Cleaning apparatus, cleaning apparatus control method, and cleaning system

Abstract

This application provides a cleaning device, a control method for the cleaning device, and a cleaning system. The cleaning device includes a body, a swing arm assembly movably connected to the body, and a cleaning component. A drive component drives the swing arm assembly to move relative to the body between an inward position and an outward position. The swing arm assembly includes a first swing arm and a second swing arm rotatably connected. When the swing arm assembly moves between the inward and outward positions, a first angle formed between the first swing arm and the body, and / or a second angle formed between the first swing arm and the second swing arm, can dynamically change. When the control component detects that there is an obstacle in the first angle region between the first swing arm and the body and / or the second angle region between the first swing arm and the second swing arm, it controls the drive component to perform an anti-pinch action to avoid damage to the cleaning device caused by the obstacle, especially when the obstacle is a pet's limb or a child's limb, which could lead to injury to the pet or child.

Description

Technical Field

[0001] This application relates to the field of cleaning appliance technology, specifically to a cleaning device, a cleaning device control method, and a cleaning system. Background Technology

[0002] Currently, with the development of science and technology and the improvement of living standards, cleaning equipment such as robotic vacuum cleaners, floor scrubbers, and robotic vacuum and mop combos are becoming increasingly popular in homes. However, in existing technologies, some robots, in order to clean low-lying areas such as sofas or cabinets and address the problem of blind spots in cleaning devices leading to poor cleaning results, use multi-level swing arms. That is, by setting up multi-level swing arms, the cleaning components, such as the mop, can extend a certain distance from the robot's body to clean low areas. The problem then arises: during the extension or retraction of the cleaning components, they may encounter obstacles, such as wooden planks or pet limbs, causing the swing arm components to get caught in the obstacle, potentially damaging the robot. This is especially true for pet limbs, which can easily lead to injury. Summary of the Invention

[0003] This application provides a cleaning device, a cleaning device control method, and a cleaning system, which can flexibly activate anti-pinch action by detecting the state of obstacles encountered by the swing arm assembly, thereby avoiding problems such as equipment damage or pet injury caused by obstacles when cleaning low spaces.

[0004] In a first aspect, embodiments of this application provide a cleaning device, which includes a body, a swing arm assembly movably connected to the body, and a cleaning component connected to the swing arm assembly; a drive component for driving the swing arm assembly to move relative to the body between an inward position and an outward position, the swing arm assembly including a first swing arm and a second swing arm rotatably connected; when the swing arm assembly moves between the inward position and the outward position, a first angle formed between the first swing arm and the body, and / or a second angle formed between the first swing arm and the second swing arm can dynamically change; a control component, in response to the need for the swing arm assembly to move toward the inward position or the outward position, monitors the first angle region between the first swing arm and the body, and / or when there is an obstacle in the second angle region between the first swing arm and the second swing arm, controls the drive component to perform an anti-pinch action.

[0005] Optionally, controlling the drive component to perform the anti-pinch action includes at least one of the following: Stop driving the component; Drive the first swing arm to move in the opposite direction to the current direction of motion; Drive the second swing arm to move in the opposite direction to the current direction of motion.

[0006] Optionally, the control component includes a signal acquisition module and an execution module. The signal acquisition module is used to acquire a signal indicating whether there is an obstacle between the first included angle region and / or the second included angle region and transmit it to the execution module. When the execution module determines that there is an obstacle, it controls the drive component to perform an anti-pinch action.

[0007] Optionally, the signal acquisition module includes a sensor assembly, the sensor assembly including a first sensor for monitoring whether there is an obstacle in the first included angle region; and / or, the sensor assembly including a second sensor for monitoring whether there is an obstacle in the second included angle region.

[0008] Optionally, the sensor assembly includes a current detection sensor, which determines the presence of an obstacle when it detects that the current of the driving assembly exceeds a preset value.

[0009] Optionally, the signal acquisition module includes at least one image acquisition device, which is disposed on the body in the direction of the outward swing position. When the cleaning component moves between the inward position and the outward swing position, it is within the image acquisition range corresponding to the image acquisition device.

[0010] Optionally, the sensor assembly includes one or more of a pressure sensor, a current sensing sensor, and an infrared sensor.

[0011] Optionally, the control component controls the drive component to perform an anti-pinch action, including: When an obstacle is detected in the first angle region between the first swing arm and the body, the drive assembly drives the first swing arm to stop moving, or drives the first swing arm to move in the direction where the first angle increases.

[0012] Optionally, the control component controls the drive component to perform an anti-pinch action, including: When an obstacle is detected in the second included angle region between the first swing arm and the second swing arm, the drive assembly is controlled to either stop the second swing arm from moving or move the second swing arm in the direction where the second included angle increases.

[0013] Secondly, embodiments of this application provide a control method for a cleaning device, applied to the cleaning device provided in the first aspect of this application. This method may include: In response to the need for the swing arm assembly to move toward the retracted position or the outward swing position, the swing arm assembly is driven to move toward the retracted position or the outward swing position; The system monitors whether there is an obstacle in the first angle region between the first swing arm and the body, and / or monitors whether there is an obstacle in the second angle region between the first swing arm and the second swing arm; When an obstacle is detected in the first angle region between the first swing arm and the body, and / or when an obstacle is detected in the second angle region between the first swing arm and the second swing arm, the drive assembly is controlled to perform an anti-pinch action.

[0014] Optionally, controlling the drive component to perform the anti-pinch action in the method may include at least one of the following: stopping the drive of the drive component; driving the first swing arm to move in the opposite direction to the current direction of movement; driving the second swing arm to move in the opposite direction to the current direction of movement.

[0015] Optionally, the monitoring of whether there is an obstacle in the first angle region between the first swing arm and the body, and / or the monitoring of whether there is an obstacle in the second angle region between the first swing arm and the second swing arm, includes: monitoring whether there is an obstacle in the first angle region and / or the second angle region through image acquisition, pressure sensing, infrared sensing or current overvoltage.

[0016] Thirdly, embodiments of this application provide a cleaning system, which includes a base station and a cleaning device provided in the first aspect of this application. The base station is used to supply power to the cleaning device and / or to clean the cleaning device.

