A cleaning apparatus

Abstract

The application discloses a cleaning device, comprising a machine body and a floor brush assembly pivotally connected with the machine body. The floor brush assembly comprises a floor brush shell, a cleaning piece, a first distance sensor and a second distance sensor. The side wall of the floor brush shell has an opening. The cleaning piece is arranged in the floor brush shell and has an extended state of being at least partially extended laterally out of the floor brush shell and a retracted state of being retracted in the floor brush shell. The first distance sensor is arranged on the side wall of the cleaning piece on the same side of the opening and is used for acquiring a first horizontal distance L1 between the side wall of the cleaning piece and an obstacle. The second distance sensor is arranged obliquely upward in the opening and is used for acquiring a second horizontal distance L2 between the side wall of the floor brush shell and the obstacle. The application realizes reliable detection of low obstacles by means of the double distance sensors, the opening and the avoidance groove structure, and accurately controls the extended state of the cleaning piece based on L1 and L2, thereby improving the corner cleaning coverage and the cleaning effect in low spaces while ensuring safety.

Description

Technical Field

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

[0002] Currently, automated cleaning equipment (such as floor scrubbers and robotic vacuum cleaners) is widely used in home and commercial environments. To improve cleaning coverage, especially along wall edges and in low-ceilinged areas, some cleaning equipment is equipped with extendable floor brushes or roller brushes and uses distance sensors (such as TOF and infrared sensors) for obstacle detection and avoidance control.

[0003] However, the existing solutions still have the following technical problems:

[0004] Insufficient detection capability for low obstacles: Since sensors are usually installed horizontally or at a high position, they have difficulty effectively detecting low obstacles (such as weighing scales, slippers, toys, cable trays, low thresholds, etc.) that are lower than the sensor's mounting plane. This can lead to problems such as cleaning equipment getting stuck, pushing objects while walking, or getting tangled.

[0005] The detection logic for wall-mounted and low-ceilinged spaces is too simplistic: Existing solutions mostly rely on a single distance sensor or only focus on the horizontal distance along the wall, which cannot distinguish between the two different extension needs of "normal wall-mounted" and "low-ceilinged spaces". As a result, the extension mechanism cannot extend fully in low-ceilinged spaces, affecting the cleaning effect.

[0006] Sensor fusion solutions are complex and costly: Some solutions attempt to fuse multiple different types of sensors (such as lidar, ultrasonic, infrared, etc.) to achieve low obstacle detection, but the system is complex, the cost is high, and the reliability of the data fusion algorithm faces challenges.

[0007] Therefore, there is an urgent need for a cleaning device and its control method that is simple in structure, cost-controllable, and can effectively distinguish and handle cleaning scenarios along walls and in low-ceilinged spaces, so as to improve the mobility and cleaning coverage of the cleaning device in complex environments. Summary of the Invention

[0008] This application provides a cleaning device to solve the problems of existing cleaning devices having blind spots in detecting low obstacles, insufficient coverage along walls, and complex and costly sensor fusion.

[0009] This application provides a cleaning device, which includes a body and a floor brush assembly pivotally connected to the body. The floor brush assembly includes a floor brush housing, a cleaning component, a first distance sensor, and a second distance sensor.

[0010] The brush housing has an opening on its side wall; the cleaning component is disposed inside the brush housing and is used to clean the surface to be cleaned. The cleaning component has an extended state in which it can extend laterally at least partially out of the brush housing and a retracted state in which it can be retracted into the brush housing; the first distance sensor is disposed on the side wall of the cleaning component on the same side as the opening and is used to obtain a first horizontal distance L1 between the side wall of the cleaning component and an obstacle; the second distance sensor is disposed obliquely upward inside the opening and is used to obtain a second horizontal distance L2 between the side wall of the brush housing and the obstacle.

[0011] Furthermore, the opening is an opening that penetrates the side wall of the floor brush housing, or the opening is an opening of a recessed groove.

[0012] Furthermore, the opening is located above the cleaning component and extends toward the top of the floor brush housing until it penetrates the top of the side wall of the floor brush housing.

[0013] Furthermore, the opening has an inclined side, and the angle formed by the inclined side and the plane where the side wall of the floor brush housing is located is smaller than the angle formed by the end face of the second distance sensor signal transmitter and the plane where the side wall of the floor brush housing is located; or the opening has an inclined side, and the angle formed by the inclined side and the plane where the side wall of the floor brush housing is located is equal to the angle formed by the end face of the second distance sensor signal transmitter and the plane where the side wall of the floor brush housing is located.

[0014] Furthermore, the floor brush assembly also includes a cleaning fluid tank, which is disposed above the floor brush housing; the second distance sensor is located below the cleaning fluid tank.

