Cleaning equipment and its control methods

Abstract

This application provides a cleaning device and its control method, relating to the field of cleaning device technology. The cleaning device includes a device body, a mop assembly, and a self-cleaning assembly. The mop assembly is vertically and flexibly mounted on the device body. The self-cleaning assembly includes a cleaning arm movably mounted on the device body. The cleaning arm extends into the bottom of the mop assembly after the mop assembly is raised and abuts against the mop assembly. The cleaning arm is provided with a scraping part and a dirt collection bin. The scraping part scrapes away dirt from the mop assembly when the mop assembly rotates relative to the cleaning arm in the cleaning direction. The dirt collection bin collects the dirt scraped away by the scraping part. The cleaning direction is the rotation direction of the mop assembly during self-cleaning. The cleaning device provided in this application can achieve self-cleaning of the mop assembly by using the cleaning arm to abut against the mop assembly, using the scraping part to scrape away dirt from the mop assembly, and using the dirt collection bin for collection. This improves cleaning efficiency while satisfying the user experience.

Description

Technical Field

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

[0002] With the continuous development of smart home technology, robotic vacuum cleaners, as efficient and convenient floor cleaning equipment, have been widely used in various scenarios such as homes and offices, becoming an important tool to improve cleaning efficiency and reduce the burden of manual labor.

[0003] Robotic vacuum cleaners are mainly divided into two categories: dual-disc type and roller type. Among them, dual-disc robotic vacuum cleaners have a higher cleaning coverage rate due to their dual-disc mop structure. They can cover the floor to be cleaned more comprehensively and have a better cleaning effect on surface dust and light stains. They are widely used in daily household cleaning scenarios.

[0004] However, during long-term cleaning, lint, dust, stains and other dirt easily accumulate on the surface of the mop pad. Usually, dual-disc sweeping robots can return to the base station for self-cleaning. This requires the dual-disc sweeping robot to travel back and forth between the base station and the area to be cleaned, resulting in low cleaning efficiency and affecting the user experience. Summary of the Invention

[0005] This application provides a cleaning device and its control method to solve the problem of low cleaning efficiency of dual-disc sweeping robots in the above-mentioned related technologies, which affects the user experience.

[0006] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0007] A first aspect of this application provides a cleaning device, including a device body, a mop assembly, and a self-cleaning assembly. The mop assembly is vertically and flexibly mounted on the device body. The self-cleaning assembly includes a cleaning arm movably mounted on the device body. The cleaning arm extends into the bottom of the mop assembly after the mop assembly is raised and abuts against the mop assembly. The cleaning arm is provided with a scraping part and a dirt collection bin. The scraping part is used to scrape off dirt from the mop assembly when the mop assembly rotates relative to the cleaning arm in a cleaning direction. The dirt collection bin is used to collect the dirt scraped off by the scraping part. The cleaning direction is the rotation direction of the mop assembly during self-cleaning.

[0008] The cleaning device provided in this embodiment can provide mounting support for the mop assembly and self-cleaning assembly through the device body. By lifting and lowering the mop assembly onto the device body, the cleaning arm can easily enter during self-cleaning, reducing the difficulty of self-cleaning. The cleaning arm is movable and extends into the bottom of the mop assembly after it is raised, abutting against the mop assembly. In conjunction with the scraping part, it can scrape away dirt from the mop assembly as it rotates in the cleaning direction. A dirt collection bin can collect the scraped dirt, thereby achieving self-cleaning of the mop assembly. This allows the mop assembly to self-clean during the cleaning process without returning to the base station for cleaning, thus solving the problem of low cleaning efficiency in traditional dual-disc sweepers that can only return to the base station for cleaning.

[0009] In addition, by setting a scraping part and a dirt collection bin on the cleaning arm, the scraping part can scrape the mop assembly, and the dirt collection bin can collect the scraped dirt, avoiding secondary contamination of the cleaning area by the dirt scraped off from the mop assembly, thus meeting the user's needs for cleaning effect and improving the user experience.

[0010] In one possible implementation, the cleaning arm has an initial position and a working position; in the initial position, the cleaning arm is located to the side of the mop assembly; in the working position, the cleaning arm is located at the bottom of the mop assembly and abuts against the mop assembly.

[0011] The cleaning arm is set to an initial position and a working position. In the initial position, the cleaning arm is located to the side of the mop assembly to avoid interfering with the mop assembly's cleaning operation on the floor. In the working position, the cleaning arm is located at the bottom of the mop assembly and abuts against it to achieve self-cleaning. This way, the floor cleaning function of the mop assembly is not affected, and self-cleaning can be achieved.

[0012] In one possible implementation, the self-cleaning component includes a drive unit that is driveably connected to the cleaning arm; the drive unit is used to drive the cleaning arm to swing between an initial position and a working position.

[0013] By connecting the drive unit to the cleaning arm and driving the cleaning arm to swing between the initial position and the working position, the cleaning arm can be automatically controlled without human intervention, thus automating the self-cleaning process.

[0014] In one possible implementation, the scraping section includes comb teeth and scraping sections spaced apart along the cleaning direction; when the mop assembly rotates along the cleaning direction, the mop assembly first passes the comb teeth and then the scraping section. The scraping section is located at the top of the cleaning arm; when the cleaning arm is in the initial position, the top of the scraping section is higher than the lower surface of the mop assembly; when the cleaning arm is in the working position, the scraping section is interference-fitted with the lower surface of the mop assembly, and the comb teeth are spaced apart from the lower surface of the mop assembly.

[0015] By arranging comb-like sections and scraping sections at intervals along the cleaning direction, and ensuring that the mop assembly passes through the comb-like sections before the scraping sections during rotation, the comb-like sections pre-comb, loosen, and initially separate dirt on the mop assembly. Large particles of dirt and tangled hair are processed first by the comb-like sections. Subsequently, the scraping sections thoroughly scrape the pre-treated surface of the mop assembly, effectively removing any remaining dirt. This comb-then-scrape cleaning method, compared to a single scraping structure, can more thoroughly remove various types of dirt adhering to the mop assembly, while reducing the risk of damage to the mop assembly and improving the reliability and cleaning effect of self-cleaning.

[0016] Furthermore, by setting the top of the scraping section higher than the lower surface of the mop assembly when the cleaning arm is in its initial position, the scraping section can intersect with the mop assembly to some extent as the cleaning arm swings into the working position. This allows for an interference fit between the scraping section and the lower surface of the mop assembly, providing sufficient scraping pressure to ensure effective removal of dirt. The spaced arrangement of the comb teeth between the comb teeth and the lower surface of the mop assembly allows the comb teeth to effectively comb and loosen dirt, while also preventing unnecessary wear or increased friction on the mop assembly, thus extending its lifespan.

[0017] In one possible implementation, when the cleaning arm is in the working position, the distance between the top of the comb teeth and the lower surface of the mop assembly is a first distance; the first distance is greater than or equal to 1 mm and less than or equal to 2 mm; when the cleaning arm is in the working position, the interference fit between the top of the scraping part and the lower surface of the mop assembly is a second distance; the second distance is greater than or equal to 1.5 mm and less than or equal to 2.5 mm.

[0018] By setting the initial distance between the top of the comb teeth and the lower surface of the mop assembly within a range of 1 mm to 2 mm, the comb teeth can effectively pick up and loosen large particles of dirt (hair, fibers, and other long, thin debris) adhering to the mop assembly without directly contacting its surface. This initial distance range ensures the comb teeth's pre-treatment effect on dirt while preventing damage to the mop assembly caused by direct friction between the comb teeth and the mop assembly.

[0019] Furthermore, by positioning the scraping part at the top of the cleaning arm, it can contact the lower surface of the mop assembly after the cleaning arm extends into the bottom of the mop assembly, facilitating scraping of the mop assembly by the scraping part. When the cleaning arm is in the working position, the interference fit between the top of the scraping part and the lower surface of the mop assembly can be defined as the second distance.

[0020] "Interference fit" refers to the distance by which the top of the scraping part extends vertically beyond the original plane of the lower surface of the mop assembly; that is, the amount of elastic compression generated between the scraping part and the mop assembly in the contact area. The second distance can be set to a value greater than or equal to 1.5 mm and less than or equal to 2.5 mm. Limiting the second distance within the above range ensures that the scraping part presses firmly against the surface of the mop assembly with appropriate pressure, guaranteeing the contact pressure required for scraping away dirt, and preventing excessive interference fit from causing excessive deformation of the mop assembly or overloading of the drive motor.

[0021] In one possible implementation, the scraping part includes a sludge discharge port located between the comb teeth and the scraping part, or the sludge discharge port is located on both sides of the scraping part; the sludge discharge port is connected to the sludge collection bin and is configured as an inlet for the scraped sludge to fall into the sludge collection bin.

[0022] By providing a sludge discharge port connected to the sludge collection bin between the comb teeth and the scraping section, or on both sides of the scraping section, and configuring the sludge discharge port as the inlet for scraped-off dirt to fall into the sludge collection bin, dirt separated from the mop assembly can enter the sludge collection bin through the sludge discharge port, achieving immediate collection of dirt for subsequent centralized treatment. This design reduces secondary pollution caused by scraped-off dirt falling on the ground, thus improving cleaning effectiveness.

[0023] In one possible implementation, the cleaning arm has a water spray section for spraying water onto the mop assembly; wherein, when the cleaning arm is in the working position, the plane of the water spray section is lower than the lower surface of the mop assembly; along the cleaning direction, the water spray section is located on the side of the scraping section away from the comb section; when the mop assembly rotates along the cleaning direction, the mop assembly passes the scraping section first and then the water spray section.

[0024] By assembling the water spray unit on the cleaning arm and using it to spray water onto the mop assembly, a continuous supply of clean water can be provided to the mop assembly during the self-cleaning process, enhancing its ability to dissolve and rinse away dirt. When the cleaning arm is in the working position, the plane of the water spray unit is lower than the lower surface of the mop assembly, which avoids direct contact between the water outlet of the spray unit and the mop assembly, preventing dirt on the mop assembly from clogging the outlet, while ensuring that the sprayed water can smoothly reach the surface of the mop assembly, guaranteeing cleaning effectiveness.

[0025] The synergistic effect of the water spraying section and the scraping section allows the mop assembly to undergo a cleaning process of water spraying, mechanical scraping, and rinsing with clean water in sequence during the self-cleaning process, which significantly improves the cleanliness and efficiency of self-cleaning.

[0026] Furthermore, by positioning the water spray section on the side of the scraping section opposite to the comb section along the cleaning direction, and ensuring that the mop assembly passes through the scraping section before the water spray section during rotation, the scraping section can perform a powerful physical scraping of the mop after the mop assembly has completed some cleaning work. At this point, the concentration of dirt on the mop assembly is high, resulting in higher mechanical stripping efficiency. If water is sprayed first, the water flow will not effectively wet the surface dirt and will dilute and disperse it, causing the dirt to penetrate deep into the mop fibers or turn into mud, which will significantly reduce the gripping and cleaning efficiency of the scraping section.

[0027] When the mop head spins slightly and is moistened by the downstream spray section, it isn't immediately cleaned. Instead, as the mop continues to rotate for nearly a full rotation, it reaches the upstream comb and scraping sections again. During this time, the water flow has ample time (approximately one rotation cycle) to thoroughly soak the mop fibers, softening and dissolving stubborn stains or dried grime that have penetrated them. When this fully moistened area of ​​the mop head reaches the scraping section again, the stains inside have become softer and less adherent, allowing them to be scraped away more easily and thoroughly by the comb and scraping sections. This improves the cleaning ability for deep-seated stains.

[0028] In one possible implementation, the cleaning arm includes a guide portion; wherein, when the cleaning arm is in its initial position, the guide portion is located on the side of the cleaning arm facing the mop assembly; the guide portion includes a bevel structure, the bottom of which is lower than the lower surface of the mop assembly when the cleaning arm is in its initial position, and a scraping portion is provided at the top of the bevel structure; the bevel structure is configured to guide the cleaning arm to extend into the bottom of the mop assembly as the cleaning arm moves from its initial position to its working position. A water spraying portion is disposed on the bevel structure.

[0029] By incorporating a sloping structure into the guide section, with the bottom of the sloping structure lower than the lower surface of the mop assembly in the initial position, and the scraping section positioned at the top of the sloping structure, the cleaning arm can smoothly extend into the bottom of the mop assembly using the guiding effect of the sloping structure as it moves from the initial position to the working position. This avoids hard collisions or jamming between the cleaning arm and the edge of the mop assembly during the extension process, ensuring that the scraping section can accurately reach the working position below the mop assembly, thus improving the reliability and stability of the self-cleaning component's movement.

[0030] In addition, by setting the water spray unit on the inclined structure, the water spray unit can provide uniform water spray coverage to the mop assembly along the entire length of the cleaning arm. The inclined angle of the inclined structure relative to the mop assembly can be used to make the sprayed water flow act on the surface of the mop assembly in an oblique impact manner, which is beneficial for wetting and rinsing the mop assembly, and also helps to guide the washed-off dirt towards the dirt outlet, thereby improving the rinsing efficiency of the water spray unit and the overall self-cleaning effect.

[0031] In one possible implementation, the inclined structure is provided with a plurality of protruding ridges spaced apart along the extension direction of the cleaning arm; the water spray section includes a plurality of water outlets spaced apart along the extension direction of the cleaning arm; the water outlets are located at the end of the protruding ridges away from the scraping section.

[0032] By incorporating multiple raised ridges spaced along the length of the cleaning arm on the inclined structure, the actual contact area between the inclined structure and the mop assembly is reduced, thereby decreasing the frictional resistance generated when the cleaning arm extends into the bottom of the mop assembly. Simultaneously, the raised ridges create tiny gaps between the inclined structure and the mop assembly, facilitating airflow and dirt removal. These gaps prevent jamming caused by dirt accumulation or adhesion between the inclined structure and the mop assembly, resulting in smoother and more reliable movement of the cleaning arm.

[0033] By arranging multiple water outlets of the spray unit at intervals along the length of the cleaning arm on the inclined structure, the spray unit can provide uniform water coverage to the mop assembly throughout the entire length of the cleaning arm. The sprayed water acts on the surface of the mop assembly in an oblique impact manner, which is beneficial for wetting and rinsing the mop assembly, and also helps guide the washed-off dirt towards the waste disposal outlet, improving the rinsing efficiency of the spray unit and the overall self-cleaning effect.

[0034] Furthermore, by positioning the water outlet at the end of the ridge furthest from the scraping section, the ridge can first slide out a recessed slope on the lower surface of the mop assembly, increasing the contact area between the water flow and the lower surface of the mop assembly. This increases the contact time, making the water easier to absorb. The ridge can also scrape a gap on the lower surface of the mop assembly, forming a guide channel. The water flow from the water outlet is then confined within this guide channel and flows along it, further increasing the contact time between the water flow and the lower surface of the mop assembly. This facilitates water absorption by the mop assembly and improves its wettability.

[0035] Specifically, the water jets from these outlets spread smoothly along the gaps, forming a uniform water film covering the lower surface of the mop assembly. This avoids the problems of intermittent water droplets, splashing, or backsplashing that can easily occur when water is sprayed directly onto a seamless mop surface, thus ensuring continuous and uniform water spraying and improving wetting and rinsing efficiency.

[0036] In one possible implementation, the cleaning arm is provided with a water inlet, which is connected to a water spraying unit; the cleaning equipment includes a clean water pipeline, one end of which is connected to the water inlet and the other end of which is connected to the clean water tank of the cleaning equipment.

[0037] By installing a water inlet on the cleaning arm that communicates with the spray unit, and a clean water pipe connecting one end to the water inlet and the other end to the clean water tank, the cleaning equipment can stably deliver clean water stored in the clean water tank to the spray unit on the cleaning arm, providing a reliable water supply for the water spraying and rinsing operation during the self-cleaning process. This ensures that the spray unit receives sufficient and clean water when needed, thereby wetting dirt and rinsing the mop assembly.

[0038] In one possible implementation, the mop assembly includes a cleaning section disposed at the bottom; wherein the cleaning section includes an inner edge and an outer edge disposed radially, and when the cleaning arm is in the working position, the radial extension of the scraping section of the cleaning section covers at least the area from the inner edge to the outer edge.

[0039] By ensuring that the scraping section extends radially across the cleaning section to cover at least the area from the inner edge to the outer edge, the scraping section can effectively clean the entire working surface of the cleaning section as the mop assembly rotates, avoiding any cleaning dead spots. This ensures that dirt adhering to all parts of the mop assembly from the center to the edge is effectively scraped off, improving the uniformity of self-cleaning and preventing secondary contamination of the mop assembly in subsequent cleaning operations due to incomplete local cleaning.

[0040] In one possible implementation, the sludge collection bin is detachably connected to the cleaning arm.

[0041] By making the sludge collection tank detachably connected to the cleaning arm, users can easily remove the tank from the cleaning equipment for cleaning, simplifying daily maintenance. The detachable structure avoids incomplete cleaning and hygiene problems caused by a non-removable tank. At the same time, this design also facilitates tank replacement and repair, extending the lifespan of the cleaning equipment and reducing maintenance costs.

[0042] In one possible implementation, the mop assembly includes two independently rotatable disc mops; the self-cleaning assembly includes two cleaning arms, each corresponding to one of the two disc mops; a drive unit is located between the two cleaning arms; the drive unit is configured to synchronously drive the two cleaning arms to simultaneously extend into or retract from the bottom of the corresponding disc mop.

[0043] By setting up two independently rotating disc mops and two cleaning arms corresponding to the two disc mops, the cleaning equipment can perform self-cleaning operations on the two disc mops simultaneously, which can improve the efficiency of self-cleaning.

[0044] Furthermore, by placing the drive unit between the two cleaning arms and configuring it to drive their movements synchronously, both cleaning arms can simultaneously extend into or retract from the bottom of their respective disc mops. This symmetrical layout optimizes the use of internal space in the cleaning equipment and ensures the consistency of the two cleaning arms' movements. The simultaneous extension and retraction of both cleaning arms makes the self-cleaning process more efficient and orderly, and also helps maintain the overall balance and stability of the cleaning equipment during the self-cleaning process.

[0045] In one possible implementation, the sludge collection chamber includes two independent sub-sludge collection chambers; the two sub-sludge collection chambers are respectively connected to two cleaning arms; or, the sludge collection chamber is an integral structure and is simultaneously connected to two cleaning arms; the sludge collection chamber includes a first side section, a middle section and a second side section connected sequentially along the extension direction of the length of the cleaning arm, the first side section and the second side section corresponding to the two cleaning arms respectively.

[0046] By configuring the sludge collection chamber as two independent sub-collection chambers, each connected to a cleaning arm, the dirt scraped by each cleaning arm can be collected in its connected sub-collection chamber, reducing potential leakage or blockage during long-distance transport. The independent sub-collection chambers can be maintained individually, reducing maintenance costs. Furthermore, by making the sludge collection chamber a single unit connected to both cleaning arms, the structure of the sludge collection chamber is simplified, the number of parts in the self-cleaning component is reduced, and the assembly process is simplified, thereby lowering costs.

[0047] In one possible implementation, when the sludge collection tank is an integral structure, the material hardness of the middle section is less than that of the first and second side sections.

[0048] By using a harder material for the first and second side sections of the sludge collection bin, the connection strength can be guaranteed, while using a softer material for the middle section can provide bending flexibility and prevent damage to the sludge collection bin when the two cleaning arms move.

[0049] In one possible implementation, the drive unit includes a housing with an arcuate support surface located on the side of the sludge collection bin facing the mop assembly. The arcuate support surface is configured to contact and provide support to the outer wall of the intermediate section of the sludge collection bin when the intermediate section bends.

[0050] By setting an arc-shaped support surface on the housing of the drive unit, and ensuring that this surface contacts and supports the outer wall of the middle section of the sludge collection bin when it bends, the bending shape of the middle section can be effectively controlled, preventing irregular collapse or overturning. This also prevents damage to the internal structure of the sludge collection bin due to excessive deformation.

[0051] In one possible implementation, the bottom wall of the sludge collection chamber has a lowest point, and the bottom wall is configured to slope towards the lowest point from at least one side.

[0052] By configuring the inner wall of the sludge collection chamber to slope towards the lowest point from at least one side, sewage and liquid contaminants entering the chamber can automatically collect at the lowest point under gravity. This facilitates the collection of liquids towards the lowest point and also allows the suction pipe to efficiently and completely remove sewage at the lowest point, improving the thoroughness of sewage collection.

[0053] In one possible implementation, a filter element is provided inside the sludge collection chamber; wherein the filter element includes a filter screen, and there is a gap between the bottom of the filter screen and the bottom wall of the sludge collection chamber.

[0054] By installing a filter screen inside the sludge collection chamber and maintaining a gap between the bottom of the filter screen and the bottom wall of the chamber, wastewater in the mixture of dirt and grime entering the chamber can flow through the mesh of the filter screen into the gap below, and then collect at the bottom of the chamber. Solid dirt such as hair and debris is trapped above the filter screen. This solid-liquid separation structure prevents solid dirt from clogging the suction pipe inlet, ensuring that wastewater can be smoothly pumped into the wastewater tank. It also allows users to separate solid and liquid dirt when cleaning the sludge collection chamber, improving cleaning convenience and suction efficiency.

[0055] In one possible implementation, when the sludge collection tank is an integral structure, an elastic support is provided in the middle section of the sludge collection tank, and the elastic support is configured to support the bottom wall and / or side wall of the middle section.

[0056] By installing elastic supports in the middle section of the sludge collection bin, and using these supports to reinforce the bottom and / or side walls of the middle section, the middle section can maintain its basic shape under bending forces, reducing the problem of irregular collapse or excessive deformation caused by the low hardness of the material. The elastic supports improve the structural stability and deformation resistance of the middle section, ensuring that the sludge collection bin maintains effective sewage collection and diversion functions during the movement of the cleaning arm. Simultaneously, the elastic properties of the supports allow the middle section to recover after bending, achieving a balance between support and flexibility.

[0057] In one possible implementation, the drive unit includes a drive motor, a housing, and a transmission mechanism disposed within the housing; the cleaning arm is connected to the output shaft of the transmission mechanism via a connecting arm; the rotation of the output shaft drives the cleaning arm to swing between an initial position and a working position.

[0058] Through the cooperation of the drive motor, housing, and transmission mechanism, and the transmission connection between the cleaning arm and the output shaft of the transmission mechanism via the connecting arm, the rotational motion of the output shaft can be converted into the oscillating motion of the cleaning arm between the initial position and the working position. This transmission method has a compact structure and high transmission efficiency, and can provide driving torque to ensure stable operation of the cleaning arm under the mop assembly. The oscillating motion driven by the rotation of the output shaft enables rapid position switching of the cleaning arm, which helps to shorten the cleaning time of the self-cleaning process.

[0059] In one possible implementation, a limiting structure is provided on the housing, which is configured to limit the swing angle range of the connecting arm.

[0060] By incorporating a limiting structure on the housing to restrict the swing angle range of the connecting arm, the cleaning arm can be accurately stopped at its initial and working positions each time, without relying on the control of a drive motor. The limiting structure provides reliable mechanical restraint, preventing the connecting arm from exceeding its predetermined range of motion, thereby protecting the cleaning arm, mop assembly, and other surrounding components from excessive mechanical impact and improving the reliability and safety of the cleaning arm's movement.

[0061] In one possible implementation, the limiting structure includes a first limiting part and a second limiting part; a connecting arm is movably disposed between the first limiting part and the second limiting part; when the cleaning arm is in the initial position, the connecting arm abuts against the first limiting part; when the cleaning arm is in the working position, the connecting arm abuts against the second limiting part; the limiting structure includes a detection device and a control device; the detection device is used to detect the position information of the cleaning arm; the control device is connected to both the drive motor and the detection device, and the control device is used to control the working state of the drive motor according to the position information of the cleaning arm detected by the detection device, so as to limit the position of the cleaning arm.

[0062] By configuring the limiting structure to include a first limiting part and a second limiting part, and ensuring that the connecting arm abuts against the first limiting part in the initial position and against the second limiting part in the working position, the two extreme working positions of the cleaning arm are precisely defined by the first and second limiting parts. This ensures that the cleaning arm accurately reaches the preset initial and working positions each time, avoiding positional deviations caused by cumulative errors or control biases.

[0063] Furthermore, by incorporating a limit structure that includes a detection device and a control device, the detection device monitors the position of the cleaning arm in real time and transmits the position information to the control device. The control device then precisely controls the operating state of the drive motor based on this information. The position of the cleaning arm can be controlled by adjusting the rotation direction and angle of the drive motor, reducing the number of components on the drive unit housing and making the housing more streamlined. Additionally, compared to mechanical limiters, this method improves control precision and flexibility, enabling smooth deceleration and stopping of the cleaning arm instead of mechanical impact, thus reducing noise and mechanical wear.

[0064] In one possible implementation, the drive device includes a resilient floating structure; wherein the axial direction of the output shaft is parallel to the vertical direction, and the connecting arm is slidably connected to the output shaft in the vertical direction; the resilient floating structure is disposed between the connecting arm and the output shaft; the resilient floating structure is configured to allow the cleaning arm to float in the vertical direction relative to the output shaft.

