information.

[0249] Step S200 may specifically include:

[0250] S210, Select a narrow area.

[0251] By establishing the indoor environment model in the aforementioned steps, each narrow area has a location information. After completing step S100, the robot vacuum receives the instruction containing the location information, and the narrow area to be cleaned can be called by the robot vacuum.

[0252] S220, control the robotic arm 20 to retract so that the cleaning device 30 is located in the projection area of ​​the host 10 on the ground.

[0253] The purpose of this step is to prepare the robot vacuum cleaner for its movement. By controlling the retraction of the robotic arm 20, it can effectively avoid obstacles and prevent the robot vacuum cleaner from colliding with furniture and other items in the house.

[0254] Understandably, during the movement of the robot vacuum cleaner, the camera on the main unit 10 and the camera module 800 in the adapter 40 can both play a role, capturing environmental information in real time and thus dynamically adjusting the robot vacuum cleaner's route.

[0255] S230: Based on the location information of the narrow area, control the host 10 to move to a specified position away from the narrow area and make the host 10 face the narrow area.

[0256] After completing step S200, the preparation work of the robot vacuum cleaner is completed. At this time, the robot vacuum cleaner is still a certain distance away from the narrow area, for example, it can be 300mm away from the narrow area. This distance is based on the consideration of safety distance, and it is necessary to ensure that the cleaning device 30 has a safe distance from the ground and other surrounding objects.

[0257] S300, the control robotic arm 20 drives the cleaning device 30 to clean the narrow area.

[0258] After completing steps S100 and S200, the robot vacuum cleaner is positioned directly in front of the narrow area. Then, by controlling the movement of the robotic arm 20 and the main unit 10, the narrow area can be cleaned.

[0259] Specifically, step S300 may include:

[0260] S310, the control host 10 moves from the first position toward the narrow area to drive the cleaning device 30 to the end of the narrow area away from the host 10.

[0261] The first position is the starting position of the robot vacuum cleaner before it begins cleaning. This first position is directly opposite the narrow area. For example, when the narrow area is rectangular, the first position can be located at one end of the length of the narrow area. After completing step S310, the cleaning device 30 can be positioned at the front end of the narrow area (relative to the robot vacuum cleaner).

[0262] S320, control the robotic arm 20 to press down so as to drive the cleaning part 301 of the cleaning mechanism 300 of the cleaning device 30 to contact the ground.

[0263] Understandably, the contact force between the cleaning unit 301 and the ground can be set according to actual needs.

[0264] S330, control the cleaning mechanism 300 to rotate and control the main unit 10 to move towards the other end of the narrow area until the main unit 10 returns to the first position.

[0265] The above step S300 is a cleaning cycle, that is, the main unit 10 moves from the first position and back to the first position as a cleaning cycle.

[0266] It's important to understand that this cleaning cycle can be repeated to ensure effective cleaning. Furthermore, the robot vacuum can be controlled to move at a constant speed, which can be set according to needs for better cleaning.

[0267] In addition, when the coverage area of ​​the cleaning component 322 is smaller than a narrow area, other areas can be cleaned by controlling the robot vacuum to move laterally.

[0268] For example, after completing step S330 above, the following steps can also be performed:

[0269] S340, the control host 10 moves laterally a predetermined distance and is in the second position.

[0270] The predetermined distance can be designed according to the size of the cleaning section 301 and the width of the narrow area. It should be noted that the setting of the predetermined distance must ensure that there are no gaps in the width direction of the cleaning section 301.

[0271] S350, the control host 10 moves from the second position toward the narrow area to drive the cleaning device 30 to the end of the narrow area away from the host 10.

[0272] S360, control the robotic arm 20 to press down so that the cleaning part 301 of the cleaning mechanism 300 of the cleaning device 30 contacts the ground.

[0273] S370, control the cleaning mechanism 300 to rotate and control the main unit 10 to move towards the other end of the narrow area until the main unit 10 returns to the second position.

[0274] Understandably, after completing S350, 360, and S370, the robot vacuum cleaner finished its second cleaning cycle.

[0275] Understandably, when the narrow area is wide enough, the host 10 can continue to move laterally a certain distance.

[0276] During the cleaning process of the robot vacuum cleaner, the rest time of the robot vacuum cleaner can be set according to the travel distance of the cleaning device 30 and the number of cleaning cycles. For example, when the cleaning cycle reaches the preset threshold, the robot vacuum cleaner can be controlled to return to the base station for charging, or to wet the cleaning part 322 again, thereby ensuring the smooth progress of subsequent cleaning operations.