[0017] The various embodiments provided in this specification, by controlling the drive component to perform an anti-pinch action when the control component responds to the need for the cleaning component to move toward an outward or inward position, detects an obstacle in the first angle region between the first swing arm and the body, and / or detects an obstacle in the second angle region between the first and second swing arms, can prevent the presence of obstacles from damaging the cleaning equipment, especially when the obstacle is a pet's limb or a child's limb, which could lead to injury to the pet or child. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this disclosure 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 only some embodiments recorded in the embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a schematic diagram of the structure of a cleaning device provided for one embodiment of this specification.

[0020] Figure 2Another structural schematic diagram of a cleaning device provided for one embodiment of this specification.

[0021] Figure 3 This is a partial structural diagram of a cleaning device provided for one embodiment of this specification.

[0022] Figure 4 This is a schematic diagram of the cleaning component of a cleaning device provided in an embodiment of this specification, in its retracted position.

[0023] Figure 5 This is a schematic diagram of the cleaning component of a cleaning device provided in one embodiment of this specification, in the outward-facing position.

[0024] Figure 6 This is a schematic diagram of the cleaning component of a cleaning device provided in one embodiment of this specification, positioned along the edge.

[0025] Figure 7 This is a partial structural diagram of a driving component provided for one embodiment of this specification.

[0026] Figure 8A This is a partial structural diagram of a cleaning device provided for one embodiment of this specification.

[0027] Figure 8B This is a partial structural diagram of a cleaning device provided for one embodiment of this specification.

[0028] Figure 8C This is a partial structural diagram of a cleaning device provided for one embodiment of this specification.

[0029] Figure 9 A flowchart of a control method for a cleaning device provided in one embodiment of this specification.

[0030] Figure 10 This is a schematic diagram of the modular structure of a cleaning system provided in one embodiment of this specification.

[0031] Explanation of reference numerals in the attached figures 100. Cleaning equipment; 10. Body; 11. Sliding guide; 12. Main housing; 121. Accommodation space; 122. Opening; 13. Door assembly; 20. Cleaning assembly; 21. Cleaning disc; 22. Cleaning component; 30. Drive assembly; 3. Swing arm assembly; 31. First swing arm; 32. Second swing arm; 321. First guide wheel; 33. Elastic component; 34. First drive component; 40. Second guide wheel; 50. Position sensor; 70. Sensor; 71. Image acquisition device; 200. Cleaning system; 201. Base station. Detailed Implementation

[0032] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0033] In this specification, the accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to show the details of the local features more clearly.

[0034] Unless otherwise stated, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this specification. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0035] In the description of this specification, it should be understood that the terms "first" and "second" 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In the description of this specification, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description in this specification and do not indicate that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. In other words, they should not be construed as limitations on this application.

[0037] In the description of this specification, unless otherwise expressly defined, the terms "installation," "connection," "joining," "fixing," "setting," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this specification according to the specific circumstances.

[0038] In the various embodiments described below, the cleaning device 100 may further include a walking system mounted on the body 10. This walking system drives the body 10 to move independently on the surface to be cleaned. The walking system generally includes a driver and walking components. The walking components are typically two in number, symmetrically arranged on the body 10. These walking components include, but are not limited to, drive wheels, track wheels, or adjustable steering wheels. For example, the steering wheels are Mecanum wheels. Furthermore, the walking system can be oscillatingly mounted on the body 10 to enable the cleaning device to overcome obstacles during movement. The surface to be cleaned may be, but is not limited to, the surface of an object such as a floor, tabletop, glass, or wall. For ease of description, the surface to be cleaned will be described using the floor as an example below.

[0039] In the following embodiments, the cleaning device 100 is further described in terms of height, length, and width. The height direction is parallel to the overall height of the cleaning device when it is used on the surface to be cleaned, with a roughly flat floor as a reference. The height direction is approximately perpendicular to the surface to be cleaned. The length direction is the direction of travel of the cleaning device 100, and the width direction is the direction of movement of the swing arm assembly 3 of the cleaning device 100.

[0040] Please see Figures 1 to 5 One embodiment of this application provides a cleaning device 100, which includes a body 10, a cleaning component 20, and a drive component 30. The cleaning component 20 has an inward retracted position and an outward swing position relative to the body 10. The body 10 has a main housing 12, and the cleaning component 20 can extend from an opening 122. The drive component 30 includes a first drive member 34 and a swing arm assembly 3. The swing arm assembly 3 is movably connected to the body 10, and the cleaning component 20 is connected to the middle or end of the swing arm assembly 3. The first drive member 34 drives the swing arm assembly 3 to move the cleaning component 20 between the inward retracted position and the outward swing position. The swing arm assembly 3 drives the cleaning component 20 to move between an inward position and an outward position. The swing arm assembly 3 includes a first swing arm 31 and a second swing arm 32 that are connected in sequence. The first swing arm 31 is rotatably connected to the body 10, and the cleaning component 20 is movably connected to the second swing arm 32. The swing arm assembly 3 drives the cleaning component 20 to move between an inward position and an outward position. The first drive member 34 drives the first swing arm 31 to move relative to the body 10, and the first swing arm 31 and the second swing arm 32 can rotate relative to each other.

[0041] In some embodiments, the body 10 includes a main housing 12 and a door assembly 13. The main housing 12 forms a receiving space 121 for accommodating the drive assembly 30. The receiving space 121 communicates with the external environment through an opening 122. The door assembly 13 is movably disposed on the main housing 12 to close the opening 122 when the cleaning assembly 20 is in the retracted position and to open the opening 122 when the cleaning assembly 20 moves toward the outward swing position.

[0042] Thus, by setting the swing arm assembly 3 between the cleaning component 20 and the main body 10, the cleaning component 20 can extend outward relative to the main body 10 to clean the low gaps in furniture such as sofas and cabinets, reducing blind spots. At the same time, the cleaning component 20 can retract into the inward position relative to the main body 10 to avoid problems such as scratching or falling off, thus improving the cleaning effect and interactivity of the cleaning component 20.

[0043] In some embodiments, the cleaning component 20 has an inward position, an edge position, and an outward swing position relative to the body 10, and the swing distance of the cleaning component 20 relative to the body 10 when it is in the outward swing position is greater than the swing distance of the cleaning component 20 when it is in the edge position.