[0065] By incorporating a flexible floating structure in the drive unit and allowing the connecting arm to slide vertically against the output shaft, the cleaning arm gains a certain degree of vertical floating capability. This absorbs height variations caused by manufacturing tolerances, assembly errors, or wear of the mop assembly, ensuring appropriate contact pressure between the scraping section and the mop assembly when the cleaning arm is in the working position. This prevents damage to the mop assembly or motor overload due to excessive interference fit, and also avoids poor scraping performance due to insufficient interference fit. The flexible floating structure enhances the cleaning arm's adaptability to changes in the mop assembly's condition, improving the stability and reliability of the self-cleaning process.

[0066] In one possible implementation, the transmission mechanism includes a worm gear, a first gear set, and a second gear set; wherein the first gear set includes a first output shaft, and the second gear set includes a second output shaft; the first gear set and the second gear set are located on both sides of the worm gear and are driven to drive the worm gear; the rotation of the worm gear drives the first output shaft and the second output shaft to rotate synchronously in opposite directions; the mop assembly includes two independently rotatable disc mops; the self-cleaning assembly includes two cleaning arms, each corresponding to one of the two disc mops; the first output shaft is driven to drive one of the two cleaning arms, and the second output shaft is driven to drive the other of the two cleaning arms.

[0067] By employing a transmission mechanism including a worm gear and a first gear set and a second gear set located on both sides of the worm gear, and utilizing the rotation of the worm gear to drive the first and second output shafts to rotate synchronously in opposite directions, a single drive motor can simultaneously drive two cleaning arms to swing synchronously in opposite directions, achieving synchronous movement without the need for a complex control structure. The worm gear can provide a large driving torque to overcome the frictional resistance between the cleaning arms and the mop assembly. Furthermore, the self-locking characteristic of the worm gear drive can hold the cleaning arms in their current position after the drive motor is powered off, eliminating the need for an additional braking device and simplifying the internal structure.

[0068] Furthermore, by connecting the first output shaft to one cleaning arm and the second output shaft to the other cleaning arm, the synchronous counter-rotational motion output by the transmission mechanism is effectively distributed to the two cleaning arms. This allows both cleaning arms to be synchronously driven by the same drive motor, eliminating the need for a separate motor for each cleaning arm and thus reducing manufacturing costs. The synchronous movement of the two cleaning arms ensures that the self-cleaning process of the two disc mops can start and end simultaneously, which helps to shorten the self-cleaning time.

[0069] In one possible implementation, the self-cleaning component includes a suction pipe; one end of the suction pipe is connected to the bottom of the sludge collection chamber, and the other end is used to connect to the wastewater tank of the cleaning equipment.

[0070] By connecting one end of the suction pipe to the bottom of the sludge collection bin and the other end to the wastewater tank of the cleaning equipment, the dirt and wastewater collected in the sludge collection bin can be promptly transported to the wastewater tank through the suction pipe. This avoids the problem of overflow due to the limited capacity of the sludge collection bin, which would otherwise require frequent manual cleaning. Furthermore, this allows the self-cleaning component to perform self-cleaning operations multiple times without user intervention, improving the automation and ease of use of the cleaning equipment. Simultaneously, the suction pipe centrally transports dirt to the wastewater tank, eliminating the need for repeated cleaning by the user and simplifying the maintenance of the cleaning equipment.

[0071] A second aspect of this application provides a control method for a cleaning device, applied to the cleaning device provided above; the control method includes: acquiring operating parameters of the cleaning device; and, based on the operating parameters, controlling the cleaning arm of the cleaning device to extend into the bottom of the mop assembly after the mop assembly of the cleaning device is raised, so as to perform a self-cleaning operation of the mop assembly.

[0072] By acquiring the operating parameters of the cleaning equipment and automatically controlling the cleaning arm to extend into the bottom of the mop assembly after the mop assembly is raised to perform a self-cleaning operation, this control method enables intelligent triggering and automated execution of the mop assembly's self-cleaning. Compared to traditional methods that require manual judgment or timed return to the base station for cleaning, this control method can flexibly schedule the self-cleaning time according to the actual working status of the cleaning equipment, avoiding the waste of electricity and water resources caused by self-cleaning operations, and also avoiding the problem of mopping dirt with dirt due to untimely self-cleaning. This method integrates the self-cleaning process into the normal working flow of the cleaning equipment, improving the automation level and cleaning effect of the cleaning equipment.

[0073] In one possible implementation, the cleaning arm of the cleaning device has an initial position and a working position; in the initial position, the cleaning arm is located to the side of the mop assembly of the cleaning device; in the working position, the cleaning arm is located at the bottom of the mop assembly of the cleaning device and abuts against the mop assembly; according to operating parameters, controlling the cleaning arm of the cleaning device to extend into the bottom of the mop assembly after the mop assembly of the cleaning device is raised includes: when the operating parameters meet the self-cleaning trigger condition, controlling the mop assembly to rise to a first target position; controlling the cleaning arm to move to the working position; controlling the mop assembly to rotate relative to the cleaning arm in the cleaning direction, so that the scraping part of the cleaning arm scrapes off dirt on the mop assembly when the mop assembly rotates relative to the cleaning arm.

[0074] This control method automates the self-cleaning process by sequentially executing a series of actions: lifting the mop assembly, extending the cleaning arm into the working position, and rotating the mop assembly along the cleaning direction, when the operating parameters meet the self-cleaning trigger conditions. The sequence of lifting the mop assembly before extending the cleaning arm avoids motion interference between the cleaning arm and the mop assembly, ensuring the safety and reliability of the self-cleaning process. The rotation of the mop assembly along the cleaning direction, combined with the scraping action of the cleaning arm, effectively removes dirt. The entire control process is logically clear and the steps are well-defined, making it easy to program and implement in the control device of cleaning equipment.

[0075] In one possible implementation, before controlling the mop assembly to rise to the first target position, the method further includes: controlling the cleaning device to move to a preset position, and controlling the movement state of the cleaning device to be a stopped state.

[0076] By controlling the cleaning device to move to a preset position and pause before raising the mop assembly, a stable and safe environment is provided for self-cleaning operation. Once the cleaning device is paused at the preset position, no movement will interfere with the self-cleaning process, avoiding the risk of the cleaning arm colliding with furniture or other obstacles due to device movement. Simultaneously, the fixed posture of the cleaning device in the paused state facilitates accurate raising of the mop assembly and precise extension of the cleaning arm, improving the reliability and consistency of the self-cleaning process.

[0077] In one possible implementation, the operating parameters include the cleaning distance and / or cleaning area of ​​the cleaning equipment during cleaning operations; the self-cleaning trigger conditions include: the cleaning distance reaching a first preset threshold; and / or, the cleaning area reaching a second preset threshold.

[0078] By setting operating parameters including cleaning distance and cleaning area as corresponding trigger conditions, the self-cleaning operation is strongly correlated with the actual degree of dirtiness of the mop. Since mop contamination mainly comes from its friction area with the floor and its travel distance, the judgment logic based on cleaning area / distance is more scientific and accurate than simple timed triggering. It can effectively avoid unnecessary self-cleaning when the mop is still clean (saving water and electricity, reducing wear and tear), and also prevent cleaning from not starting when the mop is excessively contaminated (ensuring continuous cleaning effect). Thus, while ensuring cleaning effect, it optimizes the overall energy efficiency and component life of the cleaning equipment.

[0079] In one possible implementation, the cleaning arm has a water spray section for spraying water onto the mop assembly; while controlling the mop assembly to rotate relative to the cleaning arm in the cleaning direction, water is sprayed onto the mop assembly through the water spray section to rinse the mop assembly.

[0080] This control method combines mechanical scraping and water rinsing by spraying water onto the mop assembly during its rotation relative to the cleaning arm, achieving a composite cleaning of the mop assembly. The water spray softens dried dirt, dissolves water-soluble stains, dilutes viscous dirt, and promptly removes scraped dirt from the mop assembly surface, significantly improving the cleanliness and efficiency of self-cleaning. Compared to self-cleaning methods relying solely on mechanical scraping, the added water spray step ensures a higher level of cleanliness after self-cleaning, providing a cleaner mop assembly for subsequent floor cleaning and effectively preventing the problem of using a dirty mop to clean an already dirty surface. Attached Figure Description

[0081] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0082] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application;

[0083] Figure 2 A top view of the cleaning arm in its initial position and located on one side of the mop assembly, as provided in the embodiments of this application;

[0084] Figure 3 A top view of the cleaning arm in the working position and located at the bottom of the mop assembly, as provided in the embodiments of this application;

[0085] Figure 4 A top view of the cleaning arm in its initial position, provided in an embodiment of this application;

[0086] Figure 5 A top view of the cleaning arm in its working position, provided in an embodiment of this application;

[0087] Figure 6 A side view of the cleaning arm in its initial position and located on one side of the mop assembly, as provided in an embodiment of this application;

[0088] Figure 7 A side view of the cleaning arm in the working position and located at the bottom of the mop assembly, as provided in an embodiment of this application;

[0089] Figure 8 A front view of the cleaning arm in its initial position and located on one side of the mop assembly, as provided in the embodiments of this application;

[0090] Figure 9 A front view of the cleaning arm in the working position and located at the bottom of the mop assembly, as provided in the embodiments of this application;

[0091] Figure 10 A schematic diagram of the cleaning arm in its initial position, provided in an embodiment of this application;

[0092] Figure 11 A schematic diagram of the cleaning arm in the working position from another perspective, as provided in an embodiment of this application;

[0093] Figure 12 A schematic diagram of the structure of the sludge collection bin mounted on the cleaning arm, provided in an embodiment of this application;

[0094] Figure 13 An exploded view of the cleaning arm provided in an embodiment of this application;

[0095] Figure 14 A structural schematic diagram from another perspective showing the cleaning arm in its initial position and located on one side of the mop assembly, as provided in an embodiment of this application;

[0096] Figure 15 A schematic diagram of the cleaning arm in the working position and located at the bottom of the mop assembly, as provided in the embodiments of this application;

[0097] Figure 16 This is a schematic diagram of the structure of the self-cleaning component provided in the embodiments of this application;

[0098] Figure 17 for Figure 16 A magnified view of a section at point A in the middle;

[0099] Figure 18 This is a schematic diagram of the structure of the cleaning arm provided in an embodiment of this application;

[0100] Figure 19 This is a schematic diagram of the structure of the driving device provided in the embodiments of this application;

[0101] Figure 20 A cross-sectional schematic diagram of the elastic floating structure of the driving device provided in the embodiments of this application;

[0102] Figure 21 A front view of the cleaning arm provided in an embodiment of this application;

[0103] Figure 22 A cross-sectional view of the cleaning arm provided in an embodiment of this application;

[0104] Figure 23 A schematic diagram of the structure of the filter element provided in the embodiment of this application, which is installed in the sludge collection chamber;

[0105] Figure 24 A schematic diagram of the structure of the elastic support member provided in the embodiment of this application, which is installed inside the sludge collection bin;

[0106] Figure 25 A schematic diagram of the drive motor and transmission mechanism in the drive device provided in the embodiments of this application;

[0107] Figure 26 This is a structural schematic diagram of the cleaning arm provided in an embodiment of this application from another perspective;

[0108] Figure 27 A cross-sectional view of the cleaning arm provided in an embodiment of this application;

[0109] Figure 28 for Figure 27 A magnified view of a section at point B in the middle;

[0110] Figure 29 This is a schematic diagram of the structure of the scraping component provided in the embodiments of this application;

[0111] Figure 30 This is a schematic diagram of the structure provided in the embodiment of this application, showing the scraping component abutting against the disc mop, with each disc mop corresponding to one scraping component;

[0112] Figure 31 A schematic diagram of the structure provided in this application embodiment, showing two driving devices that drive a cleaning arm to clean a disc mop;

[0113] Figure 32This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application.

[0114] Explanation of reference numerals in the attached figures:

[0115] 10. Cleaning equipment;

[0116] 200. Mop assembly; 210. Cleaning section; 211. Inner edge; 212. Outer edge; 220. Disc mop;

[0117] 300. Self-cleaning components;

[0118] 310. Cleaning arm; 311. Scraping section; 3111. Comb section; 3112. Scraping part; 3113. Sewage outlet; 312. Sewage collection bin; 3121. First side section; 3122. Middle section; 3123. Second side section; 3124. Engaging part; 3125. Limiting part; 313. Water spraying part; 3131. Water outlet; 314. Water inlet; 315. Water inlet; 316. Water inlet channel; 317. Guide part; 3171. Sloping structure; 3172. Protruding ridge; 318. Fitting part; 319. Elastic support member;

[0119] 320. Drive unit; 321. Housing; 3211. Arc-shaped support surface; 3212. First fixing structure; 3213. Second fixing structure; 3214. Support structure; 3215. Mounting slot; 322. Drive motor; 323. Transmission mechanism; 3231. Worm gear; 3232. First gear set; 3233. Second gear set; 3234. First output shaft; 3235. Second output shaft; 324. Elastic floating structure; 3241. Spring; 330. Suction pipe; 340. Connecting arm;

[0120] 400. Filter element; 410. Support component;

[0121] 500. Clean water pipeline;

[0122] 600, limiting structure; 610, first limiting part; 620, second limiting part;

[0123] 700. Scraping parts; 710. Stain collection tank; 720. Scraping ribs;

[0124] 810. Bracket; 820. Lower pressure plate. Detailed Implementation

[0125] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0126] With the continuous development of smart home technology, robotic vacuum cleaners, as efficient and convenient floor cleaning devices, have been widely used in various scenarios such as homes and offices, becoming an important tool for improving cleaning efficiency and reducing manual labor. Currently, robotic vacuum cleaners are mainly divided into two categories: dual-disc type and roller type.

[0127] Among them, dual-disc robotic vacuum cleaners, with their dual-disc mop structure, have a high cleaning coverage rate, enabling them to more comprehensively cover the floor to be cleaned and effectively clean surface dust and light stains, making them widely used in daily household cleaning. However, existing dual-disc robotic vacuum cleaners cannot self-clean while performing cleaning tasks; they can only return to the base station after cleaning for a certain period to clean the mop. During long-term cleaning, the surface of the mop disc easily accumulates lint, dust, stains, and other debris, which not only reduces the subsequent cleaning effect but may also cause secondary pollution to the floor. Returning to the base station also wastes time, resulting in low cleaning efficiency.

[0128] Furthermore, during the return trip to the base station after completing the cleaning task, lint and dirt attached to the mop tray easily fall off, leaving dirty marks on the floor and affecting the integrity of the cleaning. When traveling to carpeted areas, dirt on the mop tray easily transfers and remains along the edges of the carpet, making it difficult to clean and affecting the carpet's appearance. When crossing right-angled edges such as thresholds, dirt on the mop tray easily gets stuck in the gaps, failing to effectively clean that area and causing dirt to continue to spread during subsequent cleaning.

[0129] To address the aforementioned technical problems, this application provides a cleaning device and control method. This cleaning device, by incorporating a self-cleaning component, enables the robot vacuum cleaner to self-clean its mop, thereby improving cleaning efficiency and ensuring effective cleaning.

[0130] The cleaning equipment provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0131] This application provides a cleaning device 10, such as... Figure 1 As shown, the cleaning device 10 may include a device body, a mop assembly 200 and a self-cleaning assembly 300, wherein the mop assembly 200 is vertically and vertically mounted on the device body.

[0132] For example, the cleaning device 10 includes, but is not limited to, a robot vacuum cleaner, a floor scrubber, or a window cleaning robot. In this embodiment, a robot vacuum cleaner is used as an example for illustration.

[0133] Understandably, the cleaning device 10 can be used for floor cleaning operations and can achieve self-cleaning of the mop assembly 200, ensuring both cleaning coverage and cleaning effect, thus solving the problem that traditional dual-disc sweeping robots cannot perform self-cleaning when performing cleaning tasks.

[0134] The main body of the equipment serves as the supporting structure of the cleaning equipment 10. It can be used to install and support the mop assembly 200, the self-cleaning assembly 300, and other functional components of the cleaning equipment 10. It provides a stable installation benchmark and space for the installation and operation of each component, ensuring that each component can work together to achieve the functions of floor cleaning and mop self-cleaning.

[0135] The mop assembly 200 is the core component of the cleaning device 10 for achieving floor cleaning. It is vertically mounted on the device body, and its lifting action can adapt to different working scenarios to meet different needs for floor cleaning and self-cleaning. The mop assembly 200 can adopt a disc-shaped structure or other structural forms adapted to floor cleaning. Its bottom is used to contact the ground, and it achieves wiping and cleaning of the ground through rotation.

[0136] Understandably, the mop assembly 200 is vertically mounted on the device body, allowing it to rise or fall vertically relative to the device body under the drive of the drive structure. In floor cleaning mode, the mop assembly 200 descends and contacts the ground, completing the floor cleaning operation through rotation. When self-cleaning is required, the mop assembly 200 rises and detaches from the ground, providing space for the self-cleaning component 300 to operate, preventing dirt from contaminating the already cleaned floor during self-cleaning, and ensuring that the self-cleaning component 300 can smoothly cooperate with the mop assembly 200 to complete the cleaning.

[0137] In one possible implementation, such as Figure 2 and Figure 3 As shown, the self-cleaning component 300 may include a cleaning arm 310 movably disposed on the device body. The cleaning arm 310 is used to extend into the bottom of the mop assembly 200 after the mop assembly 200 is raised and to abut against the mop assembly 200.

[0138] For example, the self-cleaning component 300 is used to clean the mop assembly 200 after it is lifted, removing dirt attached to the surface of the mop assembly 200, preventing the mop assembly 200 from mopping dirt with dirt, and improving the cleaning effect and user experience of the cleaning device 10.

[0139] Specifically, the self-cleaning component 300 may include a cleaning arm 310 movably disposed on the device body. The cleaning arm 310 serves as the actuating component of the self-cleaning component 300, and its movability allows for position switching to adapt to the working and self-cleaning states of the mop assembly 200. The cleaning arm 310 can move in various ways, such as swinging, extending, or translating, as long as it can move from its initial position to the bottom of the mop assembly 200 and come into contact with it.

[0140] The cleaning arm 310 is used to extend into the bottom of the mop assembly 200 after the mop assembly 200 is raised and to abut against the mop assembly 200. This arrangement ensures that the cleaning arm 310 and the mop assembly 200 are in full contact, providing a basis for subsequent scraping of dirt, while avoiding interference between the cleaning arm 310 and other parts of the equipment body during the self-cleaning process, thus ensuring the smooth progress of the self-cleaning operation.

[0141] By adjusting the position and angle of the cleaning arm 310, after the mop assembly 200 is raised, the cleaning arm 310 extends into the bottom of the mop assembly 200. This ensures that the cleaning arm 310 will not interfere with the mop assembly 200 when the cleaning device 10 is performing floor cleaning operations, thus guaranteeing the cleaning effect of the mop assembly 200. When self-cleaning is required, it extends into the bottom of the mop assembly 200 to perform self-cleaning without having to return to the base station for cleaning, thereby improving the overall cleaning efficiency.

[0142] In one embodiment, one end of the cleaning arm 310 can be rotatably connected to the device body via a rotating shaft. The cleaning arm 310 can rotate in a preset direction with the rotating shaft as the rotation center. When the mop assembly 200 is raised, the cleaning arm 310 rotates around the rotating shaft and can extend into the bottom of the mop assembly 200.

[0143] In another embodiment, the cleaning arm 310 can adopt a telescopic structure. The device body is provided with a telescopic guide rail and a drive cylinder. The fixed end of the cleaning arm 310 is connected to the piston rod of the drive cylinder. The guide rail is used to guide and limit the telescopic movement of the cleaning arm 310. The telescopic structure drives the cleaning arm 310 to extend into the bottom of the mop assembly 200 after the mop assembly 200 is raised.

[0144] Of course, in other embodiments, the cleaning arm 310 can be driven to extend into or out of the mop assembly 200 by other driving methods. In this embodiment, the driving method of the cleaning arm 310 is not further limited.

[0145] In one possible implementation, such as Figure 2 and Figure 3As shown, the cleaning arm 310 is provided with a scraping part 311 and a dirt collection bin 312. The scraping part 311 is used to scrape off dirt from the mop assembly 200 when the mop assembly 200 rotates relative to the cleaning arm 310 in the cleaning direction. The dirt collection bin 312 is used to collect the dirt scraped off by the scraping part 311. The cleaning direction is the rotation direction of the mop assembly 200 during self-cleaning.

[0146] Understandably, the cleaning arm 310 is equipped with a scraping part 311 and a dirt collection bin 312, which work together to complete the self-cleaning and dirt collection of the mop assembly 200, ensuring that dirt does not scatter during the self-cleaning process and achieving centralized treatment of dirt.

[0147] It should be noted that the scraping part 311 is a component that directly contacts the mop assembly 200 and scrapes away dirt. Its structure can be adapted to the shape of the mop assembly 200 to ensure that dirt on the surface of the mop assembly 200 can be completely scraped away.

[0148] For example, the scraping part 311 may include comb teeth and scraping ridges. The comb teeth are used to comb the hair and large particles of dirt on the surface of the mop assembly 200 before scraping, and the scraping ridges are used to further scrape off the attached dirt and water stains on the surface of the mop assembly 200. The two work together to improve the scraping effect and reduce dirt residue on the surface of the mop assembly 200.

[0149] The scraping part 311 is used to scrape off dirt from the mop assembly 200 when the mop assembly 200 rotates relative to the cleaning arm 310 in the cleaning direction. The cleaning direction is the rotation direction of the mop assembly 200 during self-cleaning. The rotation of the mop assembly 200 enables the scraping part 311 to contact different areas of the mop assembly 200 in sequence, achieving comprehensive scraping and cleaning of the mop assembly 200. At the same time, the relative friction generated by the rotational motion can improve the scraping effect and ensure that the dirt can be effectively scraped off.

[0150] It should be noted that the scraping part 311 can be a rigid scraping structure, such as a scraper strip or a scraper blade, or it can be a flexible scraping structure, such as a brush or a sponge. Of course, both rigid and flexible scraping structures can be provided on the cleaning arm 310 according to user needs, which facilitates the cleaning operation on the bottom of the mop assembly 200.

[0151] For example, the dirt collection bin 312 is a component used to collect dirt scraped off by the scraper 311. It is installed on the cleaning arm 310 to collect dirt, prevent the scraped dirt from falling to the ground and causing secondary pollution, and facilitate subsequent centralized cleaning of dirt.

[0152] Specifically, the sludge collection chamber 312 can be detachably connected to the cleaning arm 310, or it can be integrally formed with the cleaning arm 310. The detachable connection makes it easy to disassemble, clean, and maintain the sludge collection chamber 312, while the integral forming can improve structural stability and reduce assembly steps.

[0153] For example, the sludge collection chamber 312 can be configured as a cavity structure with an opening facing the scraping part 311, so that the dirt scraped by the scraping part 311 can fall smoothly into the sludge collection chamber 312. A filter structure can also be set inside the sludge collection chamber 312 to achieve solid-liquid separation, which facilitates the separate treatment of sewage and solid waste in the future. The bottom wall of the sludge collection chamber 312 can be configured as an inclined structure to facilitate the collection of dirt to the bottom of the sludge collection chamber 312, thereby improving the dirt collection effect.

[0154] When the mop assembly 200 is in the descending state, the mop assembly 200 contacts the floor to be cleaned, and the main body of the device drives the mop assembly 200 to move. The mop assembly 200 removes floating dust and light stains from the floor by rotating (not in the cleaning direction, but in the floor cleaning direction), thus completing the routine floor cleaning.

[0155] When a certain amount of lint, dust, and stains adhere to the surface of the mop assembly 200, the mop assembly 200 is lifted upward relative to the device body and removed from the ground by the control of the device body, while reserving space at the bottom so that the cleaning arm 310 can extend into the bottom of the mop assembly 200.

[0156] Subsequently, the cleaning arm 310 of the self-cleaning component 300 is moved relative to the device body and extends into the bottom of the raised mop assembly 200 until the scraping part 311 on the cleaning arm 310 comes into close contact with the bottom (working surface) of the mop assembly 200, ensuring that the scraping pressure meets the dirt removal requirements.

[0157] The mop assembly 200 is controlled to rotate along a preset cleaning direction. Since the scraping part 311 remains in contact with the mop assembly 200, the mop assembly 200 rotates relative to the cleaning arm 310. The scraping part 311 performs a scraping action, removing lint, dust, stains, and other dirt adhering to the surface of the mop assembly 200 one by one. Simultaneously, the scraped-off dirt falls into the dirt collection bin 312 on the cleaning arm 310 under the guidance of gravity and the scraping action, completing the storage of dirt.

[0158] Once the mop assembly 200 has finished cleaning, it stops rotating, and the cleaning arm 310 reverses its movement, retracting from the bottom of the mop assembly 200 and resetting. Subsequently, the mop assembly 200 descends and returns to its ground contact position, allowing the device to continue cleaning or enter standby mode. The dirt in the dirt collection bin 312 can be periodically cleaned by the user without affecting the normal operation of the device.