[0015] Furthermore, the cleaning fluid tank is provided with an inclined clearance groove. The bottom of the clearance groove extends from the edge of the upper top surface of the cleaning fluid tank, faces the interior of the cleaning fluid tank, and slopes downward. The angle formed between the bottom of the clearance groove and the end face of the signal transmitting end of the second distance sensor is not less than 90°.

[0016] Furthermore, the first distance sensor is located on the side of the cleaning component near the top of the cleaning component.

[0017] Furthermore, the floor brush assembly further includes: when the cleaning component is in the retracted state, if both the first horizontal distance L1 and the second horizontal distance L2 are less than or equal to the first distance threshold, the cleaning component switches from the retracted state to the first extended state, at which time the extended distance of the cleaning component is less than the first extended threshold; if the second horizontal distance L2 is less than or equal to the first distance threshold and the first horizontal distance L1 is greater than the first distance threshold, the cleaning component switches from the retracted state to the second extended state, at which time the extended distance of the cleaning component is greater than the first extended threshold.

[0018] Furthermore, the floor brush assembly further includes: when the cleaning component is in the retracted state, if both the first horizontal distance L1 and the second horizontal distance L2 are greater than the first distance threshold, the cleaning component remains in the retracted state; if the second horizontal distance L2 is greater than the first distance threshold and the first horizontal distance L1 is less than the first distance threshold, the cleaning component switches from the retracted state to the first extended state, at which time the extended distance of the cleaning component is less than the first extended threshold.

[0019] Furthermore, the floor brush assembly further includes: when the cleaning component is in the extended state, if both the first horizontal distance L1 and the second horizontal distance L2 are greater than the second distance threshold, the cleaning component switches from the extended state to the retracted state; if both the first horizontal distance L1 and the second horizontal distance L2 are less than the second distance threshold, the cleaning component remains in the extended state.

[0020] Furthermore, the floor brush assembly further includes: when the cleaning component is in the extended state, if the first horizontal distance L1 is less than the third distance threshold, the cleaning component stops extending.

[0021] Furthermore, the second distance sensor is inclined relative to the outer surface of the side wall of the floor brush housing, including: the angle α between the second distance sensor and the plane containing the outer surface of the side wall of the floor brush housing satisfies: tanα=((H1-H2) / L2); where H1 represents the height of the top of the floor brush assembly from the surface to be cleaned, and H2 represents the height of the second distance sensor from the surface to be cleaned.

[0022] This application provides a cleaning device that, by creating an opening in the side wall of the floor brush housing, places a second distance sensor tilted upwards within the opening, and utilizes an obstacle avoidance groove structure on the cleaning fluid tank. This effectively solves the problems of limited sensor installation space and obstructed detection field of view, achieving reliable detection of low obstacles. Based on the first horizontal distance L1 obtained by the first distance sensor and the second horizontal distance L2 obtained by the second distance sensor, this application can accurately identify three types of obstacles: walls, protrusions, and low spaces, and perform differentiated control: when identified as a wall or protrusion, the cleaning component switches to a first extended state, extending a distance less than the first extension threshold to clean close to the obstacle, improving corner cleaning coverage; when identified as a low space, the cleaning component switches to a second extended state, extending a distance greater than the first extension threshold to ensure thorough cleaning of low areas. During extension, when L1 is less than a third distance threshold or a collision sensor is triggered, the cleaning component immediately stops extending, achieving dynamic safety protection; when in an open space, the cleaning component automatically retracts to improve passability. With its simple dual-sensor structure and compact layout, this application combines low-space detection, wall-mounted cleaning, safety protection, and automatic retraction functions, significantly improving the cleaning coverage and operational reliability of cleaning equipment in complex home environments. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the cleaning equipment described in the embodiments of this application; Figure 2 This is a partial structural schematic diagram of the cleaning equipment described in the embodiments of this application; Figure 3 This is a partial structural cross-sectional view of the cleaning equipment described in the embodiments of this application; Figure 4 This is a schematic diagram of the tilt setting of the second distance sensor as described in the embodiments of this application.

[0025] Explanation of reference numerals in the attached figures: 100 Floor brush assembly, 101 Floor brush housing, 102 Cleaning component, 103 First distance sensor; 104 Second distance sensor, 105 Opening, 106 Tilt side, 107 Signal transmitting end; 108 Cleaning fluid tank, 109 Clearance trough, 110 Tank bottom. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. In this application, unless otherwise stated, directional terms such as "up," "down," "left," and "right" generally refer to up, down, left, and right in the actual use or working state of the device, specifically the drawing directions in the accompanying drawings.