[0044] In detail, the swing arm assembly 3 connects the cleaning component 20 and the body 10, realizing the movable connection between the cleaning component 20 and the body 10. The movement of the swing arm assembly 3 can change the position of the cleaning component 20, so that the cleaning component 20 has an inward position, an edge position, and an outward position. Under different cleaning scenarios, the cleaning component 20 can be in the inward position, the edge position, the outward position, or any position between the inward position, the edge position, and the outward position. The position of the cleaning component 20 between the inward position, the edge position, and the outward position can be set as needed.

[0045] Understandably, when the cleaning component 20 is in the outward position, the swing arm assembly 3 extends outward to cover a larger area in order to maximize the cleaning range. When the cleaning component 20 is in the inward position, the swing arm assembly 3 retracts, allowing the cleaning component 20 to be closer to the center of the cleaning disc 21.

[0046] For example, when the cleaning component 20 is cleaning a regular area or in standby mode, the cleaning component 20 can be in a retracted position to reduce space occupation and avoid interference. When the cleaning component 20 needs to extend into a deep, low area in a horizontal position for cleaning, the cleaning component 20 can be in an outward position. When the cleaning component 20 needs to clean the edge area, the cleaning component 20 can be in a position between the retracted position and the outward position.

[0047] When no power source is installed in the body 10, the swing arm assembly 3 can be manually pulled out to the outward swing position, retracted to the inward position, or moved to the edge position.

[0048] In the foregoing embodiments, the drive assembly 30 includes only the first drive member 34, with the first drive member 34 and the swing arm assembly 3 serving as examples. In different product configurations, the drive assembly 30 may also include two drive members, such as a first drive member and a second drive member, which drive the first swing arm and the second swing arm respectively, allowing relative movement between the first and second swing arms, or allowing the first and second swing arms to move independently. This drives the swing arm assembly 3 to move the cleaning assembly 20 between an inward position and an outward swing position. Furthermore, in embodiments with multi-stage swing arms, more drive members may be provided to drive different swing arms, which will not be elaborated upon here.

[0049] It is understandable that during the process of the swing arm assembly 3 driving the cleaning assembly 20 from the outward swing position to the inward swing position (including any position during the process, such as the possibility of setting an edge position during the transition between the inward and outward swing positions), if there are solid obstacles (such as wooden blocks, stones, or other solid obstacles) or living obstacles (such as a young child inserting their hand into the area out of curiosity, or a pet probing the area with its paws) between the first swing arm and the side wall of the body housing the first swing arm, or between the second swing arm and the first swing arm, these situations may lead to machine damage or injury to the young child or pet if no action is taken. Therefore, there is an urgent need for a control mechanism and control method for cleaning equipment to at least partially solve such problems.

[0050] In this embodiment, the drive assembly 30 includes a first drive member 34 and a swing arm assembly 3. The swing arm assembly 3 is movably connected to the body 10, and the cleaning assembly 20 is connected to the end of the swing arm assembly 3. The first drive member 34 drives the swing arm assembly 3 to move the cleaning assembly 20 between an inward position and an outward position.

[0051] The swing arm assembly 3 includes a first swing arm 31 and a second swing arm 32 connected in sequence. The first swing arm 31 is rotatably connected to the body 10. The cleaning component 20 is movably connected to the end of the second swing arm 32 away from the first swing arm 31. The swing arm assembly 3 drives the cleaning component 20 to move between an inward position and an outward position. The first drive member 34 drives the first swing arm 31 to move relative to the body 10. The first swing arm 31 and the second swing arm 32 can rotate relative to each other.

[0052] Furthermore, in this embodiment, the specific number of stages and groups of the swing arm assembly 3 is not limited to meet different needs. The swing arm assembly 3 may include one or more groups. For example, in some embodiments, it includes two cleaning components 20. The swing arm assembly 3 includes two groups, each group of swing arm assemblies 3 corresponding to one cleaning component 20. The two groups of swing arm assemblies 3 respectively drive the corresponding cleaning components 20 to move in opposite directions when swinging outward or towards each other when retracting inward. A group of swing arm assemblies 3 may include a number of secondary or tertiary swing arms or more to ensure that the cleaning component 20 can move to the required position.

[0053] In this embodiment, the relative movement of the first swing arm 31 and the second swing arm 32 can extend the cleaning component 20 to the outward position relative to the body 10. At this time, the cleaning device 100 can perform cleaning actions on the low gaps of furniture such as sofas and cabinets, reducing cleaning blind spots and improving the cleaning effect of the cleaning component 20.

[0054] In this embodiment, the specific type of cleaning device 100 is not limited to meet different needs. For example, cleaning device 100 can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. In this application, a mopping robot is used as an example for illustration. In addition, in this embodiment, the shape of the body 10 is not limited to meet different needs. For example, the body 10 can be circular, D-shaped, triangular, or other shapes.

[0055] Further reference Figures 8A-8C In one embodiment, when the swing arm assembly 3 is in the retracted position and the outward swing position respectively, the first swing arm 31 and the body 10 have different first included angles θ, and the first swing arm 31 and the second swing arm 32 have different second included angles δ. The area defined between the first swing arm 31 and the body 10 is the first included angle area A, and the area defined between the first swing arm 31 and the second swing arm 32 is the second included angle area B. When the swing arm assembly 3 drives the cleaning component to move between the retracted position and the outward swing position, the first included angle θ and the second included angle δ can dynamically change so that the swing arm assembly 3 can form multiple postures to drive the cleaning component 20 to different cleaning postures. The control component (not shown in the figure) responds to the need for the cleaning component 20 to move toward the retracted position or the outward swing position. When an obstacle is detected in the first included angle area A between the first swing arm 31 and the body, and / or when an obstacle is detected in the second included angle area B between the first swing arm 31 and the second swing arm 32, the control drive component performs an anti-pinch action.

[0056] The control of the drive assembly to perform the anti-pinch action includes at least one of the following: stopping the drive assembly; driving the first swing arm to move in the opposite direction of the current movement direction; or driving the second swing arm to move in the opposite direction of the current movement direction. For example, when an obstacle is detected in the first angle region A between the first swing arm 31 and the body, and / or when an obstacle is detected in the second angle region B between the first swing arm 31 and the second swing arm 32, stopping the drive assembly maintains the current state and prevents the angle from further decreasing, thereby preventing injury. If only an obstacle is detected in the first angle region A between the first swing arm 31 and the body, stopping the drive assembly or driving the first swing arm 31 to move in the opposite direction of the current movement direction will prevent region A from further decreasing. Similarly, if only an obstacle is detected in the second angle region B between the first swing arm 31 and the second swing arm 32, stopping the drive assembly or driving the second swing arm 32 to move in the opposite direction of the current movement direction will prevent region B from further decreasing.