[0159] The cleaning device 10 provided in this embodiment can provide mounting support for the mop assembly 200 and the self-cleaning assembly 300 through the device body. By lifting and lowering the mop assembly 200 to the device body, the cleaning arm 310 can easily enter during self-cleaning, reducing the difficulty of self-cleaning. By movably setting the cleaning arm 310 and extending it into the bottom of the mop assembly 200 after the mop assembly 200 is raised and abutting against the mop assembly 200, the scraping part 311 can scrape off the dirt on the mop assembly 200 when the mop assembly 200 rotates in the cleaning direction. By setting the dirt collection bin 312, the scraped dirt can be collected, thereby realizing the self-cleaning of the mop assembly 200. In this way, during the cleaning task performed by the cleaning device 10 on the ground, the mop assembly 200 can be self-cleaned by the self-cleaning component on the cleaning device without having to return to the base station for cleaning. This solves the problem that traditional dual-disc sweepers can only return to the base station for cleaning, resulting in low cleaning efficiency.

[0160] In addition, by providing a scraping part 311 and a dirt collection bin 312 on the cleaning arm 310, the scraping part 311 can scrape the mop assembly 200, and the dirt collected by the dirt collection bin 312 can collect the scraped dirt, thus avoiding secondary contamination of the cleaning area by the dirt scraped off from the mop assembly 200, meeting the user's needs for cleaning effect and improving the user experience.

[0161] In this embodiment, the number of cleaning arms 310 can be flexibly configured according to the structure of the mop assembly 200. There can be one or two cleaning arms 310. When there are two cleaning arms 310, the structures, working principles, and functions of the two cleaning arms 310 are completely identical. The two cleaning arms 310 are symmetrically arranged on the device body, corresponding to the two disc structures of the mop assembly 200 (double-disc mop). They can simultaneously extend into the bottom of the corresponding mop disc and abut against it, simultaneously completing the scraping of dirt from both mop discs, further improving the self-cleaning efficiency of the mop assembly 200 and ensuring the cleaning consistency of the two mop discs.

[0162] In one possible implementation, such as Figure 4 and Figure 5 As shown, the cleaning arm 310 has an initial position and a working position. In the initial position, the cleaning arm 310 is located to the side of the mop assembly 200 (see Figure 1). Figure 4 (As shown). In the working position, the cleaning arm 310 is located at the bottom of the mop assembly 200 and abuts against the mop assembly 200 (see...). Figure 5 (As shown).

[0163] Understandably, the initial position is the parking position of the cleaning arm 310 when it is not performing self-cleaning operations. In the initial position, the cleaning arm 310 is located to the side of the mop assembly 200. This setting can prevent the cleaning arm 310 from interfering with the mop assembly 200, the ground, or other parts of the equipment body when the mop assembly 200 is performing floor cleaning operations, ensuring that the mop assembly 200 can rotate smoothly and make full contact with the ground, thus ensuring the normal progress of floor cleaning operations.

[0164] Specifically, when the cleaning arm 310 is in its initial position, its overall structure maintains a certain distance from the mop assembly 200, so as not to hinder the lifting and rotating movements of the mop assembly 200. At the same time, it can reserve sufficient space for the floor cleaning operation of the mop assembly 200, and prevent the cleaning arm 310 from scratching the floor or interfering with the cleaning trajectory of the mop assembly 200.

[0165] The working position refers to the position where the cleaning arm 310 performs self-cleaning operations. In this position, the cleaning arm 310 is located at the bottom of the mop assembly 200 and abuts against it. When the mop assembly 200 needs to self-clean, it first rises off the ground, and then the cleaning arm 310 moves from its initial position to the working position, extending into the bottom of the mop assembly 200 and abutting against it. This positioning ensures that the scraping part 311 of the cleaning arm 310 makes full contact with the mop assembly 200, providing a stable contact base for subsequent scraping away of dirt and ensuring that the scraping part 311 can effectively scrape away dirt from the surface of the mop assembly 200. When in the working position, the cleaning arm 310 is positioned to match the position of the mop assembly 200, covering the cleaning area of ​​the mop assembly 200 and ensuring that all parts of the mop assembly 200 can contact the scraping part 311 during rotation, achieving comprehensive cleaning.

[0166] It should be noted that the cleaning arm 310 can move in various ways, such as swinging, telescopic, or translating, as long as it can move from the initial position to the working position.

[0167] For example, the cleaning arm 310 can be driven by a drive structure to swing from the side of the mop assembly 200 to the bottom of the mop assembly 200, completing the switch from the initial position to the working position. It can also be driven by a telescopic structure to move linearly, extending from the side of the device body to the bottom of the mop assembly 200, thus switching positions. By switching the cleaning arm 310 between the initial position and the working position, both the floor cleaning and self-cleaning needs of the mop assembly 200 can be met, ensuring the smooth operation of all functions of the cleaning device 10.

[0168] The cleaning arm 310 is set to an initial position and a working position. In the initial position, the cleaning arm 310 is located to the side of the mop assembly 200 to avoid interfering with the mop assembly 200's cleaning operation on the floor. In the working position, the cleaning arm 310 is located at the bottom of the mop assembly 200 and abuts against it to achieve self-cleaning. This does not affect the floor cleaning function of the mop assembly 200 and can achieve self-cleaning.

[0169] In one possible implementation, such as Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the self-cleaning assembly 300 includes a drive device 320, which is connected to the cleaning arm 310 in a transmission manner; the drive device 320 is used to drive the cleaning arm 310 to swing between the initial position and the working position.

[0170] It is understood that the self-cleaning component 300 includes a drive unit 320, which is a power source component for providing driving force. It is connected to the cleaning arm 310 via a transmission mechanism, meaning that a power transmission path is established between the drive unit 320 and the cleaning arm 310 through direct or indirect transmission. The drive unit 320 is used to drive the cleaning arm 310 to swing between its initial position and its working position. Swinging refers to the motion of the cleaning arm 310 reciprocating within a certain angle range around a fixed axis. By driving the cleaning arm 310 to swing through the drive unit 320, the cleaning arm 310 can achieve rapid, accurate, and smooth position switching between its initial and working positions.

[0171] For example, the drive unit 320 may include a drive motor 322 and a transmission mechanism 323. The drive motor 322 serves as a power source, and its output shaft can be connected to the transmission mechanism 323, which then transmits the power to the cleaning arm 310.

[0172] It should be noted that the transmission mechanism 323 can adopt one or more of the following forms: gear transmission, belt transmission, linkage transmission, or worm gear transmission 3231. For example, the drive device 320 may include a motor and a gearbox, the gearbox being equipped with a gear set, which reduces the rotational motion of the motor and changes its output direction before transmitting it to the cleaning arm 310.

[0173] For example, such as Figure 10 and Figure 11 As shown, the drive device 320 may include a motor that simultaneously drives multiple cleaning arms 310 to move. For example, when the cleaning device 10 includes two cleaning arms 310, the drive device 320 may be positioned between the two cleaning arms 310 and synchronously drive the two cleaning arms 310 to swing towards each other or away from each other through a motor and a symmetrically arranged transmission mechanism 323.

[0174] For example, the drive unit 320 may also include two independent motors, each driving one of the two cleaning arms 310 to move independently. This allows the two cleaning arms 310 to swing at different times or at different speeds, increasing control flexibility (see [link]). Figure 31 (As shown).

[0175] For example, the drive unit 320 may include a reset element, such as a torsion spring or a tension spring, for automatically resetting the cleaning arm 310 to the initial position after the motor is powered off, so that even if the drive motor 322 fails, the cleaning arm 310 will not be stuck in the working position and affect the normal use of the cleaning equipment 10.

[0176] By connecting the drive unit 320 to the cleaning arm 310 and driving the cleaning arm 310 to swing between the initial position and the working position, the cleaning arm 310 can be automatically controlled without human intervention, thereby automating the self-cleaning process.

[0177] In one possible implementation, such as Figure 12 and Figure 13 As shown, the scraping part 311 includes comb teeth 3111 and scraping parts 3112 spaced apart along the cleaning direction. When the mop assembly 200 rotates along the cleaning direction, the mop assembly 200 first passes through the comb teeth 3111 and then passes through the scraping parts 3112.

[0178] It is understood that the scraping part 311 may include comb-like parts 3111 and scraping parts 3112 spaced apart along the cleaning direction (see continue). Figure 4 and Figure 5 (As shown). The comb-like part 3111 is a structure on the scraping part 311 used for combing and pre-treating the surface of the mop assembly 200, and it may have multiple spaced tooth-like protrusions. The scraping part 3112 is a structure on the scraping part 311 used for close contact with the surface of the mop assembly 200 and performing the main dirt removal action, and it may be a continuous edge or blade. The comb-like part 3111 and the scraping part 3112 are arranged sequentially along the cleaning direction, with a certain interval between them.

[0179] When the mop assembly 200 rotates in the cleaning direction, it first passes through the comb teeth 3111 and then through the scraping part 3112. This sequence ensures that the dirt on the surface of the mop assembly 200 is treated by the comb teeth 3111 before reaching the scraping part 3112, thereby improving the cleaning effect of the scraping part 3112.

[0180] For example, the multiple tooth-like protrusions of the comb portion 3111 can be evenly distributed along the length direction of the cleaning arm 310, with gaps formed between adjacent tooth-like protrusions. These gaps can be within 2 mm, for example, 1 mm, 1.2 mm, 1.4 mm, 1.6 mm, etc. In this embodiment, the gaps between the multiple tooth-like protrusions are not further limited. These gaps allow long strips of dirt such as hair and fibers to be separated or straightened as they pass through, while also allowing large solid particles of dirt to pass through or fall off, preventing large particles of dirt from being directly pushed towards the scraping portion 3112, which could cause the scraping portion 3112 to become stuck or damage the mop assembly 200.

[0181] For example, the top of the toothed protrusions of the comb portion 3111 can be configured as arc-shaped or wedge-shaped to reduce wear on the surface of the mop assembly 200.

[0182] In addition, the scraping part 3112 can be a continuous scraping ridge extending along the length of the cleaning arm 310. The scraping ridge can form a line contact with the surface of the mop assembly 200, thereby generating greater pressure in the contact area, which is beneficial for effectively removing stubborn dirt attached to the surface of the mop assembly 200.

[0183] For example, the scraping part 3112 may also adopt a segmented structure, that is, it is composed of multiple discontinuous scraping blocks, and each scraping block and the tooth-like protrusions of the comb part 3111 may be arranged in a corresponding or staggered manner.

[0184] It should be noted that the comb teeth 3111 and the scraping part 3112 can be integrally formed with the cleaning arm 310, for example, by injection molding directly onto the upper surface of the cleaning arm 310. Alternatively, the comb teeth 3111 and the scraping part 3112 can also be independent components made of wear-resistant materials, and installed on the cleaning arm 310 by insert injection molding or mechanical fixing to extend the service life of the scraping part 311.

[0185] By arranging comb teeth 3111 and scraping parts 3112 at intervals along the cleaning direction, and ensuring that the mop assembly 200 passes through the comb teeth 3111 and then the scraping parts 3112 during rotation, the comb teeth 3111 can pre-comb, loosen, and initially separate the dirt on the mop assembly 200, treating large particles of dirt and tangled hair first. Then, the scraping parts 3112 thoroughly scrape the pre-treated surface of the mop assembly 200, effectively removing any remaining dirt. This comb-then-scrape cleaning method, compared to a single scraping structure, can more thoroughly remove various types of dirt adhering to the mop assembly 200, while reducing the risk of damage to the mop assembly 200 and improving the reliability and effectiveness of self-cleaning.

[0186] In one possible implementation, such as Figure 12 and Figure 13 As shown, the scraping part 311 may include a sludge discharge port 3113, which is located between the comb part 3111 and the scraping part 3112. The sludge discharge port 3113 is connected to the sludge collection bin 312 and is configured so that the scraped sludge falls into the inlet of the sludge collection bin 312.

[0187] Understandably, the dirt discharge port 3113 is an opening structure on the scraping part 311, located between the comb tooth part 3111 and the scraping part 3112. Arranging the dirt discharge port 3113 between the comb tooth part 3111 and the scraping part 3112 allows dirt separated or scraped from the mop assembly 200 to be discharged promptly through this opening, preventing dirt from accumulating on the scraping part 311 and affecting subsequent scraping performance.

[0188] Furthermore, the drain outlet 3113 is connected to the sludge collection bin 312, meaning that the drain outlet 3113 spatially leads into the interior of the sludge collection bin 312. The drain outlet 3113 can be configured so that scraped-off sludge falls into the inlet of the sludge collection bin 312.

[0189] Specifically, when the dirt on the mop assembly 200 is loosened by the comb teeth 3111 or peeled off from the surface of the mop assembly 200 by the scraping part 3112, the dirt can enter the dirt collection chamber 312 through the dirt drop outlet 3113 under the action of gravity or with the rotational inertia of the mop assembly 200, thereby realizing the collection and temporary storage of dirt.

[0190] In one embodiment, the drain outlet 3113 can be an elongated opening extending along the length of the cleaning arm 310, and its width can be set according to the size of the dirt particles to be collected. For example, the width of the drain outlet 3113 can be set relatively large so that hair, dust clumps and small particles of dirt can pass through smoothly without clogging.

[0191] In another embodiment, the dirt outlet 3113 can be configured as a plurality of discrete holes, which can be distributed in the area between the comb teeth 3111 and the scraping part 3112. Each hole can correspond to the gap between adjacent tooth-like protrusions on the comb teeth 3111, so that the dirt separated by the comb teeth 3111 can fall directly into the nearest hole.

[0192] For example, the edge of the drain outlet 3113 may be provided with a chamfered or rounded corner structure to reduce the possibility of dirt getting stuck or accumulating when passing through. In addition, a guide ramp or guide channel may be provided below the drain outlet 3113, which connects the drain outlet 3113 to the inner cavity of the sludge collection bin 312, guiding the falling dirt to slide smoothly into the bottom of the sludge collection bin 312 and preventing dirt from accumulating near the drain outlet 3113.

[0193] In other embodiments, the waste disposal port 3113 can be located on one or both sides of the scraping part 3112. For example, when the scraping part 3112 is located behind the comb part 3111, the waste disposal port 3113 can be located on the side of the scraping part 3112 near the comb part 3111, so that the dirt scraped off by the scraping part 3112 can fall directly forward into the waste disposal port 3113 after leaving the mop assembly 200. Alternatively, the waste disposal port 3113 can also be located on both sides of the scraping part 3112, that is, waste disposal ports 3113 are provided in front of and behind the scraping part 3112, so that both the dirt combed off by the comb part 3111 and the dirt scraped off by the scraping part 3112 can be collected through the corresponding waste disposal port 3113.

[0194] By providing a dirt discharge port 3113 communicating with the dirt collection bin 312 between the comb teeth 3111 and the scraping part 3112 or on both sides of the scraping part 3112, and configuring the dirt discharge port 3113 as the inlet for the scraped dirt to fall into the dirt collection bin 312, dirt separated from the mop assembly 200 can enter the dirt collection bin 312 through the dirt discharge port 3113, achieving immediate collection of dirt and facilitating subsequent centralized treatment. This design can reduce secondary pollution caused by scraped dirt falling on the ground and improve cleaning efficiency.

[0195] In one possible implementation, when the cleaning arm 310 is in the initial position, the top of the scraping part 3112 is higher than the lower surface of the mop assembly 200; when the cleaning arm 310 is in the working position, the scraping part 3112 is interference-fitted with the lower surface of the mop assembly 200, and the comb part 3111 is spaced apart from the lower surface of the mop assembly 200.

[0196] It should be noted that the top of the scraping part 3112 refers to the highest point on the scraping part 3112 that is in contact with the mop assembly 200. Since the cleaning arm 310 is located to the side of the mop assembly 200 in the initial position, the top of the scraping part 3112 being higher than the lower surface of the mop assembly 200 means that there is an overlap area between the cleaning arm 310 and the mop assembly 200 in the height direction. This ensures that when the cleaning arm 310 swings from the initial position to the working position, the scraping part 3112 can form an interference contact with the lower surface of the mop assembly 200 after entering below the mop assembly 200.

[0197] When the cleaning arm 310 is in the working position, the scraping part 3112 is in an interference fit with the lower surface of the mop assembly 200. The interference fit means that the top of the scraping part 3112 extends vertically beyond the original plane of the lower surface of the mop assembly 200, i.e., a certain amount of elastic compression is generated between the scraping part 3112 and the mop assembly 200 in the contact area. This interference fit ensures that the scraping part 3112 presses firmly against the surface of the mop assembly 200 with appropriate pressure, thereby effectively scraping away dirt adhering to the mop assembly 200 when the mop assembly 200 rotates.

[0198] Furthermore, when the cleaning arm 310 is in the working position, the comb teeth 3111 are spaced apart from the lower surface of the mop assembly 200. The spaced-apart arrangement means that there is a certain gap between the top of the comb teeth 3111 and the lower surface of the mop assembly 200, and the comb teeth 3111 do not directly contact the surface of the mop assembly 200.

[0199] For example, the interference fit can be selected and adjusted according to the material properties, thickness, and hardness of the scraping part 3112 of the mop assembly 200. For instance, when the mop assembly 200 is thicker or made of softer material, a smaller interference fit can be set to avoid excessive compression that could deform or damage the mop assembly 200; when the mop assembly 200 is thinner or made of harder material, a larger interference fit can be set to ensure effective scraping.

[0200] It should be noted that the specific value of the interference fit can differ between the dry and wet states of the mop assembly 200. In the wet state, the mop assembly 200 may become more compact due to water absorption, and the actual interference fit will be smaller than that in the dry state.

[0201] For example, the distance between the comb teeth 3111 and the lower surface of the mop assembly 200 can be set such that the comb teeth 3111 can approach the mop assembly 200 but not directly contact it. In this way, the comb teeth 3111 can use its tooth structure to pick up or comb and loosen long strips of dirt such as hair and fibers on the surface of the mop assembly 200, while avoiding excessive friction or wear on the surface of the mop assembly 200 caused by the tooth protrusions.

[0202] For example, the spacing between the comb teeth 3111 and the mop assembly 200 can be uniform or gradually distributed along the length of the cleaning arm 310, for example, with smaller spacing near the center of the mop assembly 200 and larger spacing near the edge.

[0203] By setting the top of the scraping part 3112 of the cleaning arm 310 to be higher than the lower surface of the mop assembly 200 when it is in the initial position, the scraping part 3112 can cross the mop assembly 200 to some extent during the process of the cleaning arm 310 swinging into the working position. In other words, this allows the scraping part 3112 to have an interference fit with the lower surface of the mop assembly 200, providing sufficient scraping pressure to ensure effective removal of dirt. The comb teeth 3111 are spaced apart from the lower surface of the mop assembly 200, allowing them to comb and loosen dirt while avoiding unnecessary wear or increased friction on the mop assembly 200, thus extending the service life of the mop assembly 200.

[0204] It should be noted that there is a gap between the comb teeth 3111 and the lower surface of the mop assembly 200. This allows large particles of dirt to be scraped off from the bottom of the mop assembly 200 and enter the dirt collection chamber 312 through the dirt outlet 3113, facilitating the collection of large particles of dirt. Then, the scraping part 3112 is used again to scrape off small particles of dirt from the bottom of the mop assembly 200 and let them fall into the dirt collection chamber 312, ensuring the self-cleaning effect of the mop assembly 200.

[0205] In one possible implementation, such as Figure 14 and Figure 15 As shown, the mop assembly 200 includes a cleaning section 210 disposed at the bottom. The cleaning section 210 includes an inner edge 211 and an outer edge 212 disposed radially. When the cleaning arm 310 is in the working position, the radial extension length of the scraping part 311 of the cleaning section 210 at least covers the area from the inner edge 211 to the outer edge 212.

[0206] Understandably, the cleaning unit 210 is the part of the mop assembly 200 that is in direct contact with the ground and performs the wiping cleaning function, and it may be made of an absorbent material, an abrasive material, or a composite of both.

[0207] The cleaning part 210 may include an inner edge 211 and an outer edge 212 arranged radially. The inner edge 211 refers to the side boundary of the cleaning part 210 that is radially close to the rotation center of the mop assembly 200, and the outer edge 212 refers to the side boundary of the cleaning part 210 that is radially away from the rotation center of the mop assembly 200, that is, the outermost boundary of the cleaning part 210.

[0208] Specifically, the entire radial range from the inner edge 211 to the outer edge 212 constitutes the effective working area of ​​the cleaning section 210 in contact with the ground. When the cleaning arm 310 is in the working position, the radial extension length of the scraping part 311 of the cleaning section 210 at least covers the area from the inner edge 211 to the outer edge 212. The effective working dimension of the scraping part 311 along the length of the cleaning arm 310 is ensured to be sufficiently large, such that the scraping part 311 can extend from the inner edge 211 to the outer edge 212 of the cleaning section 210 in the radial direction, thereby covering the entire radial width of the cleaning section 210.

[0209] In one embodiment, the mop assembly 200 can be a disc-shaped mop, in which case the cleaning part 210 is the bottom surface of the disc-shaped mop, the inner edge 211 corresponds to the area near the center of the disc, and the outer edge 212 corresponds to the circumferential edge of the disc. The extension length of the scraping part 311 can be designed to be close to the radius of the disc mop 220, so that when the scraping part 311 is located below the disc mop 220, the scraping part 311 can extend from the area near the center of the disc to the edge area of ​​the disc, ensuring that dirt on the entire bottom surface of the disc mop 220 can be scraped.

[0210] In another embodiment, the mop assembly 200 may also employ a cleaning section 210 of other shapes, such as a rectangular or elliptical mop, in which case the inner edge 211 and the outer edge 212 correspond to the inner and outer boundaries of the cleaning section 210 in the width direction, respectively. The extension length of the scraping section 311 may be designed to be greater than or equal to the width dimension of the cleaning section 210 in the direction perpendicular to the movement of the cleaning arm 310, so as to achieve coverage of the entire surface of the cleaning section 210.

[0211] In other embodiments, the radial extension length of the scraping portion 311 in the cleaning portion 210 can be slightly longer than the distance from the inner edge 211 to the outer edge 212. That is, one end of the scraping portion 311 can extend beyond the inner edge 211 and the other end can extend beyond the outer edge 212. This allows for allowance for installation tolerances or motion errors, ensuring that the scraping portion 311 can completely cover the entire radial area of ​​the cleaning portion 210 in any working state.

[0212] Specifically, when the mop assembly 200 includes two or more cleaning sections 210, the scraping section 311 on each cleaning arm 310 can be sized for the corresponding cleaning section 210 so that the extension length of each scraping section 311 at least covers the radial area of ​​the corresponding cleaning section 210 from the inner edge 211 to the outer edge 212.

[0213] By ensuring that the radial extension of the scraping part 311 in the cleaning part 210 at least covers the area from the inner edge 211 to the outer edge 212, the scraping part 311 can scrape and clean the entire working surface of the cleaning part 210 when the mop assembly 200 rotates, avoiding leaving cleaning dead corners. This ensures that dirt attached to all parts of the mop assembly 200 from the center to the edge can be effectively scraped off, improving the uniformity of self-cleaning and preventing secondary contamination of the mop assembly 200 in subsequent cleaning operations due to incomplete local cleaning.

[0214] It should be noted that, Figure 14 and Figure 15 The dotted arrow 'a' in the diagram indicates the cleaning direction.

[0215] In one possible implementation, when the cleaning arm 310 is in the working position, the distance between the top of the comb teeth 3111 and the lower surface of the mop assembly 200 is a first distance. The first distance is greater than or equal to 1 mm and less than or equal to 2 mm. For example, the first distance can be 1 mm, 1.1 mm, 1.2 mm, 1.3 mm, 1.4 mm, 1.5 mm, 1.6 mm, 1.7 mm, 1.8 mm, 1.9 mm, 2 mm, etc. In this embodiment, the specific value of the first distance is not further limited.

[0216] Understandably, the first distance refers to the vertical distance between the highest point of the comb teeth 3111 and the lower surface of the mop assembly 200 when the cleaning arm 310 is in the working position. The value range of the first distance can be set to be greater than or equal to one millimeter and less than or equal to two millimeters. Limiting the first distance to this value range ensures that there is a reasonable gap between the comb teeth 3111 and the mop assembly 200 that is close enough to perform the combing function, but does not directly contact and cause excessive friction.

[0217] In one embodiment, the specific value of the first distance can be selected based on the material characteristics of the mop assembly 200. Specifically, when the mop assembly 200 uses a cleaning material with long or soft fibers, the first distance can be set to a larger value close to 2 mm to avoid the comb teeth 3111 getting stuck in the fibers and causing unnecessary pulling.

[0218] When the mop assembly 200 uses a cleaning material with short or dense fibers, the first distance can be set to a small value close to 1 mm to ensure that the comb teeth 3111 can effectively approach the surface of the mop assembly 200 and pick up large particles of dirt such as hair and fibers.