[0027] Existing cleaning equipment commonly suffers from the following technical problems when cleaning along walls and in low-ceilinged spaces: Sensors are mostly installed horizontally, making it difficult to effectively detect low-lying obstacles (such as scales, slippers, toys, cable trays, and low thresholds) that are below the sensor's mounting plane. This can easily cause the machine to jam, push objects along, or become entangled. Furthermore, the extension control logic of existing solutions is relatively simple, making it difficult to distinguish between "normal wall cleaning" and "low-ceilinged space" scenarios. This results in the extension mechanism not extending fully in low-ceilinged spaces, affecting corner cleaning coverage. In addition, some solutions attempt to integrate multiple sensors to address these issues, but these systems are complex, costly, and involve complex algorithms, posing challenges to reliability.

[0028] To address the aforementioned issues, this application utilizes the coordinated operation of a first distance sensor mounted on the floor brush and a second distance sensor mounted at an angle to effectively detect low-lying obstacles, eliminate blind spots, and prevent machine jamming or pushing objects. The device can automatically distinguish between wall-mounted and low-lying space scenarios, and control the extension mechanism to perform wall-mounted or low-lying extension respectively, thereby improving the cleaning coverage of corners. To achieve the above technical effects, this application includes the following technical features.

[0029] like Figures 1-3 As shown, this application provides a cleaning device (not shown), which includes a body (not shown) and a floor brush assembly 100 pivotally connected to the body (not shown). The floor brush assembly 100 includes a floor brush housing 101, a cleaning component 102, a first distance sensor 103, and a second distance sensor 104.

[0030] The brush housing 101 has an opening 105 on its side wall. A cleaning component 102 is disposed inside the brush housing 101. The cleaning component 102 is used to clean the surface to be cleaned. The cleaning component 102 has an extended state in which it can extend laterally at least partially out of the brush housing 101, and a retracted state in which it can be retracted into the brush housing 101. A first distance sensor 103 is disposed on the side wall of the cleaning component 102 on the same side as the opening 105, and is used to obtain a first horizontal distance L1 between the side wall of the cleaning component 102 and an obstacle. A second distance sensor 104 is disposed obliquely upward inside the opening 105, and is used to obtain a second horizontal distance L2 between the side wall of the brush housing 101 and an obstacle.

[0031] The technical advantage lies in the fact that by setting an opening on the side wall of the floor brush housing and tilting the second distance sensor upward within this opening, while simultaneously using a first distance sensor located on the same side wall as the opening on the cleaning component, the blind spot problem of low-lying obstacles caused by the limited installation position or obstruction by the cleaning fluid tank, which is a problem with traditional sensors, is effectively solved. The tilted upward second distance sensor allows the detection beam to radiate upward and to the side from inside the opening. Combined with the structural avoidance of the opening, it prevents the obstruction of the detection field by components above, such as the cleaning fluid tank, ensuring reliable acquisition of the second horizontal distance L2 between the side wall of the floor brush housing and the obstacle; the first distance sensor acquires the first horizontal distance L1 between the side wall of the cleaning component and the obstacle in real time. The data processing unit precisely controls the switching between the extended and retracted states of the cleaning component based on L1 and L2, improving the cleaning coverage of corners and the cleaning effect in low spaces while ensuring safety. This application, with its simple opening and built-in tilt sensor structure, achieves stable dual-distance detection in a compact spatial layout, enhancing the adaptability of the cleaning equipment to complex home environments.

[0032] In this application, opening 105 is an opening that passes through a through hole formed in the side wall of the brush housing 101, or opening 105 is an opening that is a recessed groove formed inward.

[0033] The technical advantage lies in providing a flexible and adaptable mounting structure for the second distance sensor by setting the opening as either a through-hole forming the side wall of the brush housing or a recessed groove forming the groove. When the opening is a through-hole, the second distance sensor can be directly embedded in the through-hole, with its signal transmitting end exposed to the outside of the brush housing, reducing the propagation loss of the detection beam and improving the detection accuracy and response speed of the second horizontal distance L2. When the opening is a groove, the second distance sensor is built into the groove, with its signal transmitting end not exceeding the outer surface of the brush housing, reducing the risk of sensor damage in collisions and maintaining the overall flatness of the brush housing side wall. Both opening forms ensure that the second distance sensor is tilted upwards within the opening, effectively utilizing the space avoidance function of the opening to prevent the detection beam from being blocked by components such as the cleaning fluid tank, while also providing convenience for sensor installation and maintenance. This application, through the opening design of through-holes or grooves, balances structural strength, protective performance, and ease of assembly while ensuring detection reliability, further improving the practicality and durability of the cleaning equipment.

[0034] In this application, the opening 105 is located above the cleaning component 102 and extends toward the top of the floor brush housing 101 until the opening 105 penetrates the top of the side wall of the floor brush housing 101.