[0057] In the above embodiment, the first included angle θ between the first swing arm 31 and the body 10 refers to the angle between the straight line at the end of the receiving space on the body 10 that accommodates the first swing arm 31 and the center line of the first swing arm 31. This included angle changes with the movement of the first swing arm, and is therefore described as having different first included angles θ. Similarly, the second included angle δ between the first swing arm 31 and the second swing arm 32 refers to the angle between the center line of the first swing arm 31 and the center line of the second swing arm 32. This angle changes in amplitude with the movement of both, and is therefore referred to as having different second included angles δ. It can be understood that a change in included angle means a change in the area of ​​the included angle region.

[0058] In the above embodiments, the control component typically includes a main control circuit board housed within the machine body, which contains various chips (such as power management chips, central processing units, etc.) and circuits to control the operation of the cleaning equipment, which will not be elaborated further. In response to the need for the cleaning component 20 to move towards an inward or outward position, the control component controls the drive component to perform an anti-pinch action when it detects an obstacle in the first angle region A between the first swing arm 31 and the machine body, and / or when it detects an obstacle in the second angle region B between the first swing arm 31 and the second swing arm 32. For example, controlling the drive component to perform the anti-pinch action may include either driving the first and second swing arms to move in opposite directions or stopping the drive.

[0059] In this embodiment, when the first driving member 34 drives the cleaning assembly 20 to the retracted position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is α; when the first driving member 34 drives the cleaning assembly 20 to the outward swing position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is β, where β is greater than α. It can be understood that β and α are both specific states of the second included angle δ.

[0060] In this embodiment, when the cleaning component 20 is in the retracted position, the bending angle α of the second swing arm 32 relative to the first swing arm 31 is an acute angle; when the cleaning component 20 is in the outward swing position, the bending angle β of the second swing arm 32 relative to the first swing arm 31 is an obtuse angle. Thus, after the second swing arm 32 and the first swing arm 31 are bent relative to each other (cleaning component 20 is in the retracted position), the cleaning component 20 retracts to below the body 10 to clean the ground or surface in the direction of travel of the body 10; after the second swing arm 32 and the first swing arm 31 are extended relative to each other (cleaning component 20 is in the outward swing position), the cleaning component 20 extends to a position farther from the body 10 to clean low spaces in furniture that the body 10 cannot access.

[0061] Understandably, when the cleaning component 20 is in the retracted position, it is positioned below the body 10, resulting in a large overlap between their projections on the ground. When the cleaning component 20 is in the outward-swinging position, the bending angle of the second swing arm 32 relative to the first swing arm 31 increases, causing the cleaning component 20 to protrude beyond the body 10, resulting in a smaller overlap between their projections on the ground.

[0062] In this embodiment, the drive assembly 30 adopts a double-swing arm structure design, and the double swing arms can move relative to the body 10 to realize the transformation of the cleaning device 100 form. The first swing arm 31 is rotatably connected to the bottom of the body 10 via a rotating shaft, and the second swing arm 32 is rotatably connected to the distal end of the first swing arm 31 via a rotating shaft structure. The cleaning assembly 20 is installed at the end of the second swing arm 32 via a movable connecting mechanism. When the cleaning assembly 20 is in the retracted position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is α, and the cleaning device 100 maintains a compact form; when the cleaning assembly 20 switches to the outward swing position, the bending angle increases to β, allowing the cleaning assembly 20 to extend outward.

[0063] In this embodiment, after the cleaning component 20 moves to the inward position, the edge position, or the outward position, the cleaning component 20 can always maintain contact pressure with the ground by means of active ground pressurization or the counterweight of the machine body 10 to pressurize the rag, so as to ensure the cleaning effect and significantly improve the cleaning coverage.

[0064] Please see Figures 4 to 6In some embodiments, when the first drive member 34 drives the cleaning assembly 20 to the edge position, the bending angle of the second swing arm 32 relative to the first swing arm 31 is γ, where γ is less than α. The edge position is located between the retracted position and the outward swing position.

[0065] Thus, the inward-retracting position, the outward-swinging position, and the edge-mounting position can correspond to three scenarios of the cleaning device 100, achieving different cleaning methods and ensuring better cleaning results. Specifically, the inward-retracting position corresponds to the normal mopping position of the cleaning device 100; the edge-mounting position corresponds to the position of the mop when the cleaning device 100 needs to mop along the corner of the wall; and the outward-swinging position corresponds to the position of the mop when the cleaning device 100 needs to clean low gaps.

[0066] In this embodiment, γ satisfies γ < α < β. That is, during the process of the cleaning component 20 moving from the inward position to the edge position and then to the outward position, the relative angle between the second swing arm 32 and the first swing arm 31 first decreases and then increases. The range of the increasing angle is greater than the range of the decreasing angle. In one embodiment, γ and α are both acute angles, and β is an obtuse angle. This allows the cleaning device 100 to flexibly adjust its working mode according to different cleaning scenarios, optimize the cleaning coverage, and improve cleaning efficiency.

[0067] Of course, it is understandable that in some embodiments, when the cleaning component 20 is in the edge position relative to the body 10, the bending angle γ of the second swing arm 32 relative to the first swing arm 31 does not need to be less than the bending angle α of the second swing arm 32 relative to the first swing arm 31 in the retracted position, in order to accommodate the different structures and angle arrangements of the second swing arm 32 and the first swing arm 31. It is only necessary to ensure that when the first drive member 34 drives the cleaning component 20 to the outward swing position, the bending angle β of the second swing arm 32 relative to the first swing arm 31 is the maximum angle.

[0068] In one embodiment, the control component may include a signal acquisition module and an execution module. The signal acquisition module generates a signal to identify whether an obstacle exists between the first included angle region A and / or the second included angle region B, and then transmits the signal to the execution module. The execution module determines whether an obstacle exists between the first included angle region A and / or the second included angle region B based on the signal. Specifically, the execution module may be program code written into the control component, or a hardware chip into which program code is written, which will not be elaborated further.