[0219] In another embodiment, the value of the first distance may also take into account the structural dimensions of the comb teeth 3111 itself. The tooth-like protrusions on the comb teeth 3111 may have a certain height, and the first distance refers to the distance between the top of the tooth-like protrusions and the lower surface of the mop assembly 200.

[0220] It should be noted that during the use of the cleaning device 10, as the usage time of the mop assembly 200 increases, the thickness of the mop assembly 200 may gradually decrease due to wear, and the first distance will increase accordingly. Therefore, setting the initial value of the first distance within the range of greater than or equal to 1 mm and less than or equal to 2 mm can maintain a reasonable relative positional relationship between the comb teeth 3111 and the mop assembly 200 throughout the entire service life of the mop assembly 200.

[0221] By setting the first distance between the top of the comb teeth 3111 and the lower surface of the mop assembly 200 within a range of 1 mm or more and 2 mm or less, the comb teeth 3111 can effectively pick up and loosen large particles of dirt (hair, fibers, and other long strips of dirt) attached to the mop assembly 200 without directly contacting the surface of the mop assembly 200. This range of the first distance ensures the pre-treatment effect of the comb teeth 3111 on the dirt and also avoids damage to the mop assembly 200 caused by direct friction between the comb teeth 3111 and the mop assembly 200.

[0222] In one possible implementation, the scraping part 3112 is located at the top of the cleaning arm 310; when the cleaning arm 310 is in the working position, the interference between the top of the scraping part 3112 and the lower surface of the mop assembly 200 is a second distance, which is greater than or equal to 1.5 mm and less than or equal to 2.5 mm.

[0223] The second distance is greater than or equal to 1.5 mm and less than or equal to 2.5 mm. For example, the second distance can be 1.5 mm, 1.6 mm, 1.7 mm, 1.8 mm, 1.9 mm, 2.0 mm, 2.1 mm, 2.2 mm, 2.3 mm, 2.4 mm, 2.5 mm, etc. In this embodiment of the application, the specific value of the second distance is not further limited.

[0224] For example, the second distance can be around 2mm.

[0225] It should be noted that the interference fit between the top of the scraping part 3112 and the lower surface of the mop assembly 200 when the mop assembly 200 is dry is greater than the interference fit between the top of the scraping part 3112 and the lower surface of the mop assembly 200 when the mop assembly 200 is wet. Specifically, the interference fit between the top of the scraping part 3112 and the lower surface of the mop assembly 200 when dry can be around 4 mm. In this embodiment, the interference fit between the top of the scraping part 3112 and the lower surface of the mop assembly 200 when dry is not further limited.

[0226] By providing the scraping part 3112 at the top of the cleaning arm 310, the scraping part 3112 can contact the lower surface of the mop assembly 200 after the cleaning arm 310 extends into the bottom of the mop assembly 200, facilitating the scraping part 3112 to scrape the mop assembly 200. When the cleaning arm 310 is in the working position, the interference fit between the top of the scraping part 3112 and the lower surface of the mop assembly 200 can be defined as a second distance.

[0227] It should be noted that "interference" refers to the distance by which the top of the scraping part 3112 extends vertically beyond the original plane position of the lower surface of the mop assembly 200, i.e., the elastic compression generated between the scraping part 3112 and the mop assembly 200 in the contact area. The numerical range of the second distance can be set to be greater than or equal to 1.5 mm and less than or equal to 2.5 mm. Limiting the second distance within the above-mentioned numerical range allows the scraping part 3112 to press firmly against the surface of the mop assembly 200 with appropriate pressure, ensuring the contact pressure required for scraping off dirt, and also preventing excessive interference from causing excessive deformation of the mop assembly 200 or overloading of the drive motor 322.

[0228] It should be noted that the specific value of the second distance can be selected and adjusted according to the material properties and moisture content of the mop assembly 200.

[0229] For example, when the mop assembly 200 is dry, the material of the mop assembly 200 is relatively loose. At this time, a larger interference fit can be set, for example, a second distance close to or equal to 2.5 mm, to ensure that the scraping part 3112 can effectively press into the interior of the mop assembly 200 and squeeze out deeply attached dirt. When the mop assembly 200 is wet, the mop assembly 200 becomes more compact after absorbing water. At this time, a smaller interference fit can be set, for example, a second distance close to or equal to 1.5 mm, to avoid excessive compression that could damage the mop assembly 200 or increase the resistance when the mop assembly 200 rotates.

[0230] For example, the value of the second distance can also take into account the material hardness of the scraping part 3112 itself. When the scraping part 3112 is made of a material with a high Shore hardness, a smaller interference fit can be set because a hard material can generate a large contact pressure under a small amount of extrusion; when the scraping part 3112 is made of a material with a low Shore hardness or a certain degree of elasticity, a larger interference fit can be set to utilize the elastic deformation of the material itself to adapt to the unevenness of the surface of the mop assembly 200.

[0231] In other embodiments, the interference fit may also be gradually distributed along the length of the scraping portion 3112. For example, a larger interference fit may be provided in the middle of the scraping portion 3112 and a smaller interference fit may be provided at both ends to accommodate the deformation that the mop assembly 200 may undergo during rotation.

[0232] By positioning the scraping part 3112 at the top of the cleaning arm 310 and setting the interference fit between the top of the scraping part 3112 and the lower surface of the mop assembly 200 within the range of 1.5mm to 2.5mm, the scraping part 3112 can form a stable and effective compression fit when in contact with the mop assembly 200. This provides sufficient contact pressure, enabling the scraping part 3112 to effectively peel and scrape away dirt adhering to the surface of the mop assembly 200, while avoiding excessive interference fit that could lead to accelerated wear of the mop assembly 200 or obstruction of its rotation. This improves cleaning effectiveness and extends the service life of the components.

[0233] For example, the width of the scraping part 3112 can be between 10mm and 15mm, for example, it can be any value among 10mm, 11mm, 12mm, 13mm, 13.8mm, 14mm, and 15mm. In this embodiment of the application, the width of the scraping part 3112 is not further limited.

[0234] In one possible implementation, such as Figure 16 , Figure 17 and Figure 18 As shown, the cleaning arm 310 has a water spraying part 313, which is used to spray water onto the mop assembly 200; wherein, when the cleaning arm 310 is in the working position, the plane of the water spraying part 313 is lower than the lower surface of the mop assembly 200.

[0235] Understandably, the water spray unit 313 is a functional structure on the cleaning arm 310 used to deliver clean water to the mop assembly 200, and it is used to spray water onto the mop assembly 200.

[0236] It should be noted that the water in "spraying water onto the mop assembly 200" refers to water in a broad sense, including but not limited to mixtures of water and cleaning fluid, cleaning fluid or clean water, etc. As long as it is a liquid, it is within the scope of protection of the embodiments of this application.

[0237] By spraying clean water onto the mop assembly 200 through the water spray unit 313, dirt adhering to the surface of the mop assembly 200 can be moistened, softening and dissolving dry or semi-dry dirt, thereby reducing the adhesion between the dirt and the mop assembly 200, making it easier for the scraping unit 311 to effectively scrape it off. Simultaneously, the water flow from the water spray unit 313 also acts as a rinse, washing away the dirt removed by the scraping unit 311 from the surface of the mop assembly 200 and carrying it into the dirt collection bin 312. When the cleaning arm 310 is in the working position, the plane of the water spray unit 313 can be lower than the lower surface of the mop assembly 200. Here, the plane of the water spray unit 313 refers to the spatial plane of the opening or outlet on the water spray unit 313. By positioning the water spray unit 313 at a plane position lower than the lower surface of the mop assembly 200, a certain vertical distance can be maintained between the water outlet of the water spray unit 313 and the mop assembly 200, thus preventing the water spray unit 313 from directly contacting the mop assembly 200.

[0238] In some embodiments, the water spray section 313 may include one or more water outlets 3131, which may be spaced apart along the length of the cleaning arm 310 to achieve uniform water spraying over the entire radial area of ​​the mop assembly 200. The shape of the water outlets 3131 may be circular, elliptical, or other regular or irregular shapes, and different shapes may produce different spray angles and spray ranges.

[0239] For example, the water spray unit 313 can be connected to the clean water tank of the cleaning device 10, and water in the clean water tank can be delivered to the water spray unit 313 by a water pump. The amount of water sprayed by the water spray unit 313 can be controlled according to the actual needs of the self-cleaning process. For example, water can be sprayed at the same time as the scraping unit 3112 starts scraping, or water can be sprayed for rinsing after the scraping unit 3112 finishes scraping.

[0240] The specific distance between the plane of the water spray section 313 and the lower surface of the mop assembly 200 can be set according to the water outlet angle and spray coverage of the water spray section 313. When the distance is small, the sprayed water can more concentratedly impact a specific area on the mop assembly 200. When the distance is large, the sprayed water can spread to a larger area. The water outlet of the water spray section 313 can be tilted towards the lower surface of the mop assembly 200, so that the sprayed water impacts the mop assembly 200 at a certain angle. This can effectively wet the mop assembly 200 and use the water flow to flush the scraped dirt towards the dirt discharge port 3113.

[0241] By mounting the water spray unit 313 on the cleaning arm 310 and using it to spray water onto the mop assembly 200, a continuous supply of clean water can be provided to the mop assembly 200 during the self-cleaning process, enhancing its ability to dissolve and rinse away dirt. When the cleaning arm 310 is in the working position, the plane of the water spray unit 313 is lower than the lower surface of the mop assembly 200, which avoids direct contact between the water outlet of the water spray unit 313 and the mop assembly 200, preventing dirt on the mop assembly 200 from clogging the water outlet, while ensuring that the sprayed water can smoothly reach the surface of the mop assembly 200, guaranteeing the cleaning effect.

[0242] The synergistic effect of the water spraying unit 313 and the scraping unit 311 allows the mop assembly 200 to undergo a cleaning process of water spraying, mechanical scraping, and rinsing with clean water in sequence during the self-cleaning process, which significantly improves the cleanliness and efficiency of self-cleaning.

[0243] In one possible implementation, such as Figure 18 As shown, along the cleaning direction, the water spray section 313 is located on the side of the scraping section 3112 opposite to the comb section 3111. When the mop assembly 200 rotates along the cleaning direction, the mop assembly 200 first passes the scraping section 3112 and then passes the water spray section 313.

[0244] By positioning the water spray section 313 along the cleaning direction on the side of the scraping section 3112 opposite to the comb section 3111, and ensuring that the mop assembly 200 passes through the scraping section 3112 before the water spray section 313 during rotation, the scraping section 3112 can perform a powerful physical scraping of the mop after the mop assembly 200 has completed some cleaning work. At this point, the concentration of dirt on the mop assembly 200 is high, resulting in high mechanical stripping efficiency. If water is sprayed first, the water flow will not effectively wet the surface and will dilute and disperse the surface dirt, causing the dirt to penetrate deep into the mop fibers or turn into mud, which would significantly reduce the gripping and cleaning efficiency of the scraping section 3112.

[0245] When the mop head is slightly rotated and wetted by the downstream spray section 313, it is not immediately cleaned. Instead, it continues to rotate for nearly one more revolution before reaching the upstream comb section 3111 and scraping section 3112. During this time, the water flow has ample time (approximately one rotation cycle) to soak the mop fibers, softening and dissolving stubborn stains or dried dirt that have penetrated them. When this fully soaked area of ​​the mop head reaches the scraping section again, the dirt inside has become softer and less adherent, allowing it to be scraped away more easily and thoroughly by the comb section 3111 and scraping section. This improves the cleaning ability for deep-seated stains.

[0246] It should be noted that, under this arrangement, after the mop assembly 200 is scraped by the scraping section 3112, its surface may still retain fine dirt or loosened but not yet removed stains. As the mop assembly 200 continues to rotate, after being sprayed with water by the spray section 313 and soaked for nearly a week, the internal stains become softer, their adhesion decreases, and they are easier to scrape off by the scraping section 3112. In addition, the spray section 313, located at the rear, can prevent water from directly washing over the contact area between the scraping section 3112 and the mop assembly 200, thereby preventing water from washing away or diluting the dirt being scraped by the scraping section 3112 and reducing scraping efficiency.

[0247] In another embodiment, the cleaning arm 310 may also have an additional water spray structure before the comb teeth 3111, which is used to pre-wet the mop assembly 200 before it enters the comb teeth 3111 and the scraping part 3112, so that the dry dirt is softened before combing and scraping, and finally rinsed by the water spray part 313.

[0248] By positioning the water spray unit 313 along the cleaning direction on the side of the scraping unit 3112 opposite to the comb tooth unit 3111, and ensuring that the mop assembly 200 passes through the scraping unit 3112 and then the water spray unit 313 during rotation, the dirt on the surface of the mop assembly 200 is first forcefully removed mechanically by the scraping unit 3112, and then the remaining fine dirt is rinsed off by the clean water sprayed by the water spray unit 313. By fully utilizing mechanical scraping and clean water rinsing through the action of scraping followed by washing, the adverse effects of water diluting dirt on the scraping effect are avoided, allowing the mop assembly 200 to further improve its cleaning effect after completing self-cleaning.

[0249] In one possible implementation, such as Figure 17 and Figure 18 As shown, the cleaning arm 310 includes a guide portion 317. When the cleaning arm 310 is in its initial position, the guide portion 317 is located on the side of the cleaning arm 310 facing the mop assembly 200. The guide portion 317 includes a sloped structure 3171. When the cleaning arm 310 is in its initial position, the bottom of the sloped structure 3171 is lower than the lower surface of the mop assembly 200, and the top of the sloped structure 3171 is provided with a scraping portion 3112. The sloped structure 3171 is configured to guide the cleaning arm 310 to extend into the bottom of the mop assembly 200 as the cleaning arm 310 moves from its initial position to its working position.

[0250] It should be noted that the guide portion 317 is a structure on the cleaning arm 310 used to guide the movement direction of the cleaning arm 310. It ensures that the cleaning arm 310 smoothly enters the bottom area of ​​the mop assembly 200 during its movement from the initial position to the working position. When the cleaning arm 310 is in the initial position, the guide portion 317 can be located on the side of the cleaning arm 310 facing the mop assembly 200. Therefore, in the initial position, the guide portion 317 is located on the cleaning arm 310 closest to the mop assembly 200, so that when the cleaning arm 310 begins to move towards the mop assembly 200, the guide portion 317 will first contact the bottom of the mop assembly 200.

[0251] Specifically, the guide portion 317 can be an inclined structure 3171, which is a guide surface that is inclined relative to the horizontal plane, thereby providing a smooth transition and guiding effect. When the cleaning arm 310 is in the initial position, the bottom of the inclined structure 3171 can be lower than the lower surface of the mop assembly 200.

[0252] The bottom of the inclined structure 3171 refers to the lowest edge or area on the inclined structure 3171. Its height position below the lower surface of the mop assembly 200 means that the lower end of the inclined structure 3171 extends into the height range of the space below the mop assembly 200. The top of the inclined structure 3171 may be provided with a scraping part 3112, so that the scraping part 3112 can be located at the upper end or the lower end of the inclined structure 3171. The inclined structure 3171 gradually extends from bottom to top and finally connects to the scraping part 3112.

[0253] As the cleaning arm 310 moves from its initial position to its working position, the guide portion 317 guides the cleaning arm 310 to extend into the bottom of the mop assembly 200. Specifically, when the cleaning arm 310 moves toward the mop assembly 200, the bottom of the inclined structure 3171 first contacts the lower surface edge of the mop assembly 200. As the cleaning arm 310 continues to move, the edge of the mop assembly 200 slides upward relative to the inclined surface of the inclined structure 3171, thereby causing the entire cleaning arm 310 to gradually slide into the bottom of the mop assembly 200, and finally causing the scraping portion 3112 located at the top of the inclined structure 3171 to reach the working position at the bottom of the mop assembly 200.

[0254] For example, the inclination angle of the inclined structure 3171 can be set according to the movement mode of the cleaning arm 310 and the height of the mop assembly 200. When the inclination angle is small, the inclined structure 3171 is relatively gentle, and the process of the cleaning arm 310 extending into the bottom of the mop assembly 200 is relatively smooth, with less impact on the mop assembly 200. When the inclination angle is large, the inclined structure 3171 is relatively steep, and the cleaning arm 310 extends in faster, which may require greater driving force.

[0255] In one embodiment, the surface of the bevel structure 3171 may be configured as a smooth surface to reduce friction with the mop assembly 200.

[0256] In another embodiment, the inclined structure 3171 may be provided with a plurality of protrusions 3172 or grooves. These protrusions 3172 or grooves can act as guide rails to further guide the movement direction of the cleaning arm 310. At the same time, they can also reduce the contact area between the inclined structure 3171 and the mop assembly 200 and reduce frictional resistance.

[0257] In other embodiments, the inclined structure 3171 can be integrally formed with the cleaning arm 310, for example, by injection molding directly onto the end of the cleaning arm 310, or it can be a separate component that is mechanically fixed to the cleaning arm 310.

[0258] By including a sloping structure 3171 in the guide section 317, and ensuring that the bottom of the sloping structure 3171 is lower than the lower surface of the mop assembly 200 in the initial position, while the scraping section 3112 is positioned at the top of the sloping structure 3171, the cleaning arm 310 can smoothly extend into the bottom of the mop assembly 200 using the guiding effect of the sloping structure 3171 when moving from the initial position to the working position. This avoids the cleaning arm 310 from hard collision or jamming with the edge of the mop assembly 200 during the extension process, ensuring that the scraping section 3112 can accurately reach the working position below the mop assembly 200, thereby improving the reliability and stability of the movement of the self-cleaning assembly 300.

[0259] In one possible implementation, such as Figure 17 and Figure 18 As shown, the inclined structure 3171 is provided with a plurality of protruding ribs 3172 spaced apart along the extension direction of the length of the cleaning arm 310.

[0260] It is understood that the ridge 3172 is a slender strip-shaped structure protruding outward from the surface of the inclined structure 3171, which extends along the width direction of the cleaning arm 310, or can be arranged in other directions. By setting multiple ridges 3172 arranged at intervals on the inclined structure 3171, an alternating convex and concave protrusion structure can be formed on the surface of the inclined structure 3171.

[0261] By providing multiple protrusions 3172 spaced apart along the length of the cleaning arm 310 on the inclined structure 3171, the protrusions 3172 can reduce the actual contact area between the inclined structure 3171 and the mop assembly 200, thereby reducing the frictional resistance generated when the cleaning arm 310 extends into the bottom of the mop assembly 200. Simultaneously, the presence of the protrusions 3172 can also create tiny gaps between the inclined structure 3171 and the mop assembly 200. These gaps facilitate airflow and dirt removal, preventing jamming caused by adsorption or dirt accumulation between the inclined structure 3171 and the mop assembly 200, making the movement of the cleaning arm 310 smoother and more reliable.

[0262] Furthermore, when the cleaning arm 310 extends into the bottom of the mop assembly 200, the protrusion 3172 first abuts against the bottom of the disc mop 220. This allows the bottom of the disc mop 220 to form a groove that matches the size of the protrusion 3172, so that when water is sprayed onto the disc mop 220, it can be sprayed into the groove on the disc mop 220. This allows the protrusion 3172 to slide out a recessed slope on the lower surface of the mop assembly 200, which can increase the contact area between the water flow and the lower surface of the mop assembly 200, thereby increasing the contact time and making the water flow easier to absorb. This facilitates the replenishment and wetting of the disc mop 220, and makes it easier for the cleaning arm 310 to clean the disc mop 220.

[0263] In one embodiment, each protrusion 3172 may have approximately the same shape and size, for example, it may be semi-cylindrical, trapezoidal, or triangular in cross-section. The spacing between the protrusions 3172 may be uniform or may vary depending on the needs of different areas on the inclined structure 3171. For example, near the bottom of the inclined structure 3171, the spacing of the protrusions 3172 may be smaller to provide denser support. Near the top, the spacing of the protrusions 3172 may be larger to reduce the contact area with the mop assembly 200.

[0264] In another embodiment, the protruding ridge 3172 can be integrally formed with the inclined structure 3171, for example, by injection molding directly onto the surface of the inclined structure 3171. When the edge of the mop assembly 200 slides along the inclined structure 3171, the protruding ridge 3172 can act like a roller or slide rail, converting sliding friction into rolling friction or reducing the contact area, thereby reducing frictional resistance.

[0265] In other embodiments, the surface of the ridge 3172 may be configured as an arc surface to further reduce friction and wear with the mop assembly 200. Alternatively, the ridge 3172 may be made of a different material than the inclined structure 3171, for example, the ridge 3172 made of a wear-resistant material may be embedded in the substrate of the inclined structure 3171 to improve the wear resistance and service life of the inclined structure 3171.

[0266] In one possible implementation, such as Figure 17 and Figure 18 As shown, the water spray unit 313 includes a plurality of water outlet holes 3131 spaced apart along the extension direction of the cleaning arm 310. The water outlet holes 3131 are disposed on the inclined structure 3171.

[0267] By arranging multiple water outlets 3131 of the water spray unit 313 at intervals along the length of the cleaning arm 310 on the inclined structure 3171, the water spray unit 313 can provide uniform water spray coverage to the mop assembly 200 throughout the entire length of the cleaning arm 310. By arranging the water outlets 3131 on the inclined structure 3171, the tilt angle of the inclined structure 3171 relative to the mop assembly 200 allows the sprayed water to act on the surface of the mop assembly 200 in an oblique impact manner. This is beneficial for wetting and rinsing the mop assembly 200, and also helps guide the rinsed dirt towards the waste outlet 3113, improving the rinsing efficiency and overall self-cleaning effect of the water spray unit 313.

[0268] It should be noted that the water outlets 3131 can be spaced apart along the length of the cleaning arm 310, that is, multiple water outlets 3131 are arranged sequentially at a certain interval along the length of the cleaning arm 310. By setting multiple water outlets 3131 distributed along the length direction, the water spray unit 313 can spray water onto the mop assembly 200 within the entire length range of the cleaning arm 310, thereby achieving spraying at different radial positions of the mop assembly 200.

[0269] For example, the multiple water outlets 3131 can be arranged in a straight line along the length of the cleaning arm 310, or in a staggered double or multiple row configuration. The staggered arrangement allows the water curtains sprayed from adjacent water outlets 3131 to overlap spatially, avoiding the formation of strip-shaped areas that are not covered by water on the mop assembly 200.

[0270] For example, each water outlet 3131 may have the same diameter, or it may have different diameters depending on its position along the length of the cleaning arm 310. For instance, the water outlets 3131 located in the middle region of the cleaning arm 310 may be set to be larger to provide a larger water spray volume; the water outlets 3131 located at both ends may be set to be smaller to provide a relatively smaller water spray volume, thereby achieving uniform water supply to the entire surface of the mop assembly 200.

[0271] For example, the opening direction of the water outlet 3131 can be perpendicular to the surface of the inclined structure 3171, or it can be inclined at a certain angle relative to the normal direction of the inclined structure 3171. By adjusting the orientation of the water outlet 3131, the sprayed water flow can be controlled to impact the surface of the mop assembly 200 at a specific angle. For example, the water flow can be sprayed obliquely towards the scraping section 3112 or the sludge discharge port 3113 to help flush the scraped dirt into the sludge collection bin 312.

[0272] In other embodiments, the water outlet 3131 can be located in the groove area between adjacent protrusions 3172. This allows the protrusions 3172 to protect the water outlet 3131, preventing the mop assembly 200 from directly rubbing against the edge of the water outlet 3131 during the insertion of the cleaning arm 310. Furthermore, the water outlet 3131 can be directly formed on the inclined structure 3171 by in-mold injection molding, or it can be formed by drilling or other mechanical processing methods after the inclined structure 3171 has been formed.

[0273] It should be noted that the water inlet channel 316 extends along the length of the cleaning arm 310 (see...). Figure 26 , Figure 27 and Figure 28 As shown), each water outlet 3131 is connected to the water inlet channel 316, and the water inlet 315 is connected to the water supply tank and the water inlet channel 316 respectively. Then, under the action of the water supply tank and the water pump, clean water is pumped into the water inlet channel 316, and the water outlet 3131 is used to replenish water to the disc mop 220, thereby improving the self-cleaning efficiency.

[0274] Alternatively, multiple water inlet channels 316 can be provided on the cleaning arm 310, with each water inlet channel 316 corresponding to a water inlet 315 and a water outlet 3131 connected to it. The water supply tank is used to evenly distribute clean water to each water inlet channel 316 and water outlet 3131 to achieve the effect of uniform water spraying.

[0275] Each water outlet 3131 can be connected to an independent water inlet channel 316, or multiple water outlets 3131 can share the same water supply chamber, with clean water being evenly distributed to each water outlet 3131 through the water supply chamber.

[0276] In one possible implementation, such as Figure 18 As shown, the water outlet 3131 is located at the end of the protrusion 3172 away from the scraping part 3112.