[0277] Specifically, after controlling the robotic arm to drive the cleaning device to clean the narrow area, the process also includes:

[0278] Capture narrow areas to create cleaned image information;

[0279] If the image information meets the predetermined requirements, the cleaning ends and the host is controlled to return to the base station. If the image information does not meet the predetermined requirements, the robotic arm is controlled to drive the cleaning device to perform the next round of cleaning on the narrow area.

[0280] Once all or designated narrow areas have been cleaned, and the cleaning results meet the predetermined requirements, the robot vacuum can move to the base station. If the cleaning results do not meet the predetermined requirements, the next round of cleaning can begin.

[0281] 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.

[0282] 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.

[0283] 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.

[0284] 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. A cleaning device, characterized in that, include: The main housing has a receiving cavity, and at least a portion of the main housing is configured to have a shape that can adapt to narrow areas; A drive mechanism is disposed in the receiving cavity; The cleaning mechanism has a cleaning part adapted to the surface to be cleaned. The cleaning mechanism is rotatably connected to one end of the main housing and connected to the output end of the drive mechanism. The drive mechanism is used to drive the cleaning mechanism to rotate in order to clean the narrow area.

2. The cleaning device according to claim 1, characterized in that, The main shell is constructed in a long strip shape; And / or, the main housing includes a main body and a clearance portion, the outer dimensions of the clearance portion being smaller than the outer dimensions of the main body, and the cleaning mechanism being rotatably connected to the clearance portion.

3. The cleaning device according to claim 2, characterized in that, The clearance portion has a first surface and a second surface. The first surface is flush with the surface of the main body portion, and the second surface is configured as an inclined surface that slopes toward the first surface. The cleaning mechanism is disposed on the outside of the second surface.

4. The cleaning device according to any one of claims 1 to 3, characterized in that, The cleaning mechanism includes a rotating shaft and a cleaning component. The rotating shaft is connected to the output end of the drive mechanism, and the cleaning component is connected to the rotating shaft. The cleaning component forms the cleaning part.

5. The cleaning device according to claim 4, characterized in that, The cleaning assembly includes a cleaning head assembly and a cleaning element fixedly connected to the rotating shaft. At least a portion of the cleaning head assembly forms a disc-shaped cleaning head. The cleaning element is sleeved on the outer periphery of the cleaning head, and the surface of the cleaning element forms the cleaning portion.

6. The cleaning device according to claim 5, characterized in that, The cleaning component includes a cloth; And / or, the cleaning assembly further includes a clamping ring for pressing the cleaning element against the cleaning head.

7. The cleaning device according to claim 5, characterized in that, The cleaning head assembly includes a first connector fixedly connected to the rotating shaft and a second connector sleeved on the first connector, with at least a portion of the second connector forming the cleaning head.

8. The cleaning device according to claim 7, characterized in that, The first connector has a connecting hole that matches the outer periphery of the rotating shaft. The rotating shaft is provided with a shoulder. The end of the rotating shaft is provided with a locking hole along the axial direction of the rotating shaft. The cleaning assembly also includes a locking member. The rotating shaft is sleeved in the connecting hole and the shoulder abuts against a first side of the first connector. The locking member is locked on the rotating shaft and abuts against a second side of the first connector. The first side and the second side are opposite to each other.

9. The cleaning device according to claim 7, characterized in that, The second connector is fitted onto the first connector in a manner that allows it to move relative to the first connector.

10. The cleaning device according to claim 9, characterized in that, The first connector has an engaging portion on its outer periphery, and the second connector has a groove formed on its inner wall surface. The groove extends along the axial direction of the rotating shaft, and the engaging portion is adapted to be received in the groove and can move along the extending direction of the groove.

11. The cleaning apparatus according to claim 10, characterized in that, The first connector includes a first connecting portion fixedly connected to the rotating shaft and a second connecting portion circumferentially connected to the first connecting portion. At least a portion of the end of the second connecting portion is formed with a flange, and the flange forms the engaging portion.

12. The cleaning device according to claim 11, characterized in that, The second connecting part is provided with at least a pair of strip grooves, an elastic arm is formed between the pair of strip grooves, and the end of the elastic arm forms the flange.

13. The cleaning device according to claim 10, characterized in that, The second connector includes a sleeve fitted on the engaging portion and a cleaning head connected to the sleeve, wherein the inner wall surface of the sleeve is formed with the slot.

14. The cleaning device according to claim 9, characterized in that, The cleaning component also includes an elastic element, one end of which is fixedly disposed and the other end is connected to the second connector.

15. The cleaning apparatus according to any one of claims 1 to 3, characterized in that, The end of the main housing away from the cleaning mechanism forms a connection structure for connecting with the adapter.