[0069] In one optional implementation, the sensor assembly may include a first sensor for detecting the presence of an obstacle within the first included angle region; and / or, the sensor assembly may include a second sensor for detecting the presence of an obstacle within the second included angle region. The sensor may be one or more of a pressure sensor, a current sensing sensor, and an infrared sensor.

[0070] Further reference Figures 8A-8C In one embodiment, the signal acquisition module includes a plurality of sensors 70. At least a portion of the plurality of sensors are positioned between the first swing arm 31 and the body 10, facing the first included angle region, to monitor whether there is an obstacle in the first included angle region A; at least a portion of the plurality of sensors are positioned between the first swing arm 31 and the second swing arm 32, facing the second included angle region B, to monitor whether there is an obstacle in the second included angle region B.

[0071] In one possible scenario, sensor 70 can be an infrared sensor, a current sensor, a pressure sensor, or other similar components. When an obstacle exists in area A or B, sensor 70 can generate a corresponding signal, and the execution module can determine the presence of the obstacle based on these signals. Sensor 70 can be a single type or a combination of multiple sensors; details will not be elaborated further.

[0072] In one scenario, after sensor 70 generates a signal based on the obstacle situation in area A or B, it transmits the signal to the execution module in the control component. The execution module determines whether an obstacle exists based on the different signals. If an obstacle is detected, it controls the drive component to perform an anti-pinch action. For example, controlling the drive component to perform the anti-pinch action may include driving the first swing arm 31 and the second swing arm 32 to move in opposite directions or stopping the drive. Additionally, the first drive component can also drive the first swing arm 31 to stop moving or increase the first included angle θ. Similarly, when an obstacle is detected in the second included angle region between the first and second swing arms, the first drive component is controlled to drive the second swing arm to stop moving or increase the second included angle.

[0073] Understandably, the execution module can also determine the type of obstacle based on the signal type, and then the control component selects different anti-pinch actions. For example, for a living obstacle, stopping the drive may provide a safer outcome and prevent further injury.

[0074] like Figure 8C As shown, the signal acquisition module may further include at least one image acquisition unit 71, such as one or more cameras. The image acquisition unit 71 is positioned on the body 10 facing the outward swing position, so that when the cleaning component is located in the outward swing position or between the outward swing position and the inward swing position, it is within the image acquisition range of the corresponding image acquisition unit. The execution module determines whether there is an obstacle in the second included angle region based on the acquisition data sent by the image acquisition unit. In this method, more accurate signals can be obtained near the outward swing position, allowing the execution module to more accurately determine the obstacle situation, thus enabling the control component to make a more accurate judgment.

[0075] Through the above embodiments, by monitoring the situation of obstacles, anti-pinch actions can be performed, thereby avoiding injury or machine damage caused by the presence of obstacles.

[0076] In some embodiments, the cleaning device 100 includes a position sensor 50, which is electrically connected to the drive assembly 30. The position sensor 50 senses when the cleaning assembly 20 moves to an inward position, an edge position, or an outward swing position and feeds back to the drive assembly 30 to stop driving the swing arm assembly 3. Thus, the position sensor 50 can detect the position of the cleaning assembly 20 and control the drive assembly 30 to stop after the cleaning assembly 20 moves to a predetermined position, so that the cleaning assembly 20 is stably held in its current position by the cooperation of the guide and the pulley.

[0077] In some embodiments, the cleaning device 100 can detect the relative position of the cleaning component 20 and the body 10 via the position sensor 50, and adjust the position of the cleaning component 20 via the drive component 30 to ensure accurate positioning of the cleaning component 20. In this embodiment, the specific type of the position sensor 50 is not limited to meet different needs. For example, the position sensor 50 can be an optical sensor, an angle sensor, or a pressure sensor.

[0078] For example, in one embodiment, when the position sensor 50 is an optical sensor, it can be disposed on the upper side of the first drive member 34 to directly detect the positions of the two swing arms, and then determine the position of the cleaning component 20 by the position of the swing arms. In another embodiment, when the position sensor 50 is an angle sensor, an angle sensor can be disposed at the joint of the swing arms to monitor the bending angle of the first swing arm 31 and the second swing arm 32 in real time.

[0079] In some embodiments, the second swing arm 32 further includes a guide member. When the cleaning component 20 moves between the edge position and the retracted position, the guide member can assist the movement of the second swing arm 32 to ensure that the cleaning component 20 moves smoothly when it moves between the edge position and the retracted position, and avoid jamming.

[0080] Specifically, the cleaning component 20 can cooperate with the positioning sensor 50 during movement, allowing the positioning sensor 50 to detect whether the cleaning component 20 has moved into position. When the cleaning component 20 moves from the retracted position to the edge position, the guide can guide the second swing arm 32; or when the cleaning component 20 moves from the edge position to the retracted position, the guide can guide the second swing arm 32. During this process, the first drive component 34 actively controls the rotation of the swing arm, the guide guides the position of the swing arm, and the positioning sensor 50 can simultaneously detect the position of the swing arm, ensuring that after the first swing arm 31 and the second swing arm 32 move to the corresponding positions, the first drive component 34 stops driving, ensuring that the cleaning component 20 is accurate in the edge position, the retracted position, and the outward swing position.

[0081] In the embodiments of this application, the specific form of the guide is not limited, in order to meet different needs. For example, the guide can be a slide rail or a pulley.

[0082] In some embodiments, the guide may include a first guide wheel 321 formed on the second swing arm 32, and the body 10 includes a sliding guide portion 11. The first guide wheel 321 is rotatably disposed on the sliding guide portion 11. When the cleaning assembly 20 moves from the retracted position to the edge position, the sliding guide portion 11 can guide the movement trajectory of the second swing arm 32 via the first guide wheel 321. Thus, during the transition between the retracted and edge positions of the cleaning assembly 20, the first guide wheel 321, in conjunction with the sliding guide portion 11, assists the movement of the second swing arm 32. During the rotation of the first swing arm 31 relative to the body 10, the second swing arm 32 can move to the corresponding position under the guidance of the first guide wheel 321 and the sliding guide portion 11, ensuring the accurate positioning of the cleaning assembly 20 in the edge and retracted positions.