[0277] By positioning the water outlet 3131 at the end of the protrusion 3172 furthest from the scraping part, the protrusion 3172 can first slide out a recessed slope on the lower surface of the mop assembly 200, thereby increasing the contact area between the water flow and the lower surface of the mop assembly 200, thus increasing the contact time and making the water flow easier to absorb. The protrusion 3172 can also scrape out a gap on the lower surface of the mop assembly 200, which can form a guide channel. Subsequently, the water flow sprayed from the water outlet 3131 is confined within the guide channel and flows along the guide channel, thereby increasing the contact time between the water flow and the lower surface of the mop assembly 200, which is beneficial to the absorption of water by the mop assembly 200 and improves the wettability of the mop assembly 200.

[0278] By positioning the water outlet 3131 at the end of the protruding ridge 3172 away from the scraping section 3112, when the protruding ridge 3172 contacts the bottom surface of the mop assembly 200 and slides out of the gap, the water outlet 3131 is located within the gap. This allows the sprayed water to spread smoothly along the gap, forming a uniform water film covering the lower surface of the mop assembly 200. This avoids the problems of intermittent water droplets, splashing, or backsplashing that easily occur when water is directly sprayed onto a gapless mop surface, thus ensuring the continuity and uniformity of water spray and improving wetting and rinsing efficiency.

[0279] It should be noted that on the inclined structure 3171, each protrusion 3172 has one end near the scraping part 3112 and the other end away from the scraping part 3112. The water outlet 3131 can be arranged on the end of the protrusion 3172 away from the scraping part 3112. This makes the water outlet 3131 spatially closer to the bottom area of ​​the inclined structure 3171, that is, the position on the cleaning arm 310 that contacts the mop assembly 200 earlier.

[0280] When the water outlet 3131 is located at the end of the ridge 3172 away from the scraping part 3112, the water outlet 3131 can be located in the lower region of the ridge 3172. This arrangement allows the sprayed water to be ejected at a lower position on the inclined structure 3171, and the water flow impacts the surface of the mop assembly 200 upwards or diagonally upwards from this position. Since the vertical distance from this position to the lower surface of the mop assembly 200 is relatively large, the water flow has more space to diffuse, thereby covering a wider area of ​​the mop assembly 200.

[0281] The multiple water outlets 3131 can be respectively provided at one end of the multiple protrusions 3172 away from the scraping part 3112, with one water outlet 3131 provided at the end of each protrusion 3172, so that the number of water outlets 3131 corresponds one-to-one with the number of protrusions 3172. Alternatively, multiple water outlets 3131 can be provided at one end of each protrusion 3172 away from the scraping part 3112, for example, two or more water outlets 3131 can be arranged side by side in the width direction of the protrusion 3172 to increase the total water spray volume at that position.

[0282] In one possible implementation, the self-cleaning component 300 includes a suction tube 330 (see also...). Figure 12 (as shown); wherein, one end of the suction pipe 330 is connected to the bottom of the sludge collection bin 312, and the other end is used to connect to the sewage tank of the cleaning equipment 10.

[0283] By connecting one end of the suction pipe 330 to the bottom of the sludge collection bin 312 and the other end of the suction pipe 330 to the wastewater tank of the cleaning equipment 10, the dirt and wastewater collected in the sludge collection bin 312 can be promptly transported to the wastewater tank through the suction pipe 330. This avoids the problem of overflow due to the limited capacity of the sludge collection bin 312, which would otherwise require frequent manual cleaning. Furthermore, the self-cleaning component 300 can perform self-cleaning operations continuously multiple times without user intervention, improving the automation level and ease of use of the cleaning equipment 10. Simultaneously, the suction pipe 330 centrally transports dirt to the wastewater tank, avoiding multiple cleaning operations by the user and simplifying the maintenance of the cleaning equipment 10.

[0284] It should be noted that connecting the end of the suction pipe 330 to the bottom of the sludge collection bin 312 ensures that the liquid and solid dirt accumulated in the sludge collection bin 312 can smoothly enter the suction pipe 330 under the action of gravity or external suction, preventing dirt from accumulating at the bottom of the sludge collection bin 312 for a long time. The other end of the suction pipe 330 can be connected to the wastewater tank of the cleaning device 10. The wastewater tank is a container on the cleaning device 10 used to store the collected dirt and wastewater. After the suction pipe 330 connects the sludge collection bin 312 to the wastewater tank, the dirt and wastewater in the sludge collection bin 312 can be transported to the wastewater tank for centralized storage through the suction pipe 330, thereby freeing up the storage space of the sludge collection bin 312 and enabling the sludge collection bin 312 to continuously collect dirt generated during the self-cleaning process.

[0285] In one embodiment, the suction pipe 330 may be made of a flexible hose material, such as silicone tubing, rubber tubing, or corrugated tubing, which allows the suction pipe 330 to be bent and arranged within the limited space inside the cleaning device 10, and also facilitates the assembly and disassembly of the sludge collection chamber 312 relative to the cleaning arm 310.

[0286] In another embodiment, the suction tube 330 may be made of a transparent material so that the user or detection device can observe whether there is a blockage inside the tube.

[0287] For example, the connection between the suction pipe 330 and the bottom of the sludge collection chamber 312 can include various detachable connection methods such as plug-in, snap-in or threaded connection, so that the two can be easily separated when it is necessary to clean the sludge collection chamber 312 or replace the suction pipe 330.

[0288] For example, the self-cleaning component 300 may also include a suction power source, such as a blower or a vacuum pump, which may be located upstream or downstream of the sewage tank to generate negative pressure between the suction pipe 330 and the sewage tank, thereby actively sucking the dirt in the collection bin 312 into the sewage tank.

[0289] In one possible implementation, such as Figure 19 and Figure 20 As shown, the drive device 320 includes a housing 321, on which a first fixing structure 3212 is provided. The first fixing structure 3212 is used to fix the suction pipe 330.

[0290] By mounting the first fixing structure 3212 on the housing 321 of the drive device 320 and using it to fix the suction pipe 330, the housing 321 of the drive device 320 can be used to position and constrain the suction pipe 330, eliminating the need for a separate additional fixing bracket for the suction pipe 330. This simplifies the overall structure of the cleaning equipment 10 and reduces the number of parts. Fixing the suction pipe 330 to the housing 321 of the drive device 320 also keeps the relative position between the suction pipe 330 and the drive device 320 stable, preventing the suction pipe 330 from being pulled or squeezed during the movement of the cleaning arm 310, and ensuring the sealing reliability of the connection between the suction pipe 330 and the sludge collection bin 312 and the continuity of sludge suction.

[0291] It should be noted that the housing 321 is a structure in the drive device 320 used to house and protect the internal transmission components. The housing 321 can provide a mounting base and protective barrier for core components such as the drive motor 322 and gear set. The first fixing structure 3212 on the housing 321 is used to position and constrain the position of the suction pipe 330. It can be integrally formed with the housing 321 or fixed to the housing 321 as an independent component. Specifically, the first fixing structure 3212 can be used to fix the suction pipe 330, that is, to clamp, engage or limit the suction pipe 330 by the first fixing structure 3212, so that the suction pipe 330 maintains a predetermined direction and posture inside the cleaning equipment 10, and avoids the suction pipe 330 from shaking, shifting or interfering with other moving parts during the operation of the equipment.

[0292] In one embodiment, the first fixing structure 3212 may include one or more snaps, which may have an open arc or C-shaped profile. The suction pipe 330 can be pressed into the opening of the snap and held in place by the elastic arm of the snap. The opening size of the snap may be slightly smaller than the outer diameter of the suction pipe 330, thereby forming an interference fit after the suction pipe 330 is engaged, preventing the suction pipe 330 from coming out on its own. Alternatively, the first fixing structure 3212 may include one or more cable tie seats, which, together with flexible cable ties, bind and fix the suction pipe 330 to the housing 321.

[0293] In another embodiment, the first fixing structure 3212 can be disposed on the outer side wall of the housing 321, or at the bottom or top of the housing 321. The specific location can be determined according to the location of the suction pipe 330.

[0294] In one possible implementation, the cleaning arm 310 is provided with a water inlet 314, which is connected to the water spraying part 313 (see...). Figure 28 (As shown); the cleaning device 10 includes a clean water pipe 500, one end of which is connected to the water inlet 314, and the other end is connected to the clean water tank of the cleaning device 10 (see continue). Figure 4 and Figure 5 (As shown).

[0295] By providing a water inlet 314 connected to the spray unit 313 on the cleaning arm 310, and a clean water pipe 500 with one end connected to the water inlet 314 and the other end connected to the clean water tank, the cleaning device 10 can stably deliver clean water stored in the clean water tank to the spray unit 313 on the cleaning arm 310, providing a reliable water supply for the water spraying and rinsing operation during the self-cleaning process. This ensures that the spray unit 313 receives sufficient and clean water when needed, thereby moistening dirt and rinsing the mop assembly 200.

[0296] Understandably, the water inlet 314 is used to receive external clean water, and it is connected to the spray nozzle 313. That is, after entering through the water inlet 314, clean water can be transported to the spray nozzle 313 via the internal channel of the cleaning arm 310 or an external pipe, and finally sprayed out from the water outlet 3131 of the spray nozzle 313. The clean water pipeline 500 is used to transport clean water; one end can be connected to the water inlet 314, and the other end can be connected to the clean water tank of the cleaning device 10. After the clean water pipeline 500 connects the clean water tank to the water inlet 314 on the cleaning arm 310, the clean water in the clean water tank can be transported to the spray nozzle 313 on the cleaning arm 310 through the clean water pipeline 500, providing a continuous supply of clean water for the self-cleaning process.

[0297] For example, the water inlet 314 may be located on one end or side of the cleaning arm 310 away from the scraping part 3112 to facilitate connection with the clean water pipeline 500. The water inlet 314 may be a pipe fitting or a quick-connect interface, and may have a sealing ring or gasket inside to ensure the seal at the connection with the clean water pipeline 500 and prevent leakage of clean water during transportation.

[0298] For example, the cleaning device 10 may also include a water pump, which may be installed on the clean water pipeline 500 between the clean water tank and the water inlet 314, or inside the clean water tank, for pumping clean water from the clean water tank to the water inlet 314. For example, the water pump is turned on to spray water during self-cleaning and turned off during non-self-cleaning processes to save energy and clean water.

[0299] The clean water pipe 500 can be made of flexible hose, such as silicone or PU tubing, to facilitate its installation within the limited space inside the cleaning device 10. It also allows the clean water pipe 500 to bend during the movement of the cleaning arm 310, thus avoiding excessive resistance.

[0300] In one possible implementation, the connection between the water inlet 314 and the water spray 313 can be achieved by opening a flow channel inside the cleaning arm 310, thus eliminating the need for additional pipes outside the cleaning arm 310 and making the overall structure of the cleaning arm 310 more compact.

[0301] In another possible implementation, the flow channel inside the cleaning arm 310 can be provided with multiple branches, which are respectively connected to the water outlets 3131 of the spray section 313 to achieve uniform distribution of clean water.

[0302] In one possible implementation, the drive unit 320 includes a housing 321, on which a second fixing structure 3213 is provided. The second fixing structure 3213 is used to fix the clean water pipe 500 (see continue). Figure 18 (As shown).

[0303] By mounting the second fixing structure 3213 on the housing 321 of the drive unit 320 and using it to fix the clean water pipe 500, the housing 321 of the drive unit 320 can be used to position and constrain the clean water pipe 500, eliminating the need for a separate additional fixing bracket for the clean water pipe 500. This simplifies the overall structure of the cleaning equipment 10 and reduces the number of parts. Fixing the clean water pipe 500 to the housing 321 of the drive unit 320 also keeps the relative position between the clean water pipe 500 and the drive unit 320 stable, preventing the clean water pipe 500 from being pulled, bent, or squeezed during the movement of the cleaning arm 310. This ensures the sealing reliability of the connection between the clean water pipe 500 and the water inlet 314 and the continuity of clean water delivery.

[0304] It should be noted that the second fixing structure 3213 may include one or more clips, which may have an open, arc-shaped profile. The water pipe 500 can be pressed into the opening of the clip and held in place by the elastic arm of the clip. The opening size of the clip may be slightly smaller than the outer diameter of the water pipe 500, thereby forming an interference fit after the water pipe 500 is inserted, preventing the water pipe 500 from coming out on its own. Alternatively, the second fixing structure 3213 may include one or more cable tie seats, which, together with flexible cable ties, bind and fix the water pipe 500 to the housing 321.

[0305] In one embodiment, the second fixing structure 3213 can be disposed on the outer wall of the housing 321, or at the bottom or top of the housing 321. The specific location can be determined according to the arrangement of the clean water pipe 500 and the location where it connects with the water inlet 314.

[0306] In one possible implementation, the mop assembly 200 includes two independently rotatable disc mops 220 (see continue). Figure 1 and Figure 2 (As shown); the self-cleaning component 300 includes two cleaning arms 310, which are respectively configured to correspond to two disc mops 220.

[0307] By setting two independently rotatable disc mops 220 and two cleaning arms 310 respectively corresponding to the two disc mops 220, the cleaning device 10 can perform self-cleaning operation on the two disc mops 220 at the same time, which can improve the efficiency of self-cleaning.

[0308] It should be noted that each disc mop 220 can rotate independently relative to the device body around its own vertical axis, so that the two disc mops 220 can work at different speeds or different directions of rotation when cleaning the floor, thereby adapting to different cleaning scenarios and floor conditions.

[0309] The two cleaning arms 310 can be respectively configured to correspond to the two disc mops 220, that is, the first cleaning arm 310 corresponds to the first disc mop 220, and the second cleaning arm 310 corresponds to the second disc mop 220. This one-to-one correspondence allows each cleaning arm 310 to perform a self-cleaning operation specifically for its corresponding disc mop 220. When self-cleaning is required, the two cleaning arms 310 can extend into the bottom of their respective disc mops 220, simultaneously performing scraping cleaning and wastewater collection functions on both disc mops 220.

[0310] For example, the two cleaning arms 310 can be arranged symmetrically, located on opposite sides of the two disc mops 220, or they can be arranged between the two disc mops 220. The movement of the two cleaning arms 310 can be independent of each other, that is, one cleaning arm 310 can move alone while the other remains stationary. This can be controlled separately according to the actual degree of dirtiness of each disc mop 220.

[0311] For example, the two cleaning arms 310 can also be driven synchronously by the same drive unit 320, that is, the two cleaning arms 310 swing from the initial position to the working position at the same time, or return from the working position to the initial position at the same time, which can simplify the control process and reduce manufacturing costs.

[0312] In one possible implementation, the drive unit 320 is located between the two cleaning arms 310; wherein the drive unit 320 is configured to synchronously drive the two cleaning arms 310 to simultaneously extend into or retract from the bottom of the corresponding disc mop 220.

[0313] By positioning the drive unit 320 between the two cleaning arms 310 and configuring it to synchronously drive their movement, the two cleaning arms 310 can simultaneously extend into or retract from the bottom of their respective disc mops 220. This symmetrical layout optimizes the use of internal space in the cleaning device 10 and ensures the consistency of the movements of the two cleaning arms 310. The simultaneous extension and retraction of the two cleaning arms 310 makes the self-cleaning process more efficient and orderly, and also helps maintain the overall balance and stability of the cleaning device 10 during the self-cleaning process.

[0314] For example, the drive unit 320 may include a drive motor 322 and a gearbox, the gearbox having a symmetrical gear transmission path inside. The rotational motion of the drive motor 322 is input into the gearbox and transmitted to two output ends via symmetrically arranged gear sets within the gearbox. The two output ends are respectively connected to two cleaning arms 310. Due to the symmetry of the transmission path, the rotation directions of the two output ends can be opposite; for example, when the left output shaft rotates clockwise, the right output shaft rotates counterclockwise. This allows the two cleaning arms 310 to simultaneously swing from the outside to the inside of their respective corresponding disc mops 220, or simultaneously swing from the inside to the outside.

[0315] For example, the drive unit 320 may also include two drive motors 322, which can be controlled by the same control signal to achieve synchronous movement of the two cleaning arms 310.

[0316] In one possible implementation, the drive unit 320 is used to drive the two cleaning arms 310 to move from their initial positions toward each other, so that they can enter their respective working positions.

[0317] The two cleaning arms 310 are driven by the drive unit 320 to move from their initial positions toward each other and into their respective working positions. The two cleaning arms 310 can simultaneously extend into the bottom of the two disc mops 220 in a symmetrical manner. This allows the cleaning arms 310 to make full use of the space between the disc mops 220 during the extension process and avoids interference from other internal components of the equipment that may occur when the cleaning arms 310 move in other directions.

[0318] In one possible implementation, the sludge collection bin 312 includes two independent sub-sludge collection bins 312; the two sub-sludge collection bins 312 are respectively connected to two cleaning arms 310.

[0319] By configuring the sludge collection bin 312 into two independent sub-sludge collection bins 312, each connected to one of the two cleaning arms 310, the dirt scraped off by each cleaning arm 310 can be collected in the connected sub-sludge collection bin 312, reducing the possibility of leakage or blockage during long-distance transport of dirt. The independent sub-sludge collection bins 312 can be maintained separately, reducing maintenance costs.

[0320] It should be noted that the two subset sludge bins 312 are structurally separate, each forming an independent container cavity, and are not interconnected. Each subset sludge bin 312 can independently collect dirt and wastewater scraped off by the scraping part 311 of the corresponding cleaning arm 310. The two subset sludge bins 312 can be connected to the two cleaning arms 310 respectively, that is, the first subset sludge bin 312 is connected to the first cleaning arm 310, and the second subset sludge bin 312 is connected to the second cleaning arm 310. This allows the dirt scraped off by each cleaning arm 310 during the self-cleaning process to fall directly into the subset sludge bin 312 connected to that cleaning arm 310, achieving independent collection and storage of dirt.

[0321] In one embodiment, each sub-collection bin 312 can be detachably connected to its corresponding cleaning arm 310, for example, through a snap-fit ​​structure or a sliding rail structure for quick assembly and disassembly. When the user needs to clean the bin 312, the two sub-collection bins 312 can be detached from the two cleaning arms 310 respectively for emptying and cleaning, and then reinstalled onto their respective cleaning arms 310. Furthermore, the two sub-collection bins 312 can adopt the same structure and size, reducing manufacturing costs, and the user does not need to distinguish between left and right when cleaning, improving ease of use.

[0322] In one possible implementation, the sludge collection tank 312 is a single-piece structure and is connected to both cleaning arms 310. The sludge collection tank 312 includes a first side section 3121, a middle section 3122, and a second side section 3123 connected sequentially along the length of the cleaning arms 310. The first side section 3121 and the second side section 3123 correspond to the two cleaning arms 310 respectively (see continue). Figure 12 (As shown). Among them, the material hardness of the middle section 3122 is less than that of the first side section 3121 and the second side section 3123.

[0323] For example, the hardness of the middle section 3122 can be around 30 Shore hardness, and the hardness of the first side section 3121 and the second side section 3123 can be around 70 Shore hardness. Of course, in the embodiments of this application, the specific hardness of the middle section 3122, the first side section 3121 and the second side section 3123 is not further limited.

[0324] By designing the sludge collection chamber 312 as a single unit and connecting it to both cleaning arms 310, the structure of the sludge collection chamber 312 can be simplified, the number of parts in the self-cleaning assembly 300 can be reduced, the assembly process can be simplified, and thus the cost can be reduced. By using a harder material for the first side section 3121 and the second side section 3123 of the sludge collection chamber 312, the connection strength can be guaranteed, while using a softer material for the middle section 3122 can provide bending flexibility and prevent damage to the sludge collection chamber 312 when the two cleaning arms 310 move.

[0325] It is understood that the first side segment 3121, the middle segment 3122, and the second side segment 3123 together constitute the sludge collection chamber 312. The first side segment 3121 is located at one end of the sludge collection chamber 312, the second side segment 3123 is located at the other end, and the middle segment 3122 is located between and connects the first side segment 3121 and the second side segment 3123. The first side segment 3121 and the second side segment 3123 can correspond to the two cleaning arms 310, respectively; that is, the first side segment 3121 corresponds to the first cleaning arm 310, and the second side segment 3123 corresponds to the second cleaning arm 310. When the two cleaning arms 310 move, the portion of the sludge collection chamber 312 connected to the cleaning arms 310 will also undergo corresponding deformation.

[0326] The middle section 3122 is made of a softer material, while the first side section 3121 and the second side section 3123 are made of a harder material. This difference in hardness gives different sections of the sludge collection bin 312 different levels of flexibility. The harder side sections provide sufficient structural strength and rigidity for the connection with the cleaning arm 310, ensuring a firm and reliable connection between the sludge collection bin 312 and the cleaning arm 310. The softer middle section 3122 has a certain degree of flexibility and bendability, allowing it to adapt to changes in the relative position of the two cleaning arms 310 during operation.

[0327] For example, the intermediate section 3122 can be made of a soft rubber material with low hardness, such as thermoplastic elastomer or silicone rubber, while the first side section 3121 and the second side section 3123 can be made of a hard plastic with higher hardness. When the two cleaning arms 310 move closer or further apart, the first side section 3121 and the second side section 3123 connected to the two cleaning arms 310 will move accordingly. At this time, the intermediate section 3122 located in the middle can bend or stretch to adapt to the positional change and avoid damage to the sludge collection bin 312.

[0328] In one possible implementation, such as Figure 19 As shown, the drive unit 320 includes a housing 321, on which an arc-shaped support surface 3211 is provided; the arc-shaped support surface 3211 is located on the side of the sludge collection bin 312 facing the mop assembly 200; the arc-shaped support surface 3211 is configured to contact and provide support to the outer wall of the middle section 3122 when the middle section 3122 of the sludge collection bin 312 is bent (see continue). Figure 14 and Figure 15 ).

[0329] By providing an arc-shaped support surface 3211 on the housing 321 of the drive device 320, and ensuring that the arc-shaped support surface 3211 contacts and provides support to the outer wall of the middle section 3122 of the sludge collection bin 312 when it bends, the bending shape of the middle section 3122 of the sludge collection bin 312 can be effectively controlled, preventing irregular collapse or overturning of the middle section 3122. This also prevents damage to the internal structure of the sludge collection bin 312 due to excessive deformation.

[0330] When the two cleaning arms 310 move closer or further apart, the first side section 3121 and the second side section 3123 of the sludge collection bin 312 connected to the two cleaning arms 310 move accordingly, and the middle section 3122 located in the middle will bend and deform. During the bending process of the middle section 3122, the outer wall of the middle section 3122 can move or deform towards the housing 321 of the drive device 320. At this time, the arc-shaped support surface 3211 provided on the housing 321 can come into contact with the outer wall of the middle section 3122. The arc-shaped support surface 3211 supports and limits the outer wall of the middle section 3122 through its arc-shaped contour, preventing the middle section 3122 from undergoing excessive and irregular deformation during bending, such as preventing the bottom wall of the middle section 3122 from collapsing downward or the side wall from folding inward.

[0331] For example, the arc-shaped support surface 3211 can be integrally formed with the housing 321, for example, by injection molding directly onto the outer surface of the housing 321.

[0332] In one possible implementation, the inner wall of the sludge collection tank 312 has a lowest point, and the inner wall is configured to slope towards the lowest point from at least one side. For example, the slope angle of at least one side of the inner wall towards the lowest point is approximately 2°, which facilitates the collection of wastewater towards the lowest point.

[0333] By configuring the inner wall of the sludge collection chamber 312 to slope towards the lowest point from at least one side, sewage and liquid dirt entering the sludge collection chamber 312 can automatically collect to the lowest point under the action of gravity. This facilitates the collection of liquid to the lowest point and also allows the suction pipe 330 to efficiently and completely suck up the sewage at the lowest point, improving the thoroughness of sewage collection.

[0334] It should be noted that the lowest point refers to the lowest position on the bottom surface inside the sludge collection tank 312, that is, this position is lower than other areas of the inner cavity bottom wall in the vertical direction. At least a portion of the inner cavity bottom wall has a certain slope, which gradually decreases from the higher position and eventually converges to the lowest point. This allows the liquid entering the sludge collection tank 312 to flow naturally towards the lowest point under the action of gravity.

[0335] In one embodiment, when the sludge collection chamber 312 includes two independent sub-sludge collection chambers 312 and is respectively connected to two cleaning arms 310, the inner cavity bottom wall of each sub-sludge collection chamber 312 has a lowest point, and the inner cavity bottom wall of each sub-sludge collection chamber 312 can be inclined from one side or from all sides toward the lowest point of the sub-sludge collection chamber 312.

[0336] In one embodiment, when the sludge collection chamber 312 is an integral structure and is connected to two cleaning arms 310 at the same time, the bottom wall of the inner cavity of the sludge collection chamber 312 can be provided with a slope that slopes towards the middle section 3122 on the first side section 3121 and the second side section 3123 respectively, so that the middle section 3122 becomes the lowest point area of ​​the entire bottom wall of the inner cavity.