[0035] The technical advantage lies in providing a larger and unobstructed detection field for the second distance sensor by placing the opening above the cleaning component and extending it towards the top of the brush housing until it penetrates the top of the side wall of the brush housing. Since the opening extends upwards to the top of the side wall of the brush housing, when the second distance sensor is tilted upwards within this opening, its detection beam can radiate upwards along the extension direction of the opening, effectively avoiding obstruction of the detection beam by components above, such as the cleaning fluid tank, ensuring stable acquisition of the second horizontal distance L2. Simultaneously, this opening design fully utilizes the height space of the side wall of the brush housing, allowing the second distance sensor to achieve tilted upward detection from a higher installation position, further expanding the detection range for obstacles on the side of the brush housing. Furthermore, the opening extending to the top of the side wall simplifies the manufacturing process and facilitates sensor installation and debugging. This application, through its top-through opening structure, achieves unobstructed detection of the second distance sensor within a compact brush assembly layout, improving the reliability and accuracy of detection of low obstacles and along walls.

[0036] like Figures 2-3 As shown, the opening 105 has an inclined side 106, and the angle formed by the inclined side 106 and the plane on which the side wall 101 of the floor brush housing is located is smaller than the angle formed by the end face of the signal transmitting end 107 of the second distance sensor 104 and the plane on which the side wall of the floor brush housing 101 is located.

[0037] The technical effect is that the inclined side 106 of the opening 105 is steeper than the end face of the signal transmitting end 107. First, it prevents dust from falling in. Because the inclined side is steeper, dust, hair and other debris are less likely to accumulate inside the opening and are more likely to slide off naturally during equipment operation or cleaning, reducing the risk of contamination of the sensor signal transmitting end. Second, it effectively avoids the side wall of the opening from blocking the sensor detection beam, ensuring that the upwardly inclined signal transmitting end can radiate the detection signal outward without obstruction.

[0038] In one feasible embodiment, the opening 105 has an inclined side 106, and the angle formed by the inclined side 106 and the plane on which the side wall of the floor brush housing 101 is located is equal to the angle formed by the end face of the signal transmitting end 107 of the second distance sensor 104 and the plane on which the side wall of the floor brush housing 101 is located.

[0039] Its technical advantages are as follows: First, it prevents dust accumulation. Since the angle between the two is consistent and there are no obvious steps or gaps at the opening, dust and stains are not easy to accumulate and it is easy for users to wipe and clean. Second, it effectively reduces the processing complexity of the opening. There is no need to process sides with different slopes to adapt to the sensor angle, which reduces manufacturing costs. Third, when the sensor fails and needs to be replaced, the inclined side is parallel to the sensor end face, which facilitates disassembly and reinstallation and improves maintenance convenience.

[0040] When cleaning equipment (not shown) performs cleaning operations, it is necessary to use cleaning fluid. The cleaning fluid tank used to store the cleaning fluid is usually set on the floor brush assembly 100 and is generally located on the top of the floor brush assembly 100. Therefore, the cleaning fluid tank located on the top of the floor brush assembly 100 will affect the detection range of the second distance sensor. In order to solve this technical problem, this application includes the following technical features.

[0041] like Figures 2-3 As shown, the floor brush assembly 100 also includes a cleaning fluid tank 108, which is located above the floor brush housing 101; the second distance sensor 104 is located below the cleaning fluid tank 108.

[0042] The technical advantage lies in its efficient use of the limited space between the bottom of the cleaning fluid tank and the brush housing. This provides a compact and reasonable placement for the second distance sensor, even under the unfavorable condition of the cleaning fluid tank occupying a high installation position. Since the presence of the cleaning fluid tank makes it difficult for traditional horizontally mounted sensors to effectively detect low obstacles from a high position, this application places the second distance sensor below the cleaning fluid tank. Combined with its tilted detection direction, this allows the detection beam to penetrate downwards from the bottom of the cleaning fluid tank, effectively avoiding obstruction of the detection field of view and reliably covering the low-lying area on the side of the brush housing. This placement fully utilizes the existing structural space of the brush assembly, without increasing the height or volume of the brush housing, while ensuring that the second distance sensor can detect low obstacles lower than the bottom of the cleaning fluid tank in advance, providing accurate sensing data for the extension control of the cleaning components.

[0043] In this application, the cleaning fluid tank 108 is provided with an inclined clearance groove 109. The bottom 110 of the clearance groove 109 extends from the edge of the upper top surface of the cleaning fluid tank 108 toward the interior of the cleaning fluid tank 108 and slopes downward. The angle formed between the bottom 110 of the clearance groove 109 and the end face of the signal transmitting end 107 of the second distance sensor 104 is not less than 90°.