[0083] In this embodiment, the first guide wheel 321 is rotatably fitted into the sliding guide portion 11, forming a stable kinematic pair. When the cleaning component 20 moves from the retracted position to the edge position, the sliding guide portion 11 precisely guides the movement trajectory of the second swing arm 32 through the rolling contact of the first guide wheel 321, allowing it to smoothly transition along a preset path.

[0084] In this embodiment, the specific form of the sliding guide 11 is not limited to meet different needs. For example, the sliding guide 11 can be constructed by both a straight area and an arc-shaped area, and can be specifically defined according to the movement process of the second swing arm 32.

[0085] In some embodiments, the guide may further include a second guide wheel 40 rotatably disposed on the body 10, wherein when the cleaning component 20 moves from the edge position to the outward swing position, the side of the second swing arm 32 away from the first drive member 34 can roll along the second guide wheel 40 to guide the movement trajectory of the second swing arm 32.

[0086] Thus, during the transition between the edge position and the outward swing position of the cleaning component 20, the second guide wheel 40 cooperates with one side of the second swing arm 32 to assist the movement of the first swing arm 31 and the second swing arm 32, ensuring that the cleaning component 20 is accurately positioned in the edge position and the outward swing position.

[0087] Please see Figure 7 In some embodiments, the drive assembly 30 includes an elastic element 33 disposed on the first swing arm 31 and elastically abutting against the second swing arm 32.

[0088] When the cleaning component 20 moves from the inward position to the edge position, the first swing arm 31 and the second swing arm 32 compress the elastic element 33 and store elastic potential energy; when the cleaning component 20 moves from the edge position to the outward swing position, the elastic element 33 releases elastic potential energy to drive the second swing arm 32 to rotate relative to the first swing arm 31.

[0089] Thus, the elastic element 33 can always be in a compressed state, meaning that the elastic element 33 always has an elastic force that pushes the second swing arm 32 to unfold relative to the first swing arm 31. The elastic element 33 can be used to adjust the relative position of the second swing arm 32 and the first swing arm 31, thereby achieving the switching of the cleaning device 100's form. In scenarios where anti-pinch action is required, the drive assembly can also change the state of the elastic element to change the relative position of the second swing arm 32 and the first swing arm 31, thereby achieving the anti-pinch effect.

[0090] Specifically, when the first drive member 34 drives the swing arm assembly 3 to move from the inward position to the edge position, the first swing arm 31 and the second swing arm 32 can further compress the elastic member 33, so that the elastic member 33 stores more elastic potential energy. When the first drive member 34 drives the swing arm assembly 3 to move from the edge position to the outward swing position, the elastic member 33 can release its elastic potential energy to push the second swing arm 32 to unfold relative to the first swing arm 31, thereby allowing the cleaning disc 21 and the cleaning member 22 to extend to a sufficiently far position.

[0091] In this embodiment, as the cleaning component 20 moves from the retracted position to the edge position, the second guide wheel 40 guides the movement of the second swing arm 32, causing the angle between the second swing arm 32 and the first swing arm 31 to decrease, thereby further compressing the elastic member 33. As the cleaning component 20 moves from the edge position to the outward swing position, the second guide wheel 40 and the elastic member 33 can jointly limit the movement of the second swing arm 32. The elastic member 33 consistently pushes the second swing arm 32 against the second guide wheel 40, ensuring the stability of the movement of the second swing arm 32.

[0092] In some embodiments, the first swing arm 31 includes a first limiting portion (not shown in the figure), the second swing arm 32 includes a second limiting portion (not shown in the figure), and the elastic member 33 includes two elastic ends (not shown in the figure). When the cleaning assembly 20 is in the outward swing position, the first limiting portion and the second limiting portion limit the two elastic ends respectively to fix the relative angle between the first swing arm 31 and the second swing arm 32. In this way, the elastic member 33 can cooperate with the first limiting portion and the second limiting portion to achieve the maximum extension angle of the second swing arm 32 when it is in the outward swing position, and prevent the second swing arm 32 from being misaligned under the action of the elastic member 33.

[0093] In this embodiment, the first limiting part and the second limiting part can limit the maximum unfolding angle of the elastic member 33, thereby limiting the maximum angle of the relative position of the second swing arm 32 and the first swing arm 31, keeping the cleaning assembly 20 stable in the outward swing position. That is, when the first driving member 34 drives the swing arm assembly 3 to move from the edge position to the outward swing position, the elastic member 33 releases elastic potential energy to push the second swing arm 32 to unfold relative to the first swing arm 31. During this process, the first limiting part and the second limiting part can restrict the elastic member 33, thereby limiting the accuracy of the swing arm assembly 3 when it is in the outward swing position.

[0094] In some embodiments, the elastic element 33 is a torsion spring, a rubber strip, or a spring sheet. Thus, the elastic element 33 can be one of a torsion spring, a rubber strip, or a spring sheet.

[0095] In this embodiment, the specific type of elastic element 33 is not limited to meet different needs.

[0096] In some embodiments, the cleaning assembly 20 includes a cleaning disc 21 and a cleaning element 22 disposed on the cleaning disc 21. The cleaning disc 21 is rotatably disposed at the end of the second swing arm 32 away from the first swing arm 31, and the cleaning element 22 is in contact with the ground and used for cleaning the ground. In this way, the cleaning disc 21 can drive the cleaning element 22 to rotate relative to the second swing arm 32, and the cleaning element 22 can clean the ground or other surfaces.

[0097] Specifically, in this embodiment, the cleaning component 20 may include a track cleaning cloth and a roller cleaning cloth, or a round cleaning cloth, etc., and the specifics are not limited here.

[0098] Please see Figure 9 This application provides an anti-pinch method for a cleaning device, which can be applied to the cleaning device 100 described above. The method may include: S901: In response to the need for the swing arm assembly to move toward the retracted position or the outward position, drive the swing arm assembly to move toward the retracted position or the outward position; S902: Detect that there is an obstacle in the first angle region between the first swing arm and the body, and / or, detect that there is an obstacle in the second angle region between the first swing arm and the second swing arm; S903: When an obstacle is detected in the first angle region between the first swing arm and the body, and / or when an obstacle is detected in the second angle region between the first swing arm and the second swing arm, the drive assembly is controlled to perform an anti-pinch action.