[0337] Specifically, the bottom wall of the inner cavity of the first side section 3121 can gradually decrease from the end away from the middle section 3122 towards the middle section 3122, and the bottom wall of the inner cavity of the second side section 3123 can also gradually decrease from the end away from the middle section 3122 towards the middle section 3122. In this way, the liquid from both side sections will converge towards the middle section 3122, and a certain point or the entire area of ​​the middle section 3122 can become the lowest point of the inner cavity bottom wall. This ensures that the liquid can flow smoothly without excessively occupying the vertical space of the sludge collection tank 312. Furthermore, an interface of a suction pipe 330 can be provided at the lowest point, so that the sewage collected at the lowest point can be directly sucked into the sewage tank through the suction pipe 330, reducing the residual water in the sludge collection tank 312.

[0338] In one possible implementation, the sludge collection bin 312 is detachably connected to the cleaning arm 310.

[0339] By making the sludge collection bin 312 detachably connected to the cleaning arm 310, users can easily remove the sludge collection bin 312 from the cleaning device 10 for cleaning, simplifying the daily maintenance of the cleaning device 10. The detachable structure avoids incomplete cleaning and hygiene problems caused by the inability to remove the sludge collection bin 312. At the same time, this design also facilitates the replacement and repair of the sludge collection bin 312, extending the service life of the cleaning device 10 and reducing maintenance costs.

[0340] In one embodiment, the sludge collection bin 312 and the cleaning arm 310 are detachably connected via a snap-fit ​​structure. The snap-fit ​​structure may include an engaging portion 3124 on the sludge collection bin 312 and a mating portion 318 on the cleaning arm 310. When the sludge collection bin 312 is installed, the engaging portion 3124 and the mating portion 318 engage with each other, locking the sludge collection bin 312 onto the cleaning arm 310. When disassembly is required, the user can apply a certain force to the engaging portion 3124 to cause it to elastically deform or disengage, thereby releasing the lock and removing the sludge collection bin 312.

[0341] In another embodiment, the sludge collection bin 312 and the cleaning arm 310 can also be detachably connected by the cooperation of a slide rail and a chute. The sludge collection bin 312 can be pushed into place along the slide rail on the cleaning arm 310 and held in place by an elastic positioning structure.

[0342] In other embodiments, the sludge collection bin 312 and the cleaning arm 310 can also be detachably connected by a magnetic structure. That is, magnetic elements that attract each other are provided on the sludge collection bin 312 and the cleaning arm 310 respectively. The sludge collection bin 312 is held on the cleaning arm 310 by magnetic force, and the user can use a certain pulling force to overcome the magnetic force to remove the sludge collection bin 312.

[0343] In one possible implementation, such as Figure 21 and Figure 22 As shown, the outer side of the sludge collection bin 312 is provided with a locking part 3124, and the cleaning arm 310 is provided with a mating part 318 that cooperates with the locking part 3124; the locking part 3124 is used to engage with the mating part 318 when the sludge collection bin 312 is installed in place.

[0344] By providing a locking part 3124 on the outside of the sludge collection chamber 312 and a mating part 318 on the cleaning arm 310 that mates with the locking part 3124, the locking part 3124 and the mating part 318 engage when the sludge collection chamber 312 is installed in place, thus reliably fixing the sludge collection chamber 312 to the cleaning arm 310. This locking connection method is simple in structure and easy to operate, allowing users to install and remove the sludge collection chamber 312 without the need for tools. At the same time, while providing sufficient holding force, the locking connection also allows for release by applying appropriate pulling force or pressing a specific unlocking position when needed, enabling quick assembly and disassembly and improving the user experience.

[0345] For example, multiple engaging portions 3124 and mating portions 318 can be provided. For instance, multiple engaging portions 3124 can be provided on both sides or front and back of the sludge collection bin 312, and the same number of mating portions 318 can be provided at corresponding positions on the cleaning arm 310. This can provide a more uniform and firm connection force.

[0346] In one possible implementation, one of the engaging portion 3124 and the mating portion 318 is a protruding structure, and the other of the engaging portion 3124 and the mating portion 318 is a groove structure.

[0347] By setting the engaging part 3124 and the mating part 318 as a protruding structure and a recessed structure respectively, the interlocking of the protruding structure and the recessed structure can form a snap-fit ​​connection. This concave-convex mating structure is easy to achieve through molding processes such as injection molding, resulting in low manufacturing costs. At the same time, the connection strength is reliable, which can meet the fixing requirements of the sludge collection bin 312 during the use of the cleaning equipment 10. When installing and disassembling the sludge collection bin 312, the user only needs to align the protruding structure with the recessed structure and push it in or pull it out, making the operation intuitive and convenient.

[0348] It should be noted that the engaging portion 3124 can be a protruding structure, such as a wedge-shaped protrusion, a hemispherical protrusion, or a claw with barbs, while the mating portion 318 can be a recessed structure, such as a recess, slot, or through hole that matches the shape of the protrusion. When the sludge collection bin 312 is installed in place, the protruding structure can engage with the recessed structure to form a stable engaging connection. Alternatively, the engaging portion 3124 can also be a recessed structure, while the mating portion 318 can be a protruding structure; both configurations can achieve the engaging connection function.

[0349] In one possible implementation, such as Figure 23 As shown, the engaging part 3124 is a protruding structure, and the mating part 318 is a groove structure (see continue). Figure 18 (as shown); wherein the top of the protruding structure is configured as an inclined surface, the inclined surface is used to guide the connection between the engaging part 3124 and the mating part 318.

[0350] By configuring the top of the protruding structure of the engaging portion 3124 as an inclined surface, and using this inclined surface to guide the connection between the engaging portion 3124 and the mating portion 318, the user does not need to perform precise alignment operations when installing the sludge collection bin 312. The inclined surface can automatically guide the protruding structure into the groove structure. This reduces the installation difficulty of the sludge collection bin 312 and improves the success rate and convenience of installation. At the same time, the inclined surface can produce a smooth transition effect during the guidance process, avoiding hard collisions between the protruding structure and the edge of the groove structure, reducing wear on the engaging structure, and extending the service life of the detachable connection structure.

[0351] It is understood that an inclined surface refers to a plane or curved surface that is not horizontal at its highest point, but is inclined relative to a horizontal plane or at a certain angle. This inclined surface can be used to guide the connection between the engaging part 3124 and the mating part 318. That is, during the installation of the sludge collection bin 312, the inclined surface on the protruding structure first contacts the mating part 318 or the surface around the mating part 318. Under the action of the installation thrust, the inclined surface can decompose the force perpendicular to the installation direction into a component along the normal direction of the inclined surface, so that the protruding structure can slide into the groove structure along the guide direction of the inclined surface.

[0352] In one possible implementation, such as Figure 21 , Figure 22 and Figure 23 As shown, a filter element 400 is installed inside the sludge collection chamber 312; wherein, the filter element 400 includes a filter screen, and there is a gap between the bottom of the filter screen and the bottom wall of the sludge collection chamber 312. This gap can be about 1.5 mm, for example, it can be 2 mm.

[0353] By installing a filter screen inside the sludge collection chamber 312 and maintaining a gap between the bottom of the filter screen and the bottom wall of the sludge collection chamber 312, wastewater in the mixture of dirt and grime entering the sludge collection chamber 312 can flow through the mesh of the filter screen into the gap area below, and then collect at the bottom of the sludge collection chamber 312, while solid dirt such as hair and debris is trapped above the filter screen. This solid-liquid separation structure can prevent solid dirt from clogging the inlet of the suction pipe 330, ensuring that wastewater can be smoothly sucked into the wastewater tank. It also makes it easier for users to separate solid dirt and liquid dirt when cleaning the sludge collection chamber 312, improving the convenience of cleaning the sludge collection chamber 312 and the efficiency of suction.

[0354] In one possible implementation, the bottom of the filter element 400 is provided with a plurality of support portions 410; wherein the plurality of support portions 410 are spaced apart at the bottom of the filter screen so that there is a gap between the bottom of the filter screen and the bottom wall of the sludge collection bin 312 (see continue). Figure 21 and Figure 22 (As shown). For example, the height of the support 410 is approximately 1.5 mm.

[0355] By providing multiple spaced-apart support portions 410 at the bottom of the filter element 400, and using these support portions 410 to elevate the filter screen, a stable and uniform gap can be formed between the bottom of the filter screen and the bottom wall of the sludge collection bin 312. The spaced arrangement of the support portions 410 ensures that the gap area remains connected between the support portions 410, allowing liquid to flow freely below the filter screen without being blocked by the support portions 410. This ensures both the liquid flow space required for solid-liquid separation and provides stable support for the filter screen.

[0356] In one embodiment, multiple support portions 410 can be evenly distributed in the bottom area of ​​the filter screen. For example, one support portion 410 can be provided at each of the four corners of the filter screen, or multiple support portions 410 can be spaced apart along the length of the filter screen, or multiple support portions 410 can be arranged in a matrix pattern across the entire bottom of the filter screen. Even distribution can provide stable support for the filter screen and prevent it from tilting or deforming during use.

[0357] In one possible implementation, such as Figure 23 As shown, the sludge collection chamber 312 is provided with a limiting part 3125, which is used to cooperate with the filter element 400 to limit the position of the filter element 400.

[0358] By providing a limiting part 3125 within the sludge collection chamber 312 for mating with the filter element 400, the position of the filter element 400 within the sludge collection chamber 312 can be effectively limited, reducing displacement of the filter element 400 due to vibration or tilting during use and ensuring that the filter element 400 is always in the correct filtration position. The mating connection between the limiting part 3125 and the filter element 400 also improves the installation stability and positioning accuracy of the filter element 400 within the sludge collection chamber 312, thereby ensuring the reliable implementation of the solid-liquid separation function.

[0359] It should be noted that the limiting part 3125 may include longitudinal ribs or grooves provided on the side wall of the sludge collection bin 312. The longitudinal ribs or grooves may cooperate with the corresponding notches or protrusions on the edge of the filter element 400 to guide the filter element 400 into the sludge collection bin 312 in the vertical direction and restrict the movement of the filter element 400 in the horizontal direction.

[0360] In another embodiment, the limiting part 3125 may include a positioning post or positioning hole provided on the bottom wall of the sludge collection bin 312. The filter element 400 may be provided with a corresponding positioning hole or positioning post. When the filter element 400 is installed in place, the positioning post is inserted into the positioning hole, thereby locking the position of the filter element 400 in the horizontal direction. In other embodiments, the limiting part 3125 may include an elastic buckle provided on the inner wall of the sludge collection bin 312. When the filter element 400 is installed in place, the elastic buckle can engage with the edge of the filter element 400, pressing the filter element 400 tightly within the sludge collection bin 312 and preventing the filter element 400 from detaching upwards.

[0361] For example, the limiting part 3125 can be integrally formed with the sludge collection tank 312, for example, by injection molding directly onto the inner wall of the sludge collection tank 312, thus achieving the limiting function without additional parts. In this application, the structure of the limiting part 3125 is not further limited, as long as it can achieve the function of limiting the limiting part 3125 and the filter element 400.

[0362] In one possible implementation, when the sludge collection tank 312 includes two independent sub-sludge collection tanks 312, each sub-sludge collection tank 312 is provided with a filter element 400, and the side wall of the sub-sludge collection tank 312 forms a limiting part 3125; when the sludge collection tank 312 is an integral structure, the first side section 3121 and the second side section 3123 are respectively provided with a filter element 400, and the first side section 3121 and the second side section 3123 are both provided with a limiting part 3125 near the middle section 3122, and the limiting part 3125 includes a protruding structure provided on both side walls of the sludge collection tank 312.

[0363] By employing appropriate filter elements 400 and limiting parts 3125 according to different structural forms of the sludge collection chamber 312, whether the sludge collection chamber 312 consists of two independent sub-sludge collection chambers 312 or an integrated structure, the sludge collection area corresponding to each cleaning arm 310 can achieve solid-liquid separation. The side wall of the sub-sludge collection chamber 312 can limit the limiting part 3125, or a protruding structure can be provided on the side wall of the integrated sludge collection chamber 312 as a limiting part 3125 to limit the filter element 400, ensuring the stability and reliability of the filter element 400 during operation, while facilitating the installation and removal of the filter element 400 for maintenance.

[0364] When the sludge collection chamber 312 includes two independent sub-sludge collection chambers 312, each sub-sludge collection chamber 312 may contain a filter element 400, that is, one filter element 400 is provided in the first sub-sludge collection chamber 312 and one filter element 400 is also provided in the second sub-sludge collection chamber 312. Each filter element 400 independently performs solid-liquid separation of the dirt mixture in its respective sub-sludge collection chamber 312. This allows the sidewalls of the sub-sludge collection chamber 312 to form limiting portions 3125. For example, the left and right sidewalls or the front and rear sidewalls of the sub-sludge collection chamber 312 may form a clearance fit or a slight interference fit with the edge of the filter element 400, thereby holding the filter element 400 in a predetermined position within the sub-sludge collection chamber 312.

[0365] When the sludge collection chamber 312 is an integral structure, a filter element 400 can be respectively installed in the first side section 3121 and the second side section 3123 of the sludge collection chamber 312. Since the integral sludge collection chamber 312 is connected to two cleaning arms 310 at the same time, with the first side section 3121 corresponding to the first cleaning arm 310 and the second side section 3123 corresponding to the second cleaning arm 310, a filter element 400 can be installed in the first side section 3121 and another filter element 400 can be installed in the second side section 3123. The two filter elements 400 filter the dirt falling from the two cleaning arms 310 respectively.

[0366] In this structure, both the first side section 3121 and the second side section 3123 near the middle section 3122 can be provided with a limiting part 3125. The limiting part 3125 can include protruding structures provided on the two side walls of the sludge collection bin 312. That is, a protruding structure is provided on each of the two opposite side walls of the sludge collection bin 3121 near the middle section 3122; similarly, a protruding structure is provided on each of the two opposite side walls of the sludge collection bin 3123 near the middle section 3122.

[0367] These protruding structures can protrude toward the interior space of the sludge collection chamber 312 to cooperate with the filter element 400, restricting the filter element 400 to a position near the end of the sludge collection chamber 312, preventing the filter element 400 from sliding or shifting toward the middle section 3122.

[0368] In one possible implementation, such as Figure 24 As shown, the middle section 3122 of the sludge collection bin 312 is provided with an elastic support member 319, which is configured to support the bottom wall and / or side wall of the middle section 3122.

[0369] By incorporating an elastic support member 319 in the intermediate section 3122 of the sludge collection bin 312, and using this elastic support member 319 to support the bottom and / or side walls of the intermediate section 3122, the intermediate section 3122 can maintain its basic shape under bending forces, reducing the problem of irregular collapse or excessive deformation caused by the low hardness of the material. The elastic support member 319 can improve the structural stability and deformation resistance of the intermediate section 3122, ensuring that the sludge collection bin 312 maintains effective sewage collection and diversion functions during the movement of the cleaning arm 310. At the same time, the elastic properties of the elastic support member 319 allow the intermediate section 3122 to recover after bending, achieving a balance between support and flexibility.

[0370] In one embodiment, the elastic support 319 may be made of a metal material, such as stainless steel spring wire. Metal materials have good elastic recovery ability and high strength, and can withstand repeated bending deformation to avoid breakage.

[0371] In another embodiment, the elastic support 319 can also be made of a flexible plastic material, such as polyoxymethylene or nylon. The plastic elastic support 319 can be integrally molded by injection molding, which is convenient for mass production and has a low cost.

[0372] In one possible implementation, the elastic support 319 has an overall U-shaped structure, with the opening of the U-shape facing upwards (see continue). Figure 13 (As shown).

[0373] By setting the elastic support 319 as an upward-opening U-shaped structure, the bottom of the U-shape can support the bottom wall of the middle section 3122 of the sludge collection bin 312, preventing the bottom wall from collapsing downwards. The two side arms of the U-shape can support the two side walls of the middle section 3122, preventing the side walls from concave inwards or bulging outwards, achieving simultaneous support for the bottom wall and side walls. This is beneficial for arrangement within the limited space of the sludge collection bin 312. At the same time, the upward-opening design of the U-shaped structure makes it easy to install the elastic support 319 into the middle section 3122 of the sludge collection bin 312 from above or to integrally form it with the middle section 3122.

[0374] It should be noted that the bottom of the U-shaped structure can be horizontal or slightly curved, and is used to support the bottom wall of the middle section 3122 of the sludge collection bin 312. The two side arms of the U-shaped structure can extend vertically upward from both ends of the bottom or extend slightly outward, and are used to support the two opposite side walls of the middle section 3122 of the sludge collection bin 312.

[0375] For example, the material of the U-shaped structure can be selected from metal wire or elastic plastic with good elasticity, and the U-shaped shape can be formed by bending or injection molding process.

[0376] In one possible implementation, the elastic support 319 is embedded in the inner wall of the sludge collection bin 312 (see continue). Figure 13 (As shown).

[0377] By embedding the elastic support 319 within the inner wall of the sludge collection chamber 312, an integrated structure is formed between the elastic support 319 and the sludge collection chamber 312. This allows the elastic support 319 to reliably support the bottom wall and / or side walls of the middle section 3122 of the sludge collection chamber 312, and also simplifies the production and assembly process. Simultaneously, the embedded elastic support 319 avoids direct contact with dirt and wastewater within the sludge collection chamber 312, preventing the risk of corrosion and contamination, and extending the service life of the elastic support 319.

[0378] Specifically, the elastic support 319 can be embedded in the inner wall of the sludge collection bin 312. "Embedded" means that the elastic support 319 is not independently installed on the surface of the inner wall of the sludge collection bin 312, but is partially or completely encased in the material of the sludge collection bin 312, forming an integral structure with the wall of the sludge collection bin 312. The elastic support 319 can be embedded inside the wall of the sludge collection bin 312, and its outer surface can be flush with the surface of the inner wall of the sludge collection bin 312, or it can be completely hidden inside the wall and not exposed on the surface of the inner wall. Through this embedding method, a firm connection is formed between the elastic support 319 and the sludge collection bin 312, without the need for additional fixing structures.

[0379] For example, the elastic support 319 can be embedded by insert injection molding. Before injection molding the sludge collection bin 312, the prefabricated elastic support 319 is placed in a predetermined position in the injection mold. Then, the base material of the sludge collection bin 312 is injected into the mold. After the base material is cured, the elastic support 319 is wrapped inside the wall of the sludge collection bin 312, and the two are tightly combined into a whole.

[0380] It should be noted that when the elastic support 319 has a U-shaped structure, the bottom of the U-shape can be embedded in the bottom wall of the middle section 3122, and the two side arms of the U-shape can be embedded in the two side walls of the middle section 3122 respectively. In this way, the entire U-shaped elastic support 319 is completely covered by the material of the sludge collection bin 312. The elastic support 319 being embedded in the inner wall of the sludge collection bin 312 can prevent the elastic support 319 from shifting or falling off during use. At the same time, since the elastic support 319 is not exposed on the inner surface of the cavity, it also prevents dirt from accumulating in the gap between the elastic support 319 and the wall of the sludge collection bin 312, making it easier to clean the sludge collection bin 312.

[0381] In one possible implementation, such as Figure 25As shown, the drive device 320 includes a drive motor 322, a housing 321, and a transmission mechanism 323 disposed in the housing 321; the cleaning arm 310 is connected to the output shaft of the transmission mechanism 323 via a connecting arm 340; the rotation of the output shaft drives the cleaning arm 310 to swing between the initial position and the working position.

[0382] Through the cooperation of the drive motor 322, housing 321, and transmission mechanism 323, and the transmission connection between the cleaning arm 310 and the output shaft of the transmission mechanism 323 via the connecting arm 340, the rotational motion of the output shaft can be converted into the oscillating motion of the cleaning arm 310 between the initial position and the working position. This transmission method has a compact structure and high transmission efficiency, and can provide driving torque to ensure stable operation of the cleaning arm 310 below the mop assembly 200. The oscillating motion driven by the rotational output shaft enables rapid position switching of the cleaning arm 310, which helps to shorten the cleaning time of the self-cleaning process.

[0383] The connecting arm 340 is an intermediate connecting component between the cleaning arm 310 and the transmission mechanism 323 (see also...). Figure 12 , Figure 13 and Figure 18 As shown, one end of the connecting arm 340 is connected to the cleaning arm 310, and the other end of the connecting arm 340 can be connected to the output shaft of the transmission mechanism 323. Under the action of the connecting arm 340, the power output by the transmission mechanism 323 can be transmitted to the cleaning arm 310, driving the cleaning arm 310 to move. Rotation of the output shaft can drive the cleaning arm 310 to swing between the initial position and the working position. When the output shaft of the transmission mechanism 323 rotates around its own axis, the connecting arm 340 rotates with the output shaft. The rotational motion of the connecting arm 340 causes the cleaning arm 310 to perform an arc motion around the axis of the output shaft, thereby causing the cleaning arm 310 to oscillate back and forth between the initial position located on the side of the mop assembly 200 and the working position located at the bottom of the mop assembly 200.

[0384] In one possible implementation, the transmission mechanism 323 can be a gear set, such as a planetary gear reduction mechanism, a worm gear 3231 mechanism, or a parallel shaft gear mechanism. These gear sets can convert the high-speed, low-torque rotation of the drive motor 322 into low-speed, high-torque rotation to meet the driving torque and swing speed required when the cleaning arm 310 swings.

[0385] For example, the drive motor 322 can be a stepper motor, a brushless DC motor, etc. In this application, the structure and form of the drive motor 322 are not limited, as long as it can provide driving torque.

[0386] In one possible implementation, a limit structure 600 is provided on the housing 321 (see continue). Figure 19As shown), the limiting structure 600 is configured to limit the swing angle range of the connecting arm 340.

[0387] It is understood that the limiting structure 600 is a structure on the housing 321 used to limit the stroke of moving parts. It can be integrally formed with the housing 321 or fixed to the housing 321 as an independent component. The limiting structure 600 limits the maximum and minimum angles of rotation of the connecting arm 340 around the output shaft by contacting or blocking the connecting arm 340, thereby limiting the range of motion of the connecting arm 340 and the cleaning arm 310 connected to it within a predetermined angle range.

[0388] For example, the limiting structure 600 can be an arc-shaped groove, and a limiting pin can be provided on the connecting arm 340 that extends into the arc-shaped groove. When the connecting arm 340 swings, the limiting pin slides in the arc-shaped groove. The two ends of the arc-shaped groove respectively limit the sliding range of the limiting pin, thereby indirectly limiting the swing angle range of the connecting arm 340.

[0389] By providing a limiting structure 600 on the housing 321 to limit the swing angle range of the connecting arm 340, the cleaning arm 310 can be accurately stopped at the initial and working positions each time without relying on the control of the drive motor 322. The limiting structure 600 provides reliable mechanical limiting, preventing the connecting arm 340 from exceeding the predetermined range of motion, thereby protecting the cleaning arm 310, the mop assembly 200, and other peripheral components from excessive mechanical impact, and improving the reliability and safety of the movement of the cleaning arm 310.

[0390] In one possible implementation, the limiting structure 600 includes a first limiting portion 610 and a second limiting portion 620; the connecting arm 340 is movably disposed between the first limiting portion 610 and the second limiting portion 620 (see continue). Figure 19 (As shown); when the cleaning arm 310 is in the initial position, the connecting arm 340 abuts against the first limiting part 610; when the cleaning arm 310 is in the working position, the connecting arm 340 abuts against the second limiting part 620.

[0391] For example, the limiting structure 600 may include a first blocking portion and a second blocking portion disposed on the housing 321, the first blocking portion and the second blocking portion being located at the two end points of the swing trajectory of the connecting arm 340, respectively. When the connecting arm 340 swings to a predetermined angle in one direction, the side or end face of the connecting arm 340 contacts the first blocking portion, preventing the connecting arm 340 from continuing to swing in that direction. When the connecting arm 340 swings to another predetermined angle in the opposite direction, the connecting arm 340 contacts the second blocking portion, preventing the connecting arm 340 from continuing to swing in that direction. Through the combined action of the first blocking portion and the second blocking portion, the swing angle range of the connecting arm 340 is limited between the two angular positions corresponding to the first blocking portion and the second blocking portion.

[0392] Understandably, when the cleaning arm 310 is in the initial position, the connecting arm 340 can abut against the first limiting part 610. The initial position is the position where the cleaning arm 310 remains in the non-self-cleaning state, at which time the cleaning arm 310 is located to the side of the mop assembly 200. When the connecting arm 340 swings to an angle corresponding to the initial position, the side of the connecting arm 340 will contact and abut against the first limiting part 610, preventing the connecting arm 340 from swinging further in that direction, thereby allowing the cleaning arm 310 to accurately stop in the initial position. When the cleaning arm 310 is in the working position, the connecting arm 340 can abut against the second limiting part 620. The working position is the position where the cleaning arm 310 extends into the bottom of the mop assembly 200 and abuts against the mop assembly 200 in the self-cleaning state. When the connecting arm 340 swings to the angle corresponding to the working position, the other side wall of the connecting arm 340 will come into contact with and abut against the second limiting part 620. The second limiting part 620 prevents the connecting arm 340 from continuing to swing in that direction, thereby stopping the cleaning arm 310 accurately in the working position.