[0044] The technical advantage lies in the fact that by setting an inclined clearance groove on the cleaning fluid tank, with the bottom of the groove sloping downwards from the edge of the top surface of the tank, and ensuring the angle between the bottom of the groove and the end face of the signal transmitter of the second distance sensor is no less than 90°, the spatial interference problem between the cleaning fluid tank and the upwardly tilted sensor is effectively solved. Specifically, the clearance groove provides ample detection space for the second distance sensor. The inclined groove bottom structure matches the tilt direction of the sensor signal transmitter, ensuring an angle of no less than 90° between the end face of the signal transmitter and the groove bottom. This prevents the cleaning fluid tank from obstructing the sensor's detection beam, allowing the upwardly tilted sensor to acquire the second horizontal distance L2 without obstruction. Simultaneously, the downwardly tilted groove bottom design helps guide dust or liquid outwards along the groove bottom, preventing debris from accumulating in the clearance groove and affecting the sensor's detection accuracy. Furthermore, the reasonable angle between the clearance groove and the sensor ensures that the cleaning fluid tank will not collide with the sensor during installation and removal, facilitating routine maintenance and replacement of the cleaning fluid tank. This application optimizes the structure of the clearance groove, enabling unobstructed installation and stable detection of the second distance sensor while ensuring a large capacity for the cleaning liquid tank, thereby further improving the space utilization and detection reliability of the cleaning equipment.

[0045] Based on the location of the second distance sensor, in order to further improve the accuracy of the cleaning equipment in perceiving obstacle categories, this application includes the following technical features.

[0046] In this application, the first distance sensor 103 is located on the side of the cleaning component 102 near the top of the cleaning component.

[0047] The technical advantage lies in the fact that by placing the first distance sensor on the side of the cleaning component near its top, the sensor maintains a high installation position throughout the lateral extension of the cleaning component, effectively avoiding the risk of sensor contamination or obstruction caused by the bottom of the cleaning component coming into contact with dirt or water stains on the surface to be cleaned. Simultaneously, this placement ensures that the detection beam of the first distance sensor can be emitted horizontally outwards, stably acquiring the first horizontal distance L1 between the sidewall of the cleaning component and the obstacle throughout the entire lateral extension range of the cleaning component. Since the first distance sensor is located on the top side of the cleaning component, its detection results are unaffected by the bottom structure of the cleaning component or the ground environment, resulting in more stable and reliable detection data. Furthermore, this placement allows the first distance sensor and the second distance sensor located above the cleaning component to form a reasonable height distribution. The two sensors work together to acquire distance information from different heights, providing a reliable sensing basis for the data processing unit to accurately distinguish different obstacle categories such as walls, protrusions, and low spaces. In summary, this application, by rationally arranging the first distance sensor on the side of the cleaning component near its top, further improves the reliability and accuracy of dual-sensor collaborative sensing while ensuring detection stability.

[0048] Because of the presence of the cleaning fluid tank, the second distance sensor needs to be tilted relative to the outer surface of the side wall of the floor brush housing to ensure the detection height. The tilt angle of the second distance sensor is necessarily related to the height of the floor brush assembly and the height of the second distance sensor from the surface to be cleaned. Therefore, this application includes the following technical features.

[0049] In this application, the second distance sensor 104 is inclined relative to the outer surface of the side wall of the floor brush housing 101, including: the angle α between the second distance sensor 104 and the plane containing the outer surface of the side wall of the floor brush housing 101 satisfies: tanα=((H1-H2) / L2); where H1 represents the height of the top of the floor brush assembly from the surface to be cleaned, and H2 represents the height of the second distance sensor 104 from the surface to be cleaned.

[0050] like Figure 4 As shown, dashed line A is a schematic diagram of the laser emitted by the second distance sensor 104. Dashed line A must be perpendicular to the surface of the second distance sensor 104, so ∠α+∠C=90°. Since ∠B+∠C=90°, ∠B=∠α. And tanB=((H1-H2) / L2), so tanα=((H1-H2) / L2).

[0051] The technical advantage lies in setting the tilt angle α of the second distance sensor to satisfy tanα=((H1-H2) / L2), enabling the detection beam of the second distance sensor to accurately cover the vertical range from the sensor installation height H2 to the top height H1 of the floor brush assembly, and achieving reliable detection of low obstacles at the second horizontal distance L2. This tilt angle is not arbitrarily chosen, but is calculated geometrically based on the difference between the height H1 of the top of the floor brush assembly and the height H2 of the second distance sensor from the surface to be cleaned, combined with the second horizontal distance L2. Since the cleaning fluid tank occupies the space above the floor brush assembly, traditional horizontally mounted sensors cannot effectively detect low obstacles. This application, through this specific tilt angle design, tilts the detection beam downwards and precisely bypasses the obstruction of the cleaning fluid tank, covering the low-lying space area on the side of the floor brush housing. This ensures that in the critical area near the cleaning component extension threshold, any low obstacle with a height between H2 and H1 can be reliably identified by the second distance sensor. Unlike existing technologies where horizontal sensor mounting results in low-lying obstacles being located in detection blind spots, this application establishes a clear functional relationship between the tilt angle and the height of the floor brush assembly and the sensor mounting height, achieving precise quantification of the tilt angle. This ensures that the detection field of view can effectively cover low-lying spaces while avoiding detection blind spots or false detections caused by excessively large or small angles, significantly improving the reliability and accuracy of low-lying obstacle detection.