16. The cleaning apparatus according to claim 15, characterized in that, The connection structure includes an annular wall and a protrusion located in the annular wall. The annular wall is formed at the end of the main housing away from the cleaning mechanism, and there is a gap between the protrusion and the annular wall for the insertion of an adapter.

17. The cleaning apparatus according to claim 16, characterized in that, The main housing includes a first housing and a second housing that can be fastened to the first housing. The end of the first housing away from the cleaning mechanism is formed with a first annular wall and a first protrusion, the first protrusion being located inside the first annular wall. The end of the second housing away from the cleaning mechanism is formed with a second annular wall and a second protrusion, the second protrusion being located inside the second annular wall. The first annular wall is connected to the second annular wall to form the annular wall, and the first protrusion is connected to the second protrusion to form the protrusion.

18. The cleaning apparatus according to claim 16, characterized in that, The connection structure further includes an elastic engagement component disposed in the protrusion. The elastic engagement component includes at least one engagement member that extends from one side of the protrusion and engages with the adapter.

19. The cleaning apparatus according to claim 18, characterized in that, The elastic engagement assembly includes an engagement elastic element disposed in the protrusion, the engagement element being connected to the engagement elastic element, and the engagement element including an inclined guide surface for guiding the adapter to be inserted into the connection structure.

20. The cleaning apparatus according to claim 18, characterized in that, The elastic engaging assembly further includes a pressing member connected to the engaging member, the pressing member protruding from one side of the protrusion and forming a pressing portion.

21. The cleaning apparatus according to claim 16, characterized in that, The main housing is provided with a first power supply component, which includes a first power supply connection end that extends out of the connection structure and is located on both sides of the protrusion.

22. A robotic vacuum cleaner, characterized in that, include: Host; A robotic arm, one end of which is connected to the host computer; And the cleaning device according to any one of claims 1 to 21, wherein the cleaning device is connected to the other end of the robotic arm.

23. The sweeping robot according to claim 22, characterized in that, The sweeping robot also includes a transfer device connected to the robotic arm, and the cleaning device has a connection structure formed at the end of the main housing away from the cleaning mechanism for connecting with the transfer device.

24. A control method for a sweeping robot, characterized in that, The robotic vacuum cleaner includes a main unit, a robotic arm connected to the main unit, and a cleaning device connected to the robotic arm. The control method of the robotic vacuum cleaner includes: Obtain the location information of the narrow area to be cleaned; The host computer is moved to a narrow area based on location information; The robotic arm is controlled to drive the cleaning device to clean narrow areas.

25. The control method for a sweeping robot according to claim 24, characterized in that, The process of obtaining the location information of the narrow area to be cleaned includes: Take photos of the interior environment; Based on the captured image information, complete the indoor environment modeling to form an indoor environment model; Identify narrow areas in the indoor environment model; The location information of narrow areas is marked.

26. The control method for a sweeping robot according to claim 24, characterized in that, The step of controlling the host to move to the narrow area based on the location information includes: Select a narrow area; Control the retraction of the robotic arm so that the cleaning device is located within the projection area of ​​the host machine on the ground; Based on the location information of the narrow area, control the host to move to a specified location away from the narrow area and make the host face the narrow area.

27. The control method for a sweeping robot according to claim 24, characterized in that, The control of the robotic arm to drive the cleaning device to clean the narrow area includes: The control unit moves from a first position toward a narrow area to drive the cleaning device to one end of the narrow area away from the control unit; Control the robotic arm to press down so that the cleaning part of the cleaning mechanism of the cleaning device contacts the ground; Control the cleaning mechanism to rotate and control the main unit to move towards the other end of the narrow area until the main unit returns to the first position.

28. The control method for a sweeping robot according to claim 27, characterized in that, After the control cleaning mechanism rotates and the main unit moves toward the other end of the narrow area until the main unit returns to the first position, the following is also included: The control unit moves laterally a predetermined distance and is positioned in the second location; The control unit moves from the second position toward the narrow area to drive the cleaning device to the end of the narrow area away from the control unit; Control the robotic arm to press down so that the cleaning part of the cleaning mechanism of the cleaning device contacts the ground; Control the cleaning mechanism to rotate and control the main unit to move towards the other end of the narrow area until the main unit returns to the second position.

29. The control method for a sweeping robot according to any one of claims 24 to 28, characterized in that, After the robotic arm drives the cleaning device to clean the narrow area, the following is also included: Capture narrow areas to create cleaned image information; If the image information meets the predetermined requirements, the cleaning ends and the host is controlled to return to the base station. If the image information does not meet the predetermined requirements, the robotic arm is controlled to drive the cleaning device to perform the next round of cleaning on the narrow area.

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