[0099] The step of controlling the drive assembly to perform the anti-pinch action includes: stopping the drive assembly; driving the first swing arm to move in the opposite direction to the current direction of movement; and driving the second swing arm to move in the opposite direction to the current direction of movement.

[0100] The control method of the cleaning equipment in the embodiments of this application will be further described in conjunction with the cleaning equipment to which this application can be applied. For example, in Figure 1-5 As shown, the cleaning device 100 includes a body 10, a cleaning component 20, and a drive component 30. The cleaning component 20 has an inward retracted position and an outward swing position relative to the body 10. The drive component 30 includes a first drive member 34 and a swing arm assembly 3. The swing arm assembly 3 is movably connected to the body 10, and the cleaning component 20 is connected to the end of the swing arm assembly 3. The first drive member 34 drives the swing arm assembly 3 to move the cleaning component 20 between the inward retracted position and the outward swing position. The swing arm assembly 3 includes a first swing arm 31 and a second swing arm 32 connected in sequence. The first swing arm 31 is rotatably connected to the body 10, and the cleaning component 20 is movably connected to the end of the second swing arm 32 away from the first swing arm 31. The swing arm assembly 3 drives the cleaning component 20 to move between the inward retracted position and the outward swing position. The first drive member 34 drives the first swing arm 31 to move relative to the body 10, and the first swing arm 31 and the second swing arm 32 can rotate relative to each other.

[0101] In different product configurations, the drive assembly 30 may also include two drive members, such as a first drive member and a second drive member, which drive the first swing arm and the second swing arm respectively, allowing relative movement between the first and second swing arms. The first and second swing arms can also move independently. This drives the swing arm assembly 3 to move the cleaning assembly 20 between an inward-swinging position and an outward-swinging position. Furthermore, in embodiments with multi-stage swing arms, more drive members can be provided to drive different swing arms, which will not be elaborated upon here.

[0102] Further reference Figures 8A-8C In one embodiment, when the swing arm assembly 3 is in the retracted position and the outward swing position respectively, the first swing arm 31 and the body 10 have different first included angles θ, and the first swing arm 31 and the second swing arm 32 have different second included angles δ. The area between the first swing arm 31 and the body 10 is the first included angle region A, and the area between the first swing arm 31 and the second swing arm 32 is the second included angle region B. The control component (not shown in the figure) can respond to the need for the cleaning component 20 to move toward the retracted position or the outward swing position. When an obstacle is detected in the first included angle region A between the first swing arm 31 and the body, and / or when an obstacle is detected in the second included angle region B between the first swing arm 31 and the second swing arm 32, the control drive component performs an anti-pinch action.

[0103] The method of controlling the drive component to perform the anti-pinch action can include at least one of the following: stopping the drive component; driving the first swing arm to move in the opposite direction of the current movement direction; or driving the second swing arm to move in the opposite direction of the current movement direction. For example, when an obstacle is detected in the first angle region A between the first swing arm 31 and the body and / or an obstacle is detected in the second angle region B between the first swing arm 31 and the second swing arm 32, stopping the drive component can maintain the current state and prevent the angle from decreasing further, thereby preventing injury. If only an obstacle is detected in the first angle region A between the first swing arm 31 and the body, stopping the drive component or driving the first swing arm 31 to move in the opposite direction of the current movement direction can prevent region A from decreasing further. Similarly, if only an obstacle is detected in the second angle region B between the first swing arm 31 and the second swing arm 32, stopping the drive component or driving the second swing arm 32 to move in the opposite direction of the current movement direction can prevent region B from decreasing further.

[0104] In an optional implementation, when monitoring whether there is an obstacle in the first angle region between the first swing arm and the body, and / or when monitoring whether there is an obstacle in the second angle region between the first swing arm and the second swing arm, the monitoring includes: monitoring whether there is an obstacle in the first angle region and / or the second angle region by means of image acquisition, pressure sensing, infrared sensing or current overvoltage detection, etc.

[0105] In one embodiment, the control component includes a signal acquisition module and an execution module. The signal acquisition module generates a signal to identify whether an obstacle exists between the first included angle region A and / or the second included angle region B, and then transmits the signal to the execution module. The execution module can determine whether an obstacle exists between the first included angle region A and / or the second included angle region B based on the signal. Specifically, the execution module can be program code written into the control component, or a hardware chip into which program code is written, which will not be elaborated further.

[0106] In one alternative implementation, the signal acquisition module may be a plurality of sensor components, which may be infrared sensors, current detection sensors, pressure sensors, or other similar components.

[0107] The sensor assembly can be grouped, for example, it may include a first sensor for detecting the presence of an obstacle in the first included angle region; and / or, it may include a second sensor for detecting the presence of an obstacle in the second included angle region. For example, at least some of the sensors in the plurality of sensor assemblies are located between the first swing arm 31 and the body 10, facing the first included angle region, to detect the presence of an obstacle in the first included angle region A; at least some of the sensors are located between the first swing arm 31 and the second swing arm 32, facing the second included angle region B, to detect the presence of an obstacle in the second included angle region B.

[0108] In one possible scenario, sensor 70 can be an infrared sensor, a current sensor, a pressure sensor, or other similar components. When an obstacle exists in area A or B, sensor 70 can generate a corresponding signal, and the execution module can determine the presence of the obstacle based on these signals. Sensor 70 can be a single type or a combination of multiple sensors; details will not be elaborated further.

[0109] In one scenario, after sensor 70 generates a signal based on the obstacle situation in area A or B, it transmits the signal to the execution module in the control component. The execution module determines whether an obstacle exists based on the different signals. If an obstacle is detected, it controls the drive component to perform an anti-pinch action. For example, controlling the drive component to perform the anti-pinch action may include driving the first swing arm 31 and the second swing arm 32 to move in opposite directions or stopping the drive. Additionally, the first drive component can also drive the first swing arm 31 to stop moving or increase the first included angle θ. Similarly, when an obstacle is detected in the second included angle region between the first and second swing arms, the first drive component is controlled to drive the second swing arm to stop moving or increase the second included angle.