[0393] By configuring the limiting structure 600 to include a first limiting part 610 and a second limiting part 620, and by having the connecting arm 340 abut against the first limiting part 610 in the initial position and against the second limiting part 620 in the working position, the two extreme working positions of the cleaning arm 310 are precisely defined by the first limiting part 610 and the second limiting part 620. This ensures that the cleaning arm 310 accurately reaches the preset initial and working positions each time, avoiding positional deviations caused by accumulated errors or control biases.

[0394] In addition, the contact between the connecting arm 340 and the limiting part 3125 can also serve as a position feedback signal to control the start and stop of the drive motor 322, thereby achieving reliable detection and control of the position of the cleaning arm 310.

[0395] In one embodiment, the first limiting part 610 and the second limiting part 620 may be protrusions, ribs or bosses protruding from the surface of the housing 321, and are disposed at the two ends of the swing trajectory of the connecting arm 340.

[0396] In one possible implementation, the limiting structure 600 includes a detection device and a control device; wherein, the detection device is used to detect the position information of the cleaning arm 310; the control device is connected to both the drive motor 322 and the detection device, and the control device is used to control the working state of the drive motor 322 according to the position information of the cleaning arm 310 detected by the detection device.

[0397] Understandably, the detection device, consisting of electronic components used to sense and measure the position of the cleaning arm 310, can be mounted on the housing 321 or the cleaning arm 310 to acquire position information of the cleaning arm 310. The control device, used to receive detection signals and issue control commands, can be electrically connected to the drive motor 322 and the detection device. Based on the position information of the cleaning arm 310 detected by the detection device, the control device can control the operating state of the drive motor 322, i.e., control the start, stop, forward rotation, reverse rotation, or speed adjustment of the drive motor 322.

[0398] By setting a limiting structure 600 including a detection device and a control device, the detection device monitors the position of the cleaning arm 310 in real time and transmits the position information to the control device. The control device precisely controls the working state of the drive motor 322 based on this information. The position of the cleaning arm 310 can be controlled by controlling the rotation direction and rotation angle of the drive motor 322, which can reduce the number of components on the housing 321 of the drive device 320, making the housing 321 of the drive device 320 more concise. In addition, compared with mechanical limiting, it can improve control accuracy and flexibility, and can achieve a smooth deceleration and stop of the cleaning arm 310 instead of a mechanical impact stop, which can reduce noise and mechanical wear.

[0399] In one embodiment, the detection device may include a combination of a Hall sensor and a magnet. The magnet may be mounted on the connecting arm 340 or the cleaning arm 310, and the Hall sensor may be mounted at a fixed position on the housing 321. When the cleaning arm 310 swings, the magnet moves with the cleaning arm 310 and approaches or moves away from the Hall sensor. The Hall sensor outputs a corresponding electrical signal based on the detected change in magnetic field strength, and the control device can determine the current angular position of the cleaning arm 310 based on the electrical signal.

[0400] In another embodiment, the detection device may include a photoelectric sensor, and a light-shielding plate or a reflective surface may be provided on the cleaning arm 310 or the connecting arm 340. When the cleaning arm 310 swings to a specific position, the light-shielding plate will block the light path or the reflective surface will reflect the light back to the receiver, thereby triggering a photoelectric signal. The control device determines whether the cleaning arm 310 has reached the preset position based on the signal.

[0401] In other embodiments, the detection device may include a micro switch. When the cleaning arm 310 swings to the initial position or the working position, the cleaning arm 310 or the connecting arm 340 may touch the contact of the micro switch, causing the state of the micro switch to switch. The control device obtains the position information of the cleaning arm 310 by detecting the on / off state of the micro switch.

[0402] In one possible implementation, the maximum swing angle of the cleaning arm 310 when it swings from the initial position to the working position is between 50° and 60°.

[0403] The maximum swing angle of the cleaning arm 310 when it swings from the initial position to the working position is between 50° and 60°. For example, the maximum swing angle can be 50°, 51°, 52°, 53°, 54°, 55°, 56°, 57°, 58°, 59°, 60°, etc. In this embodiment of the application, the specific value of the maximum swing angle is not further limited.

[0404] By setting the maximum swing angle of the cleaning arm 310 from the initial position to the working position between 50° and 60°, the swing angle of the cleaning arm 310 is kept within a reasonable range. This prevents the cleaning range from failing to cover the entire radial area from the inner edge 211 to the outer edge 212 of the mop assembly 200 due to an excessively small swing angle. At the same time, it avoids unnecessary space waste and increased movement time caused by an excessively large swing angle.

[0405] Understandably, the maximum swing angle refers to the range of angles traversed by the cleaning arm 310 as it rotates around its swing axis from an initial position located to the side of the mop assembly 200 to a working position located at the bottom of the mop assembly 200, driven by the drive device 320. Limiting the maximum swing angle to between 50° and 60° allows the cleaning arm 310 to achieve sufficient penetration depth while maintaining a compact range of motion and reasonable space occupation.

[0406] For example, when the maximum swing angle is 52°, the travel distance of the cleaning arm 310 is relatively small, and the time required for the cleaning arm 310 to swing from the side to below the mop assembly 200 is short, which helps to further shorten the overall time of the self-cleaning process. At the same time, the smaller swing angle also occupies relatively less internal space in the cleaning device 10, which is conducive to the compact design of the whole machine.

[0407] When the maximum swing angle is 60°, the cleaning arm 310 extends to a greater depth, which allows the scraping part 311 on the cleaning arm 310 to more fully cover the radial area of ​​the mop assembly 200. For a larger diameter disc mop 220, a larger swing angle can ensure that the scraping part 311 can reach the center area of ​​the mop assembly 200.

[0408] If the swing angle is less than 50°, the cleaning arm 310 may not be able to fully extend the scraping part 311 into the central area of ​​the mop assembly 200, resulting in the part of the mop assembly 200 near the center of rotation not being effectively cleaned. If the swing angle is greater than 60°, the cleaning arm 310 may extend too far and interfere with other components, or the length of the cleaning arm 310 may need to be shortened accordingly, which would reduce the coverage of the scraping part 311.

[0409] In one possible implementation, such as Figure 25As shown, the drive device 320 includes an elastic floating structure 324; wherein the axial direction of the output shaft is parallel to the vertical direction, and the connecting arm 340 is slidably connected to the output shaft in the vertical direction; the elastic floating structure 324 is disposed between the connecting arm 340 and the output shaft; the elastic floating structure 324 is configured to enable the cleaning arm 310 to float in the vertical direction relative to the output shaft.

[0410] By incorporating an elastic floating structure 324 in the drive unit 320 and slidingly connecting the connecting arm 340 to the output shaft in the vertical direction, the cleaning arm 310 gains a certain degree of floating capability in the vertical direction. This allows it to absorb height variations caused by manufacturing tolerances, assembly errors, or wear of the mop assembly 200, ensuring that the scraping part 3112 of the cleaning arm 310 maintains appropriate contact pressure with the mop assembly 200 when in the working position. This prevents damage to the mop assembly 200 or motor overload due to excessive interference fit, and also avoids poor scraping performance due to insufficient interference fit. The elastic floating structure 324 enhances the adaptability of the cleaning arm 310 to changes in the state of the mop assembly 200, thereby improving the stability and reliability of the self-cleaning process.

[0411] For example, the elastic floating structure 324 may include an elastic washer or an elastic rubber body, which may be disposed between the connecting arm 340 and the output shaft to provide elastic displacement capability in the vertical direction. When the cleaning arm 310 abuts against the mop assembly 200 in the working position, if there is a slight deviation in the height of the lower surface of the mop assembly 200, or if the thickness of the mop assembly 200 changes due to wear, the elastic floating structure 324 can automatically adjust the position of the cleaning arm 310 in the vertical direction to maintain a stable interference fit between the scraping part 3112 and the mop assembly 200.

[0412] It should be noted that the first output shaft 3234 and the second output shaft 3235 in the following text are both output shafts. For ease of description, the first output shaft 3234 and the second output shaft 3235 will be collectively referred to as output shafts.

[0413] In one possible implementation, the elastic floating structure 324 includes a spring 3241; the spring 3241 is sleeved on the outside of the output shaft, with one end of the spring 3241 abutting against the connecting arm 340 and the other end abutting against the support structure 3214 located on the outside of the output shaft (see reference). Figure 20 (As shown). Spring 3241 is positioned in a preloaded state between connecting arm 340 and output shaft.

[0414] Understandably, spring 3241 can be sleeved on the outside of the output shaft, meaning spring 3241 is installed around the circumference of the output shaft, with the output shaft passing through the central hole of spring 3241. One end of spring 3241 can abut against connecting arm 340, meaning one end face of spring 3241 contacts and abuts against a part of connecting arm 340. The other end of spring 3241 can abut against support structure 3214 located outside the output shaft, meaning the other end face of spring 3241 contacts and abuts against the support structure. Spring 3241 can be set in a pre-tightened state between connecting arm 340 and output shaft. Pre-tightened state means that spring 3241 has been pre-compressed to a certain length during installation, so spring 3241 stores a certain amount of elastic potential energy in its natural state, applying mutually separating thrusts to connecting arm 340 and output shaft respectively.

[0415] For example, when the cleaning arm 310 is subjected to downward pressure in the working position, such as the interference fit between the scraping part 3112 and the mop assembly 200 generating a downward reaction force, the connecting arm 340 can overcome the preload of the spring 3241 and move downward, further compressing the spring 3241. When the downward pressure disappears, the elastic force of the spring 3241 will push the connecting arm 340 upward back to the predetermined highest position.

[0416] By configuring the elastic floating structure 324 as a spring 3241, and having the spring 3241 in a pre-tensioned state fitted around the outside of the output shaft with its two ends abutting against the connecting arm 340 and the support structure 3214 located outside the output shaft, the spring 3241 provides elastic force between the connecting arm 340 and the output shaft. This allows the cleaning arm 310 to maintain a predetermined working height when not subjected to external force, while simultaneously generating controllable elastic sinking when subjected to external force, thereby achieving the vertical floating function of the cleaning arm 310. The pre-tensioned state of the spring 3241 ensures that there is always a certain contact pressure between the scraping part 3112 and the mop assembly 200. Even if the thickness of the mop assembly 200 changes slightly, the spring 3241 can automatically adjust the height of the cleaning arm 310 to maintain a stable interference fit.

[0417] In one possible implementation, the drive unit 320 includes a housing 321 (continuing as shown in the figure). Figure 19 (As shown). A portion of the output shaft structure is located inside the housing 321, while another portion extends to the outside of the housing 321 and connects to the connecting arm 340. (See figure) Figure 20 As shown, the housing 321 has a mounting groove 3215, and the mounting groove 3215 has a mounting hole. The output shaft passes through the mounting hole and can rotate relative to the mounting hole. Part of the groove wall of the mounting groove 3215 forms a support structure 3214.

[0418] For example, the mounting groove 3215 can be integrally formed with the housing, for example, by machining the mounting groove 3215 structure directly on the output shaft through turning or forging processes.

[0419] For example, the groove wall of the mounting groove 3215 can be set as a flat annular plane to ensure uniform contact with the end face of the spring 3241.

[0420] By providing a mounting groove 3215 on the housing and using part of the groove wall as a support structure, a stable and reliable support surface can be provided for the elastic floating structure 324 through the support structure 3214. This design allows the preload and elastic force of the elastic floating structure 324 during operation to be effectively transmitted to the output shaft through the support structure 3214. Since the output shaft is a fixed component, its support structure will not move axially, thus ensuring a clear and stable force transmission path during the compression and recovery process of the elastic floating structure. The cooperation between the support structure and the elastic floating structure enables the connecting arm to float relative to the output shaft, while also being compact, easy to manufacture, and easy to assemble.

[0421] Of course, in other embodiments, the elastic floating structure 324 can also be installed in other ways. In this embodiment, the installation structure of the elastic floating structure 324 is not further limited.

[0422] In one possible implementation, such as Figure 25 As shown, the transmission mechanism 323 includes a worm gear 3231, a first gear set 3232, and a second gear set 3233. The first gear set 3232 includes a first output shaft 3234, and the second gear set 3233 includes a second output shaft 3235. The first gear set 3232 and the second gear set 3233 are located on both sides of the worm gear 3231 and are connected to it in a transmission manner. The rotation of the worm gear 3231 drives the first output shaft 3234 and the second output shaft 3235 to rotate synchronously in opposite directions.

[0423] It is understood that the first output shaft 3234 and the second output shaft 3235 are the power output ends of the first gear set 3232 and the second gear set 3233, respectively, used to transmit power to external components. The first gear set 3232 and the second gear set 3233 can be located on both sides of the worm gear 3231, that is, the worm gear 3231 is arranged in the middle, the first gear set 3232 is located on one side of the worm gear 3231, and the second gear set 3233 is located on the other side of the worm gear 3231, with the two gear sets arranged symmetrically in space.

[0424] The first gear set 3232 and the second gear set 3233 can be connected to the worm gear 3231 for transmission. That is, the helical teeth of the worm gear 3231 simultaneously mesh with the gears in the first gear set 3232 and the second gear set 3233, forming a transmission engagement between the worm gear 3231 and the gears. The rotation of the worm gear 3231 can drive the first output shaft 3234 and the second output shaft 3235 to rotate synchronously in opposite directions. That is, when the worm gear 3231 rotates under the drive of the drive motor 322, the first gear set 3232 and the second gear set 3233 located on both sides of the worm gear 3231 will be driven simultaneously.

[0425] For example, the first gear set 3232 may be a first worm wheel meshing with the worm 3231, and an intermediate gear that transmits the rotation of the first worm wheel to the first output shaft 3234. Similarly, the second gear set 3233 may include a second worm wheel meshing with the worm 3231, and an intermediate gear that transmits the rotation of the second worm wheel to the second output shaft 3235. The engagement between the worm wheel and the worm 3231 has a self-locking characteristic, that is, the worm 3231 can drive the worm wheel to rotate, but the worm wheel cannot drive the worm 3231 in the opposite direction, thereby preventing the cleaning arm 310 from swinging unexpectedly under external force.

[0426] For example, the worm gear 3231 can be mounted on the output shaft of the drive motor 322, meaning the worm gear 3231 is coaxial with the drive motor 322 or connected via a coupling. Furthermore, the axes of the first output shaft 3234 and the second output shaft 3235 can be parallel to each other and both perpendicular to the axis of the worm gear 3231. This facilitates changing the direction of power transmission, making the axial direction of the output shaft parallel to the vertical direction, and making it easier to connect the cleaning arm 310.

[0427] By employing a transmission mechanism 323 comprising a worm gear 3231 and a first gear set 3232 and a second gear set 3233 located on both sides of the worm gear 3231, and utilizing the rotation of the worm gear 3231 to drive the first output shaft 3234 and the second output shaft 3235 to rotate synchronously in opposite directions, a single drive motor 322 can simultaneously drive two cleaning arms 310 to swing synchronously in opposite directions, achieving synchronous movement without a complex control structure. The worm gear 3231 can provide a large driving torque to overcome the frictional resistance between the cleaning arms 310 and the mop assembly 200. Simultaneously, the self-locking characteristic of the worm gear 3231 transmission can hold the cleaning arms 310 in their current position after the drive motor 322 is de-energized, eliminating the need for an additional braking device and simplifying the internal structure.

[0428] In one possible implementation, the mop assembly 200 includes two independently rotatable disc mops 220; the self-cleaning assembly 300 includes two cleaning arms 310, which are respectively configured to correspond to the two disc mops 220 (see continue). Figure 2 As shown); Figure 25As shown, the first output shaft 3234 is drivenly connected to one of the two cleaning arms 310, and the second output shaft 3235 is drivenly connected to the other of the two cleaning arms 310.

[0429] Understandably, each disc mop 220 can rotate independently relative to the device body around its respective vertical axis, allowing the two disc mops 220 to operate at different speeds or in different directions when cleaning the floor. Furthermore, the two cleaning arms 310 can be respectively configured to correspond to the two disc mops 220; that is, the first cleaning arm 310 corresponds to the first disc mop 220, and the second cleaning arm 310 corresponds to the second disc mop 220, with each cleaning arm 310 performing a self-cleaning operation on its corresponding disc mop 220.

[0430] In one embodiment, the first output shaft 3234 is driveably connected to one of the two cleaning arms 310, for example, the first output shaft 3234 can be connected to the first cleaning arm 310 corresponding to the first disc mop 220. The second output shaft 3235 is driveably connected to the other of the two cleaning arms 310, for example, the second output shaft 3235 can be connected to the second cleaning arm 310 corresponding to the second disc mop 220. This allows the rotational motion output by the first output shaft 3234 to directly drive the first cleaning arm 310 to swing, and the rotational motion output by the second output shaft 3235 to directly drive the second cleaning arm 310 to swing. Since the first output shaft 3234 and the second output shaft 3235 can rotate synchronously in opposite directions under the drive of the transmission mechanism 323, the two cleaning arms 310 also swing synchronously but in opposite directions, for example, when the first cleaning arm 310 swings clockwise, the second cleaning arm 310 swings counterclockwise, or vice versa.

[0431] In another embodiment, the first output shaft 3234 and the first cleaning arm 310 are connected by a connecting arm 340, and similarly, the second output shaft 3235 and the second cleaning arm 310 are also connected by another connecting arm 340. The two connecting arms 340 can be fixedly mounted on the first output shaft 3234 and the second output shaft 3235, respectively.

[0432] For example, since the two disc mops 220 are symmetrically arranged at the bottom of the cleaning device 10, the structures of the two cleaning arms 310 are mirror images of each other to accommodate their respective rotation directions and spatial layouts. After the first output shaft 3234 and the second output shaft 3235 are respectively connected to the two cleaning arms 310, when the transmission mechanism 323 drives the two output shafts to rotate synchronously in opposite directions, the two cleaning arms 310 can simultaneously swing from their respective initial positions toward each other, extending into the bottom of the two disc mops 220. Alternatively, they can simultaneously swing from their working positions toward each other, exiting the bottom of the disc mops 220.

[0433] By connecting the first output shaft 3234 to one cleaning arm 310 and the second output shaft 3235 to the other cleaning arm 310, the synchronous counter-rotational motion output by the transmission mechanism 323 is effectively distributed to the two cleaning arms 310. This allows the two cleaning arms 310 to be synchronously driven by the same drive motor 322, eliminating the need for a separate motor for each cleaning arm 310 and thus reducing manufacturing costs. The synchronous movement of the two cleaning arms 310 ensures that the self-cleaning processes of the two disc mops 220 can start and end simultaneously, which helps to shorten the self-cleaning time.

[0434] In one possible implementation, at least a portion of the inner wall of the sludge collection chamber 312 is made of an antimicrobial material or coated with an antimicrobial coating.

[0435] By making at least a portion of the inner wall of the sludge collection chamber 312 with antibacterial material or coating it with an antibacterial coating, the internal environment of the sludge collection chamber 312 becomes humid during the collection of dirt and sewage, making it an ideal breeding ground for bacteria, mold, and other microorganisms. The use of antibacterial material or coating can effectively inhibit the growth and reproduction of these microorganisms, reduce odor generation, lower the risk of users coming into contact with harmful microorganisms when cleaning the sludge collection chamber 312, and improve the overall hygiene level and safety of the cleaning equipment 10.

[0436] It is understandable that antibacterial materials refer to materials that have the ability to inhibit the growth and reproduction of microorganisms such as bacteria and fungi. They can evenly distribute antibacterial components within the material, giving the entire material structure antibacterial properties.

[0437] An antibacterial coating refers to a thin layer with antibacterial function applied to the surface of the inner wall of the sludge collection chamber 312. This thin layer can be adhered to the substrate surface of the inner wall by means of spraying, impregnation, or physical vapor deposition. Whether the wall of the sludge collection chamber 312 is made of antibacterial material or an antibacterial coating is applied to the inner wall, the purpose is to inhibit the growth and reproduction of microorganisms inside the sludge collection chamber 312.

[0438] In one embodiment, the robotic vacuum cleaner sets its self-cleaning settings based on the required water volume for mopping during operation. This can be calculated based on area and travel distance, and the robot pauses at corners (where user perception is minimal; if encountering a corner, a comparison needs to be made with the distance, prioritizing corner stops) to perform self-cleaning. During self-cleaning, the robotic vacuum cleaner's disc mop 220 rises, possibly accompanied by a tail lift, and the cleaning blades extend, causing the disc mop 220 to flip and achieve self-cleaning. During self-cleaning, the disc mop 220 is rinsed with water, the cleaning arm 310 scrapes away dirt, and wastewater flows into the waste collection bin 312.

[0439] For example, when the device body drives the disc mop 220 to rotate in the opposite direction for 2 turns to reach the self-cleaning position, the cleaning arm 310 of the self-cleaning component 300 swings out, extends into the bottom of the disc mop 220 and abuts against the disc mop 220, and then rotates in the opposite direction for 6 turns to perform self-cleaning. After the self-cleaning is completed, the cleaning arm 310 retracts and the mop descends. The whole working process takes a short time, which can reduce the user's perception and improve the user experience.

[0440] It should be noted that when rotating in the reverse direction, the rotation direction of the disc mop 220 is the same as the cleaning direction during self-cleaning. When the disc mop 220 rotates forward, it is the direction of rotation of the mop assembly that performs the cleaning operation on the floor, which is the non-cleaning direction mentioned above, and is opposite to the cleaning direction.

[0441] The above embodiments describe an example of the self-cleaning component performing self-cleaning when the mop component is not performing cleaning operations. Of course, in other embodiments, the self-cleaning component can also be configured to perform self-cleaning on the mop component while the mop component is performing cleaning operations.

[0442] like Figure 29 and Figure 30 As shown, the self-cleaning assembly includes a movable scraper 700, and the mop assembly includes a disc mop 220, a mop holder 810, and a pressure plate 820. The disc mop 220 is located at the bottom of the mop holder 810, and the pressure plate 820 is located at the top of the mop holder 810.

[0443] For example, the mop holder 810 includes multiple elastic petal-shaped structures that can float in the vertical direction. Correspondingly, the disc mop 220 can also be a petal structure, the petal structure of the disc mop 220 having the same shape as and corresponding to the elastic petal structure of the mop holder 810. That is, when the disc mop 220 floats in the vertical direction, the elastic petal structure of the mop holder 810 also floats in the vertical direction.

[0444] Of course, in other embodiments, the disc mop 220 can also be an integral structure, that is, a piece of cloth structure. Since the disc mop 220 is a flexible structure, it can float a certain amount in the vertical direction.

[0445] For example, the disc mop 220 and the mop holder 810 can be connected by Velcro. Of course, other methods can also be used. In this embodiment, the connection method between the disc mop 220 and the mop holder 810 is not further limited.

[0446] See also Figure 30 As shown, a fan-shaped pressure plate 820 is provided on the upper surface of the mop bracket 810. The fan-shaped pressure plate 820 has a notch, and the pressure plate 820 remains stationary at all times when the mop assembly 200 rotates. The notch on the pressure plate 820 is configured to correspond to the scraper 700.

[0447] When the scraper 700 is working, it can extend into the bottom of the mop assembly and come into contact with it. The scraper 700 corresponds to the position of the notch. Since there is no pressure plate 820 at the notch, the disc mop 220 at the corresponding position will be squeezed after the scraper 700 enters, causing the disc mop 220 at the corresponding position of the notch to lift up. The disc mop 220 at the position corresponding to the pressure plate 820 maintains stable contact with the ground under the action of the pressure plate 820, and can perform cleaning operations on the ground, thus achieving cleaning of the mop assembly while mopping.

[0448] It should be noted that when the scraper 700 is located at the bottom of the mop assembly, it does not come into contact with the ground, thus preventing the disc mop 220 from causing scratches on the ground.

[0449] Specifically, the mop holder 810 has an elastic structure, and the disc mop 220 and the mop holder 810 are kept on the same horizontal plane. The scraper 700 can extend into the bottom of the disc mop 220, and the fan-shaped notch corresponds to the position of the scraper 700. When the disc mop 220 rotates to the area of ​​the scraper 700, since the scraper 700 is higher than the ground, it will lift the disc mop 220 and the mop holder 810, causing the mop holder 810 (a certain elastic petal structure) and the disc mop 220 in that area to tilt upwards to a certain extent. Meanwhile, the area of ​​the disc mop 220 corresponding to the pressure plate 820 will always be pressed against the ground to clean the floor.

[0450] like Figure 29As shown, the scraping component 700 may include a sludge collection tank 710 and a scraping rib 720 protruding upwards from the center of the sludge collection tank 710. When the disc mop 220 rotates, the scraping rib 720 contacts the disc mop 220, thereby scraping the wastewater on the disc mop 220. The sludge collection tank 710 is connected to the suction pipe 330, and the wastewater can be recycled to the wastewater tank via a power source.

[0451] In addition, the scraping component 700 may include comb teeth, scraping ribs 720, and a sludge storage tank 710. The sludge storage tank 710 is located on both sides of the comb teeth and scraping ribs 720. The sludge storage tank 710 is connected to the suction pipe 330. The suction pipe 330 is connected to the sewage tank of the equipment body through a pipe, and the sewage is sucked into the sewage tank by negative pressure.