[0052] In order to solve the technical problem that existing cleaning equipment cannot adaptively control the timing and distance of the cleaning component's extension according to the type of obstacle (wall, protrusion, low space), resulting in insufficient corner coverage, incomplete cleaning of low spaces, or easy collision, this application includes the following technical features.

[0053] In this application, the floor brush assembly further includes: when the cleaning component 102 is in the retracted state, if both the first horizontal distance L1 and the second horizontal distance L2 are less than or equal to the first distance threshold, the cleaning component 102 switches from the retracted state to the first extended state, at which time the extended distance of the cleaning component 102 is less than the first extended threshold.

[0054] Specifically, the first distance threshold is the edge-extending threshold. If both the first horizontal distance L1 and the second horizontal distance L2 are less than or equal to the first distance threshold, when the obstacle type identified by the cleaning device is a wall, the cleaning component 102 switches from the retracted state to the first extended state. The first extended state is the edge-extending state, and the maximum length that the cleaning component 102 can extend is the first extension threshold.

[0055] If the second horizontal distance L2 is less than or equal to the first distance threshold, and the first horizontal distance L1 is greater than the first distance threshold, the cleaning component 102 switches from the retracted state to the second extended state. At this time, the extended distance of the cleaning component 102 is greater than the first extended threshold.

[0056] Specifically, the second extension state is a low extension state. If the second horizontal distance L2 is less than or equal to the first distance threshold, and the first horizontal distance L1 is greater than the first distance threshold, the obstacle category currently identified by the cleaning device is a low space, and the maximum extension length of the cleaning component 102 is the maximum extendable distance. In this application, the floor brush assembly further includes: when the cleaning component 102 is in the retracted state, if both the first horizontal distance L1 and the second horizontal distance L2 are greater than the first distance threshold, the cleaning component 102 remains in the retracted state.

[0057] If the second horizontal distance L2 is greater than the first distance threshold and the first horizontal distance L1 is less than the first distance threshold, the cleaning component 102 switches from the retracted state to the first extended state. At this time, the distance that the cleaning component 102 extends is less than the first extended threshold.

[0058] Specifically, if the second horizontal distance L2 is greater than the first distance threshold and the first horizontal distance L1 is less than the first distance threshold, the obstacle type identified by the current cleaning device is a boss, and the maximum length that the cleaning component 102 can extend is the first extension threshold.

[0059] The technical effect lies in the fact that by comparing the results of the first horizontal distance L1, the second horizontal distance L2, and the first distance threshold, the cleaning device accurately identifies three types of obstacles: walls, protrusions, and low-lying spaces, and implements differentiated extension control strategies for each type. Specifically, when both the first horizontal distance L1 and the second horizontal distance L2 are less than or equal to the first distance threshold, the cleaning device identifies the current obstacle as a wall, and the cleaning component switches from a retracted state to an edge-extended state. At this time, the maximum extension length of the cleaning component is the first extension threshold, allowing the cleaning component to clean close to the wall and effectively improve the cleaning coverage of corners. When the second horizontal distance L2 is less than or equal to the first distance threshold while the first horizontal distance L1 is greater than the first distance threshold, the cleaning device identifies the current obstacle as a low-lying space, and the cleaning component switches from a retracted state to a low-lying extended state. At this time, the maximum extension length of the cleaning component is the second extension threshold. Since the second extension threshold is greater than the first extension threshold, it ensures that the cleaning component can extend a greater distance in low-lying spaces, ensuring that the area below the low-lying obstacle is thoroughly cleaned. When the second horizontal distance L2 is greater than the first distance threshold while the first horizontal distance L1 is less than or equal to the first distance threshold, the cleaning device identifies the current obstacle as a protrusion. The cleaning component switches from a retracted state to an edge-extended state, with the maximum extension length of the cleaning component being the first extension threshold, allowing the cleaning component to clean close to the edge of the protrusion. When both the first horizontal distance L1 and the second horizontal distance L2 are greater than the first distance threshold, it indicates that there is open space on the side of the floor brush housing, and the cleaning component remains retracted to avoid unnecessary extension. This application, through the above-mentioned hierarchical judgment and differentiated extension control, achieves adaptive response to three types of scenarios—walls, protrusions, and low spaces—without the need for complex sensor fusion algorithms. The edge-extended state ensures corner cleaning coverage, the low-profile extended state ensures cleaning effectiveness in low spaces, and the retracted state in open spaces reduces power consumption and mechanical wear, significantly improving the intelligence level and cleaning efficiency of the cleaning device in complex home environments.