[0110] Understandably, the execution module can also determine the type of obstacle based on the signal type, and then the control component selects different anti-pinch actions. For example, for a living obstacle, stopping the drive may provide a safer outcome and prevent further injury.

[0111] like Figure 8C As shown, in the implementation where the signal acquisition module also includes an image acquisition device, the image acquisition device 71 is positioned on the body 10 facing the outward swing position, so that when the cleaning component is located in the outward swing position or between the outward swing position and the inward swing position, it is within the image acquisition range of the corresponding image acquisition device. At this time, the cleaning device can determine whether there is an obstacle in the second angled area based on the acquisition data sent by the image acquisition device through the execution module. In this method, a more accurate signal can be obtained near the outward swing position, making it easier for the execution module to more accurately determine the obstacle situation, so that the control component can make a more accurate judgment. Through the above-described control method of the cleaning device, the cleaning device can be controlled to perform anti-pinch actions in a timely manner, thereby avoiding damage to the cleaning device from obstacles, especially when the obstacle is a pet's limb or a child's limb, which could lead to injury to the pet or child.

[0112] Please see Figure 10 This application provides a cleaning system 200, which includes a base station 201 and a cleaning device 100 as described above. The base station 201 is used to supply power to the cleaning device 100 and / or to clean the cleaning device 100.

[0113] Specifically, the base station 201 can charge the cleaning equipment 100, collect dust from the dust box into the dust chamber of the base station 201, clean the cleaning component 22, disassemble and / or assemble the cleaning component 22, and fill the water tank of the water replenishment mechanism in the cleaning equipment 100 with water.

[0114] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0115] The functions and effects of this embodiment can be explained by referring to the foregoing implementation methods, and will not be repeated here.

[0116] It is understood that in the various embodiments of this specification, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this specification.

[0117] It is understood that the various implementation methods described in this specification can be implemented individually or in combination, and the embodiments in this specification are not limited in this respect.

[0118] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the aforementioned method implementations, and will not be repeated here.

[0119] The above are merely specific embodiments of this specification, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this specification should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cleaning apparatus, characterized by, include: The machine body, the swing arm assembly movably connected to the machine body, and the cleaning assembly connected to the swing arm assembly; A drive assembly for driving the swing arm assembly to move relative to the body between an inward position and an outward position, the swing arm assembly including a first swing arm and a second swing arm rotatably connected. When the swing arm assembly moves between the retracted position and the outward swing position, the first included angle formed between the first swing arm and the body, and / or the second included angle formed between the first swing arm and the second swing arm can change dynamically. The control component, in response to the need for the swing arm assembly to move toward an inward or outward position, monitors the presence of an obstacle in the first angle region between the first swing arm and the body, and / or the second angle region between the first swing arm and the second swing arm, and controls the drive component to perform an anti-pinch action.

2. The cleaning apparatus of claim 1, wherein, The control of the drive component to perform the anti-pinch action includes at least one of the following: Stop driving the component; Drive the first swing arm to move in the opposite direction to the current direction of motion; Drive the second swing arm to move in the opposite direction to the current direction of motion.

3. The cleaning apparatus of claim 1, wherein, The control component includes a signal acquisition module and an execution module. The signal acquisition module is used to acquire a signal indicating whether there is an obstacle between the first included angle region and / or the second included angle region and transmit it to the execution module. When the execution module determines that there is an obstacle, it controls the drive component to perform an anti-pinch action.

4. The cleaning apparatus of claim 3, wherein, The signal acquisition module includes a sensor assembly, which includes a first sensor for monitoring whether there is an obstacle in the first included angle region; and / or, the sensor assembly includes a second sensor for monitoring whether there is an obstacle in the second included angle region.

5. The cleaning apparatus of claim 4, wherein, The sensor assembly includes a current detection sensor, which determines the presence of an obstacle when it detects that the current of the drive assembly exceeds a preset value.

6. The cleaning equipment as described in claim 3, characterized in that, The signal acquisition module includes at least one image acquisition device, which is disposed on the body in the direction of the outward swing position. When the cleaning component moves between the inward position and the outward swing position, it is within the image acquisition range of the corresponding image acquisition device.

7. The cleaning equipment as described in claim 4, characterized in that, The sensor assembly includes one or more of the following: a pressure sensor, a current sensing sensor, and an infrared sensor.

8. The cleaning equipment as described in claim 2, characterized in that, The control component controls the drive component to perform an anti-pinch action, including: When an obstacle is detected in the first angle region between the first swing arm and the body, the drive assembly drives the first swing arm to stop moving, or drives the first swing arm to move in the direction where the first angle increases.

9. The cleaning equipment as described in claim 2, characterized in that, The control component controls the drive component to perform an anti-pinch action, including: When an obstacle is detected in the second included angle region between the first swing arm and the second swing arm, the drive assembly is controlled to either stop the second swing arm from moving or move the second swing arm in the direction where the second included angle increases.

10. A control method for a cleaning device, applied to the cleaning device as described in claims 1-9, characterized in that, The method includes: In response to the need for the swing arm assembly to move toward the retracted position or the outward swing position, the swing arm assembly is driven to move toward the retracted position or the outward swing position; The system monitors whether there is an obstacle in the first angle region between the first swing arm and the body, and / or monitors whether there is an obstacle in the second angle region between the first swing arm and the second swing arm; When an obstacle is detected in the first angle region between the first swing arm and the body, and / or when an obstacle is detected in the second angle region between the first swing arm and the second swing arm, the drive assembly is controlled to perform an anti-pinch action.

11. The control method as described in claim 10, characterized in that, The control unit performs an anti-pinch action. Includes at least one of the following: Stop driving the component; Drive the first swing arm to move in the opposite direction to the current direction of motion; Drive the second swing arm to move in the opposite direction to the current direction of motion.

12. The control method as described in claim 10, characterized in that, The monitoring of whether an obstacle exists in the first included angle region between the first swing arm and the body, and / or the monitoring of whether an obstacle exists in the second included angle region between the first swing arm and the second swing arm; includes: The presence of obstacles in the first and / or second included angle regions is monitored by image acquisition, pressure sensing, infrared sensing, or current overvoltage detection.

13. A cleaning system, characterized in that, The system includes a base station and a cleaning device according to any one of claims 1-9, wherein the base station is used to supply power to the cleaning device and / or to clean the cleaning device.

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