[0452] In one embodiment, the scraper 700 may be fixed in position during operation (e.g., located at the bottom of the disc mop 220), while the disc mop 220 rotates during operation. The disc mop 220 is disposed at the bottom of the mop holder 810, which has an elastic petal structure (each segment is elastic and movable). A fan-shaped pressure plate 820 is provided on the upper surface of the mop holder 810, with the fan-shaped notch corresponding to the position of the scraper 700. This causes the disc mop 220 to rotate to the area of ​​the scraper 700, and the portion of the disc mop 220 corresponding to this area will be tilted upward to a certain extent under the action of the scraper 700. Since the mop holder 810 is an elastic structure, it can bulge upward under the action of the scraper, while the remaining portion of the disc mop 220 can complete the downward pressure cleaning of the surface to be cleaned under the action of the pressure plate 820.

[0453] In another embodiment, the scraper 700 can swing between a storage position and a working position. In the storage position, the rotating disc mop cleans the floor, and the scraper 700 is located on one side of the disc mop 220. When switching from the storage position to the working position, the scraper 700 moves to the bottom of the disc mop and is located at the notch of the lower pressure plate 820. Due to the action of the elastic mop support 810 and the fan-shaped lower pressure plate 820, the scraper 700 is located at the notch of the fan-shaped lower pressure plate 820, allowing the scraper 700 to abut against the disc mop 220 located at the notch, thereby causing the disc mop 220 to tilt upwards, facilitating self-cleaning of the disc mop 220.

[0454] Of course, in other embodiments, the mop assembly and the self-cleaning assembly can also be other structures, as long as they can achieve self-cleaning. In this embodiment, the specific structure of the mop assembly and the self-cleaning assembly will not be further described.

[0455] This application also provides a control method for a cleaning device 10, applicable to the cleaning device 10 provided in any of the above embodiments. Figure 32 As shown, the control method may include the following steps.

[0456] S101. Obtain the operating parameters of the cleaning equipment.

[0457] S102. According to the operating parameters, control the cleaning arm of the cleaning equipment to extend into the bottom of the mop assembly after the mop assembly of the cleaning equipment is raised, so as to perform the self-cleaning operation of the mop assembly.

[0458] Understandably, operating parameters refer to data that can reflect the working status, progress, or environment of the cleaning equipment 10 during operation, such as the distance the cleaning equipment 10 has traveled, the area that has been cleaned, the usage time of the mop assembly 200, and the detection value of the degree of dirtiness of the mop assembly 200.

[0459] The control device makes a judgment based on the acquired operating parameters. When the operating parameters meet the preset conditions, the control device issues a command. First, it controls the mop assembly 200 to rise from the position in contact with the ground to the raised position that is off the ground. Then, it controls the cleaning arm 310 to move from the initial position located on the side of the mop assembly 200 to the working position located at the bottom of the mop assembly 200. Subsequently, it can control the mop assembly 200 to rotate and interact with the scraping part 311 on the cleaning arm 310, thereby performing a self-cleaning operation on the mop assembly 200.

[0460] By acquiring the operating parameters of the cleaning equipment 10 and automatically controlling the cleaning arm 310 to extend into the bottom of the mop assembly 200 after the mop assembly 200 is raised to perform a self-cleaning operation, this control method enables intelligent triggering and automated execution of the mop assembly 200's self-cleaning. Compared to traditional methods that require manual judgment or timed return to the base station for cleaning, this control method can flexibly arrange the self-cleaning timing according to the actual working status of the cleaning equipment 10, avoiding the waste of electricity and water resources caused by self-cleaning operations, and also avoiding the problem of mopping dirt with dirt due to untimely self-cleaning. This method integrates the self-cleaning process into the normal working flow of the cleaning equipment 10, improving the automation level and cleaning effect of the cleaning equipment 10.

[0461] For example, the operating parameters can be a combination of multiple parameters, such as at least one of the following: water volume in the clean water tank, cleaning area, cleaning distance, etc. In this embodiment of the application, the operating parameters are not further limited.

[0462] In one possible implementation, the cleaning arm 310 of the cleaning device 10 has an initial position and a working position; in the initial position, the cleaning arm 310 is located to the side of the mop assembly 200 of the cleaning device 10. In the working position, the cleaning arm 310 is located at the bottom of the mop assembly 200 of the cleaning device 10 and abuts against the mop assembly 200. Accordingly, according to operating parameters, controlling the cleaning arm 310 of the cleaning device 10 to extend into the bottom of the mop assembly 200 after the mop assembly 200 of the cleaning device 10 is raised includes: controlling the mop assembly 200 to rise to a first target position when the operating parameters meet the self-cleaning trigger condition; controlling the cleaning arm 310 to move to the working position; and controlling the mop assembly 200 to rotate relative to the cleaning arm 310 in the cleaning direction so that the scraping portion 311 of the cleaning arm 310 scrapes away dirt on the mop assembly 200 when the mop assembly 200 rotates relative to the cleaning arm 310.

[0463] For example, when the operating parameters meet the self-cleaning trigger conditions, the control device can first control the mop assembly 200 to rise to the first target position. The self-cleaning trigger conditions are pre-set criteria based on the operating parameters to determine whether self-cleaning needs to be initiated, such as the cleaning distance reaching a certain value or the cleaning area reaching a certain value. The first target position refers to the position where the mop assembly 200 is lifted vertically and is above the working plane of the cleaning arm 310, where there is no interference between the bottom of the mop assembly 200 and the movement path of the cleaning arm 310.

[0464] After the mop assembly 200 is raised to the first target position, the control device can control the cleaning arm 310 to move to the working position, that is, drive the cleaning arm 310 to swing from the initial position on the side of the mop assembly 200 or move in other ways to the working position at the bottom of the mop assembly 200, so that the cleaning arm 310 and the mop assembly 200 form an abutting engagement. Subsequently, the control device can control the mop assembly 200 to rotate relative to the cleaning arm 310 along the cleaning direction, so that the scraping part 311 of the cleaning arm 310 scrapes away dirt on the mop assembly 200 when the mop assembly 200 rotates relative to the cleaning arm 310. The cleaning direction is a specific direction in which the mop assembly 200 rotates in self-cleaning mode. When the mop assembly 200 rotates along this direction, its surface will pass sequentially through the comb part 3111 and the scraping part 3112 on the cleaning arm 310, thereby completing the combing and scraping of dirt.

[0465] By sequentially executing a series of actions—raising the mop assembly 200, extending the cleaning arm 310 into the working position, and rotating the mop assembly 200 along the cleaning direction—when the operating parameters meet the self-cleaning trigger conditions, this control method fully automates the self-cleaning process of the mop assembly 200. The sequence of raising the mop assembly 200 before extending the cleaning arm 310 avoids motion interference between the cleaning arm 310 and the mop assembly 200, ensuring the safety and reliability of the self-cleaning process. The rotation of the mop assembly 200 along the cleaning direction, in conjunction with the scraping part 311 of the cleaning arm 310, effectively removes dirt. The entire control process has clear logic and well-defined steps, making it easy to program and implement in the control device of the cleaning equipment 10.

[0466] In one possible implementation, before controlling the mop assembly 200 to rise to the first target position, the method further includes: controlling the cleaning device 10 to move to a preset position, and controlling the movement of the cleaning device 10 to be in a paused state. This preset position can be a corner position, where the user's perception of the self-cleaning process can be reduced.

[0467] It should be noted that the preset position is a specific spatial location that the cleaning device 10 needs to reach before performing the self-cleaning operation. This position can be any suitable location within the current working area of ​​the cleaning device 10 for self-cleaning, such as an area without obstacles. The paused state refers to the working state in which the cleaning device 10 temporarily stops moving, that is, after reaching the preset position, the cleaning device 10 no longer continues to move forward or turn, so as to perform the subsequent lifting and self-cleaning operations of the mop assembly 200 in a stable posture.

[0468] By controlling the cleaning device 10 to move to a preset position and remain stationary before raising the mop assembly 200, a stable and safe environment is provided for the self-cleaning operation. Once the cleaning device 10 is stationary at the preset position, no movement will interfere with the self-cleaning process, avoiding the risk of the cleaning arm 310 colliding with furniture or other obstacles due to movement. Simultaneously, the fixed posture of the cleaning device 10 in the stationary state facilitates accurate raising of the mop assembly 200 and precise extension of the cleaning arm 310, improving the reliability and consistency of the self-cleaning process.

[0469] In one possible implementation, the operating parameters include the cleaning distance and / or cleaning area of ​​the cleaning device 10 during cleaning operations. Accordingly, the self-cleaning trigger conditions include: the cleaning distance reaching a first preset threshold; and / or, the cleaning area reaching a second preset threshold.

[0470] It is understood that cleaning distance refers to the path length traveled by the cleaning equipment 10 during the floor cleaning task, which can be cumulatively calculated using an odometer or encoder installed on the cleaning equipment 10. Cleaning area refers to the area actually covered and cleaned by the cleaning equipment 10 during the floor cleaning task, which can be calculated by multiplying the cleaning distance by the working width of the cleaning equipment 10.

[0471] Accordingly, a first preset threshold is a pre-defined distance value. When the cumulative cleaning distance traveled by the cleaning device 10 reaches or exceeds this value, it is considered that the level of dirt accumulation on the mop assembly 200 has reached a point where self-cleaning is required, thus triggering the self-cleaning operation. The self-cleaning trigger condition may also include the cleaning area reaching a second preset threshold. The second preset threshold is a pre-defined area value. When the cumulative cleaning area cleaned by the cleaning device 10 reaches or exceeds this value, the self-cleaning operation can also be triggered. The cleaning distance and cleaning area conditions can be used individually, meaning that meeting either condition will trigger self-cleaning. They can also be used in combination, for example, requiring both conditions to be met simultaneously or triggering self-cleaning only when one condition is met.

[0472] By setting operating parameters including cleaning distance and cleaning area as corresponding trigger conditions, the self-cleaning operation is strongly correlated with the actual degree of dirtiness of the mop. Since mop contamination mainly comes from its friction area with the ground and its travel distance, the judgment logic based on cleaning area / distance is more scientific and accurate than simple timed triggering. It can effectively avoid unnecessary self-cleaning when the mop is still clean (saving water and electricity, reducing wear and tear), and also prevent cleaning from not starting when the mop is excessively contaminated (ensuring continuous cleaning effect). Thus, while ensuring cleaning effect, it optimizes the overall energy efficiency and component lifespan of the cleaning equipment 10.

[0473] In one possible implementation, the cleaning arm 310 has a water spraying section 313 for spraying water onto the mop assembly 200; correspondingly, during the process of controlling the rotation of the mop assembly 200 relative to the cleaning arm 310, water is sprayed onto the mop assembly 200 through the water spraying section 313 to rinse the mop assembly 200.

[0474] By controlling the rotation of the mop assembly 200 relative to the cleaning arm 310 while spraying water onto the mop assembly 200 via the water spray unit 313, this control method combines mechanical scraping with water rinsing to achieve composite cleaning of the mop assembly 200. Water rinsing softens dried dirt, dissolves water-soluble stains, dilutes viscous dirt, and promptly washes away scraped dirt from the surface of the mop assembly 200, significantly improving the cleanliness and efficiency of self-cleaning. Compared to self-cleaning methods relying solely on mechanical scraping, adding a water rinsing step allows the mop assembly 200 to achieve a higher level of cleanliness after self-cleaning, providing a cleaner mop assembly 200 for subsequent floor cleaning and effectively avoiding the problem of using a dirty mop to clean an already dirty surface.

[0475] For example, while the mop assembly 200 rotates in the cleaning direction and interacts with the scraping part 311, or at a certain interval, the control device can control the water pump or valve to open, so that clean water is sprayed onto the mop assembly 200 through the spraying part 313, and the force of the water flow is used to help to wash away the dirt loosened by the scraping part 311 from the surface of the mop assembly 200.

[0476] In one embodiment, the water spraying operation can be initiated simultaneously with the start of rotation of the mop assembly 200, or after the mop assembly 200 has rotated a certain angle or for a certain period of time. The water spraying operation can be performed synchronously with the scraping operation, so that while the scraping part 311 is scraping away dirt, the water sprayed by the water spraying part 313 can promptly wash away the scraped dirt, preventing the dirt from re-adhering to the mop assembly 200.

[0477] In another embodiment, the water spraying operation can be carried out in an intermittent manner, such as spraying water once every few seconds, with each spray lasting for a certain duration, which can save water consumption. Alternatively, the water spraying operation can be carried out in a continuous manner, continuously spraying clean water onto the mop assembly 200 throughout the entire self-cleaning rotation process, which can provide the most thorough rinsing effect.

[0478] In other embodiments, the water jet from the spray section 313 may have a specific spray angle and spray shape, such as spraying a fan-shaped water curtain to cover a larger surface area of ​​the mop assembly 200.

[0479] The following explanation uses a robotic vacuum cleaner (10) as an example to illustrate the self-cleaning process of a robotic vacuum cleaner.

[0480] During operation, the robot vacuum cleaner triggers its self-cleaning program when the cleaning distance reaches a first preset threshold and / or the cleaning area reaches a second preset threshold. The robot vacuum cleaner can move to a preset location, such as a corner (where user perception is minimal), to perform self-cleaning. During self-cleaning, the robot vacuum cleaner raises the mop (approximately 1 second), then extends the cleaning arm 310 to clean the bottom of the mop (approximately 2 seconds). During self-cleaning, the water spray unit 313 sprays water to rinse the mop, and the scraping part 311 of the cleaning arm 310 scrapes away dirt from the mop; the wastewater flows into the dirt collection bin 312.

[0481] For example, the lifting motion of the mop assembly 200 can be achieved by controlling the mop to rotate in the opposite direction (e.g., rotate in the opposite direction 2 times) to reach the self-cleaning position (approximately 1 second). After the cleaning arm 310 of the self-cleaning assembly 300 reaches the bottom of the mop assembly, the mop is controlled to rotate in the opposite direction again (e.g., rotate in the opposite direction 6 times) for self-cleaning (approximately 3 seconds). After cleaning is complete, the cleaning arm 310 can be retracted (approximately 1 second), and the mop can be controlled to descend (approximately 1 second). In this way, the entire process can be controlled within 10 seconds, reducing user awareness and improving user experience.

[0482] It should be noted that the self-cleaning process time mentioned here is only an example. In other embodiments, a longer time or a shorter time may be used for self-cleaning. In this embodiment, the self-cleaning time is not further limited.

[0483] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0484] 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.

[0485] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0486] 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.

[0487] 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: Equipment body; The mop assembly is vertically and adjustablely mounted on the main body of the device; The self-cleaning component includes a cleaning arm movably disposed on the device body, the cleaning arm being configured to extend into the bottom of the mop assembly after the mop assembly is raised, and to abut against the mop assembly; wherein, The cleaning arm is provided with a scraping part and a dirt collection bin. The scraping part is used to scrape off dirt from the mop assembly when the mop assembly rotates relative to the cleaning arm in the cleaning direction. The dirt collection bin is used to collect the dirt scraped off by the scraping part. The cleaning direction is the rotation direction of the mop assembly during self-cleaning.

2. The cleaning equipment according to claim 1, characterized in that, The cleaning arm has an initial position and a working position; In the initial position, the cleaning arm is located to the side of the mop assembly; In the working position, the cleaning arm is located at the bottom of the mop assembly and abuts against the mop assembly.

3. The cleaning equipment according to claim 2, characterized in that, The self-cleaning component includes a drive device, which is connected to the cleaning arm in a transmission manner. The drive device is used to drive the cleaning arm to swing between the initial position and the working position.

4. The cleaning equipment according to claim 3, characterized in that, The scraping section includes comb teeth and scraping sections spaced apart along the cleaning direction; When the mop assembly rotates along the cleaning direction, the mop assembly first passes the comb section and then the scraping section; The scraping section is located at the top of the cleaning arm; When the cleaning arm is in the initial position, the top of the scraping section is higher than the lower surface of the mop assembly; When the cleaning arm is in the working position, the scraping part is interference-fitted with the lower surface of the mop assembly, and the comb teeth are spaced apart from the lower surface of the mop assembly.

5. The cleaning equipment according to claim 4, characterized in that, When the cleaning arm is in the working position, the distance between the top of the comb teeth and the lower surface of the mop assembly is a first distance; The first distance is greater than or equal to 1 mm and less than or equal to 2 mm; When the cleaning arm is in the working position, the interference between the top of the scraping part and the lower surface of the mop assembly is a second distance, which is greater than or equal to 1.5 mm and less than or equal to 2.5 mm.

6. The cleaning equipment according to claim 4, characterized in that, The scraping part includes a dirt-collecting port, which is located between the comb teeth and the scraping part, or the dirt-collecting port is located on both sides of the scraping part; The waste outlet is connected to the waste collection bin, and the waste outlet is configured as the inlet where scraped waste falls into the waste collection bin.

7. The cleaning equipment according to claim 4, characterized in that, The cleaning arm has a water spray unit for spraying water onto the mop assembly; wherein... When the cleaning arm is in the working position, the plane of the water spray section is lower than the lower surface of the mop assembly; Along the cleaning direction, the water spray section is located on the side of the scraping section opposite to the comb teeth section; When the mop assembly rotates along the cleaning direction, the mop assembly first passes the scraping section and then the water spraying section.

8. The cleaning equipment according to claim 7, characterized in that, The cleaning arm includes a guide portion; wherein... When the cleaning arm is in the initial position, the guide portion is located on the side of the cleaning arm facing the mop assembly; The guide section includes a sloping structure. When the cleaning arm is in the initial position, the bottom of the sloping structure is lower than the lower surface of the mop assembly, and the top of the sloping structure is provided with the scraping section. The inclined structure is configured to guide the cleaning arm to extend into the bottom of the mop assembly as the cleaning arm moves from the initial position to the working position; The water spray section is located on the inclined structure.

9. The cleaning equipment according to claim 8, characterized in that, The inclined structure is provided with a plurality of protruding ridges spaced apart along the extension direction of the cleaning arm length; The water spray section includes a plurality of water outlets spaced apart along the extension direction of the length of the cleaning arm; The water outlet is located at the end of the protrusion away from the scraping part.

10. The cleaning equipment according to any one of claims 7-9, characterized in that, The cleaning arm is provided with a water inlet, which is connected to the water spray section; The cleaning equipment includes a clean water pipeline, one end of which is connected to the water inlet and the other end of which is connected to the clean water tank of the cleaning equipment.

11. The cleaning equipment according to any one of claims 2-9, characterized in that, The mop assembly includes a cleaning section located at the bottom; wherein, The cleaning section includes an inner edge and an outer edge arranged radially. When the cleaning arm is in the working position, the radial extension of the scraping section of the cleaning section covers at least the area from the inner edge to the outer edge.

12. The cleaning equipment according to any one of claims 1-9, characterized in that, The sludge collection chamber is detachably connected to the cleaning arm.

13. The cleaning equipment according to any one of claims 3-9, characterized in that, The mop assembly includes two independently rotatable disc mops; The self-cleaning component includes two cleaning arms, each of which is respectively configured to correspond to one of the two disc mops; The drive unit is located between the two cleaning arms and is configured to synchronously drive the two cleaning arms to simultaneously extend into or retract from the bottom of the corresponding disc mop.

14. The cleaning equipment according to claim 13, characterized in that, The sludge collection chamber includes two independent sub-sludge collection chambers, each connected to one of the two cleaning arms; or... The sludge collection chamber is an integrated structure and is connected to both cleaning arms simultaneously. The sludge collection bin includes a first side section, a middle section, and a second side section connected sequentially along the extension direction of the cleaning arm, with the first side section and the second side section corresponding to the two cleaning arms respectively.

15. The cleaning equipment according to claim 14, characterized in that, When the sludge collection bin is an integral structure, the material hardness of the middle section is less than that of the first side section and the second side section.

16. The cleaning equipment according to claim 15, characterized in that, The driving device includes a housing, on which an arc-shaped support surface is provided; The arc-shaped support surface is located on the side of the sludge collection bin facing the mop assembly; The arc-shaped support surface is configured to contact and provide support to the outer wall of the middle section when the middle section of the sludge collection bin bends.

17. The cleaning equipment according to any one of claims 14-16, characterized in that, The bottom wall of the sludge collection chamber has a lowest point, and the bottom wall is configured to slope from at least one side toward the lowest point.

18. The cleaning equipment according to any one of claims 14-16, characterized in that, The sludge collection chamber is equipped with a filter element; wherein... The filter element includes a filter screen, and there is a gap between the bottom of the filter screen and the bottom wall of the sludge collection bin.

19. The cleaning equipment according to any one of claims 14-16, characterized in that, When the sludge collection bin is an integral structure, the middle section of the sludge collection bin is provided with an elastic support member, which is configured to support the bottom wall and / or side wall of the middle section.

20. The cleaning equipment according to any one of claims 3-9, characterized in that, The driving device includes a drive motor, a housing, and a transmission mechanism disposed within the housing; The cleaning arm is connected to the output shaft of the transmission mechanism via a connecting arm; The output shaft rotation drives the cleaning arm to swing between the initial position and the working position.

21. The cleaning equipment according to claim 20, characterized in that, The housing is provided with a limiting structure, which is configured to limit the swing angle range of the connecting arm.

22. The cleaning equipment according to claim 21, characterized in that, The limiting structure includes a first limiting part and a second limiting part; The connecting arm is movably disposed between the first limiting part and the second limiting part; When the cleaning arm is in the initial position, the connecting arm abuts against the first limiting part; When the cleaning arm is in the working position, the connecting arm abuts against the second limiting part; or, The limiting structure includes a detection device and a control device; the detection device is used to detect the position information of the cleaning arm; the control device is connected to both the drive motor and the detection device, and the control device is used to control the working state of the drive motor according to the position information of the cleaning arm detected by the detection device, so as to limit the position of the cleaning arm.

23. The cleaning equipment according to claim 20, characterized in that, The driving device includes an elastic floating structure; wherein... The output shaft is parallel to the vertical direction, and the connecting arm is slidably connected to the output shaft in the vertical direction. The elastic floating structure is disposed between the connecting arm and the output shaft; The elastic floating structure is configured to allow the cleaning arm to float relative to the output shaft in the vertical direction.

24. The cleaning equipment according to claim 20, characterized in that, The transmission mechanism includes a worm gear, a first gear set, and a second gear set; wherein... The first gear set includes a first output shaft, and the second gear set includes a second output shaft; The first gear set and the second gear set are located on both sides of the worm gear and are connected to the worm gear drive. The rotation of the worm gear drives the first output shaft and the second output shaft to rotate synchronously in opposite directions; The mop assembly includes two independently rotatable disc mops; The self-cleaning component includes two cleaning arms, each of which is respectively configured to correspond to one of the two disc mops; The first output shaft is drivenly connected to one of the two cleaning arms, and the second output shaft is drivenly connected to the other of the two cleaning arms.

25. The cleaning equipment according to any one of claims 1-9, characterized in that, The self-cleaning component includes a suction tube; wherein... One end of the suction pipe is connected to the bottom of the sludge collection chamber, and the other end is used to connect to the sewage tank of the cleaning equipment.

26. A control method for a cleaning device, characterized in that, Applicable to the cleaning equipment as described in any one of claims 1-25; The method includes: Obtain the operating parameters of the cleaning equipment; According to the operating parameters, the cleaning arm of the cleaning device is controlled to extend into the bottom of the mop assembly after the mop assembly of the cleaning device is raised, so as to perform the self-cleaning operation of the mop assembly.

27. The control method according to claim 26, characterized in that, The cleaning arm of the cleaning device has an initial position and a working position; in the initial position, the cleaning arm is located to the side of the mop assembly of the cleaning device; in the working position, the cleaning arm is located at the bottom of the mop assembly of the cleaning device and abuts against the mop assembly. The step of controlling the cleaning arm of the cleaning device to extend into the bottom of the mop assembly after the mop assembly of the cleaning device is raised, according to the operating parameters, includes: When the operating parameters meet the self-cleaning trigger conditions, the mop assembly is controlled to rise to the first target position; Control the cleaning arm to move to the working position; The mop assembly is controlled to rotate relative to the cleaning arm in the cleaning direction, so that the scraping part of the cleaning arm scrapes away dirt from the mop assembly as the mop assembly rotates relative to the cleaning arm.

28. The control method according to claim 27, characterized in that, Before controlling the mop assembly to rise to the first target position, the method further includes: Control the cleaning equipment to move to a preset position, and control the movement state of the cleaning equipment to be a stopped state.

29. The control method according to claim 27, characterized in that, The operating parameters include the cleaning distance and / or cleaning area of ​​the cleaning equipment during cleaning operations; The self-cleaning trigger conditions include: The cleaning distance reaches a first preset threshold; and / or, The cleaned area reaches the second preset threshold.

30. The control method according to claim 27, characterized in that, The cleaning arm has a water spray unit, which is used to spray water onto the mop assembly; During the process of controlling the mop assembly to rotate relative to the cleaning arm along the cleaning direction, water is sprayed onto the mop assembly through the water spray section to rinse the mop assembly.

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