[0060] After controlling the extension of the cleaning component, it is also necessary to control the cleaning component to stop extending in order to avoid collision between the cleaning component and obstacles. To solve this technical problem, this application includes the following technical features.

[0061] In this application, the floor brush assembly further includes: when the cleaning component is in the extended state, if the first horizontal distance L1 is less than a third distance threshold, the cleaning component stops extending.

[0062] In specific application scenarios, for example, if the third distance threshold is 0.1 cm, when the cleaning component 102 is in the extended state and the first horizontal distance L1 obtained is less than 0.1 cm, the cleaning component 102 can be determined to have reached the edge of the obstacle, and at this time the cleaning component 102 is controlled to stop extending.

[0063] The technical advantage lies in the fact that, by setting a third distance threshold, when the cleaning component is in the extended state, if the first horizontal distance L1 is less than the third distance threshold (e.g., 0.1 cm), it is determined that the cleaning component has approached the obstacle surface, and the cleaning component immediately stops extending. This mechanism achieves precise contact and stopping between the cleaning component and the obstacle, ensuring that the cleaning component can clean closely against the edge of walls, protrusions, or low obstacles, effectively improving the cleaning coverage of corners and the cleaning effect in low spaces. It also avoids collisions, squeezing, or jamming caused by excessive extension, providing dynamic safety protection. Furthermore, the setting of the third distance threshold means that the stopping judgment does not depend on the extension length of the cleaning component, but is based on real-time distance detection, resulting in a fast response speed and adaptability to obstacles of different shapes and positions.

[0064] In one feasible embodiment, a collision sensor is installed on the surface of the extended end of the cleaning component 102. When the collision sensor generates a collision signal, the cleaning component 102 is controlled to stop extending.

[0065] Its technical advantage lies in the fact that when the collision sensor generates a collision signal, it also controls the cleaning component to stop extending. This alternative solution triggers the stop through physical contact, providing redundant protection in case of distance sensor failure or special operating conditions, further enhancing the safety and reliability of the cleaning component during extension. This application, through a dual guarantee mechanism of distance threshold stopping and collision stopping, ensures the safe and precise stopping of the cleaning component's extension under different operating conditions, balancing cleaning effectiveness and operational safety.

[0066] When the cleaning component extends and completes the cleaning operation of the current obstacle, it is necessary to determine whether the user is still continuing the cleaning operation in the extended state. If so, the cleaning component remains extended; otherwise, the cleaning component is controlled to retract to perform cleaning operations in a wide space. To achieve this technical effect, this application includes the following technical features.

[0067] In this application, the floor brush assembly further includes: when the cleaning component 102 is in the extended state, if both the first horizontal distance L1 and the second horizontal distance L2 are greater than the second distance threshold, the second distance threshold is the cleaning component retraction threshold, and the cleaning component 102 switches from the extended state to the retracted state; if both the first horizontal distance L1 and the second horizontal distance L2 are less than the second distance threshold, the cleaning component 102 remains in the extended state.

[0068] In this application, by setting a second distance threshold as the cleaning component retraction threshold, reliable control is achieved to automatically switch the cleaning component from the extended state to the retracted state after completing the task. Specifically, when the cleaning component is in the extended state, if both the first horizontal distance L1 and the second horizontal distance L2 are greater than the second distance threshold, it indicates that there are no obstacles such as walls, protrusions, or low spaces on the side of the brush housing, and the cleaning equipment has entered an open space. At this time, the cleaning component is controlled to switch from the extended state to the retracted state, so that the cleaning component retracts into the brush housing, restoring the overall width of the brush assembly. If both the first horizontal distance L1 and the second horizontal distance L2 are less than the second distance threshold, it indicates that the cleaning equipment is still near a wall, protrusion, or low space, and the cleaning component remains in the extended state, continuing to perform edge cleaning or low space cleaning tasks. This retraction control mechanism effectively avoids false retraction caused by false detection of a single sensor (such as temporary splashing dust or interference from briefly passing objects) by using judgment logic based on the simultaneous satisfaction of threshold conditions by dual distance sensors, ensuring the reliability and stability of the retraction control. Meanwhile, the second distance threshold, set as a retraction threshold, enables the cleaning component to retract promptly after leaving the obstacle area, reducing the overall width of the machine and improving its maneuverability in confined spaces such as narrow passages and furniture gaps. It also reduces unnecessary extension of the cleaning component in open areas, lowering mechanical wear and power consumption. This application, through a simple dual-threshold judgment logic, achieves automatic and reliable retraction of the cleaning component, further enhancing the autonomous operation capability and ease of use of the cleaning equipment in complex home environments.

[0069] The advantage of this application lies in providing a cleaning device that, by creating an opening in the side wall of the floor brush housing, places a second distance sensor tilted upwards within the opening, and, in conjunction with an obstacle avoidance groove structure on the cleaning fluid tank, effectively solves the problems of limited sensor installation space and obstructed detection field of view, achieving reliable detection of low obstacles. Based on the first horizontal distance L1 obtained by the first distance sensor and the second horizontal distance L2 obtained by the second distance sensor, this application can accurately identify three types of obstacles: walls, protrusions, and low spaces, and perform differentiated control: when identified as a wall or protrusion, the cleaning component switches to a first extended state, with an extension distance less than the first extension threshold to clean close to the obstacle, improving the cleaning coverage of corners; when identified as a low space, the cleaning component switches to a second extended state, with an extension distance greater than the first extension threshold, ensuring that low areas are thoroughly cleaned. During the extension process, when L1 is less than a third distance threshold or a collision sensor is triggered, the cleaning component immediately stops extending, achieving dynamic safety protection; when in an open space, the cleaning component automatically retracts to improve passability. With its simple dual-sensor structure and compact layout, this application combines low-space detection, wall-mounted cleaning, safety protection, and automatic retraction functions, significantly improving the cleaning coverage and operational reliability of cleaning equipment in complex home environments.

[0070] The above provides a detailed description of the cleaning device provided by this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A cleaning device, characterized in that, The cleaning device includes a body and a floor brush assembly pivotally connected to the body, the floor brush assembly comprising: The floor brush housing has an opening on its side wall; A cleaning component is disposed within the floor brush housing. The cleaning component is used to clean the surface to be cleaned. The cleaning component has an extended state that can extend laterally at least partially out of the floor brush housing, and a retracted state that can be retracted into the floor brush housing. A first distance sensor is disposed on the side wall of the cleaning component on the same side as the opening, for obtaining a first horizontal distance L1 between the side wall of the cleaning component and the obstacle; The second distance sensor is tilted upward and installed inside the opening to obtain the second horizontal distance L2 between the side wall of the floor brush housing and the obstacle.

2. The cleaning equipment as described in claim 1, characterized in that, The opening is an opening that penetrates the through hole formed in the side wall of the floor brush housing; or The opening is the opening of a groove formed by an inward concavity.

3. The cleaning equipment as described in claim 1, characterized in that, The opening is located above the cleaning component and extends toward the top of the floor brush housing until it penetrates the top of the side wall of the floor brush housing.

4. The cleaning equipment as described in claim 1, characterized in that, The opening has an inclined side surface, and the angle formed between the inclined side surface and the plane containing the side wall of the floor brush housing is smaller than the angle formed between the end face of the signal transmitting end of the second distance sensor and the plane containing the side wall of the floor brush housing; or The opening has an inclined side, and the angle formed by the inclined side and the plane where the side wall of the floor brush housing is located is equal to the angle formed by the end face of the signal transmitting end of the second distance sensor and the plane where the side wall of the floor brush housing is located.

5. The cleaning equipment as described in claim 1, characterized in that, The floor brush assembly also includes a cleaning fluid tank, which is located above the floor brush housing; the second distance sensor is located below the cleaning fluid tank.

6. The cleaning equipment as described in claim 5, characterized in that, The cleaning fluid tank is provided with an inclined clearance groove. The bottom of the clearance groove starts from the edge of the top surface of the cleaning fluid tank, faces the inside of the cleaning fluid tank and slopes downward. The angle formed between the bottom of the clearance groove and the end face of the signal transmitting end of the second distance sensor is not less than 90°.

7. The cleaning equipment as described in claim 1, characterized in that, The first distance sensor is located on the side of the cleaning component near the top of the cleaning component.

8. The cleaning equipment as described in claim 1, characterized in that, The floor brush assembly also includes: When the cleaning component is in the retracted state, if both the first horizontal distance L1 and the second horizontal distance L2 are less than or equal to the first distance threshold, the cleaning component switches from the retracted state to the first extended state, at which time the extended distance of the cleaning component is less than the first extended threshold.

9. The cleaning equipment as described in claim 1, characterized in that, The floor brush assembly also includes: When the cleaning component is in the retracted state, if the second horizontal distance L2 is less than or equal to the first distance threshold and the first horizontal distance L1 is greater than the first distance threshold, the cleaning component switches from the retracted state to the second extended state. At this time, the distance the cleaning component extends is greater than the first extension threshold.

10. The cleaning equipment as claimed in claim 1, characterized in that, The floor brush assembly also includes: When the cleaning component is in the retracted state, if both the first horizontal distance L1 and the second horizontal distance L2 are greater than the first distance threshold, the cleaning component remains in the retracted state.

11. The cleaning equipment as claimed in claim 1, characterized in that, The floor brush assembly also includes: When the cleaning component is in the retracted state, if the second horizontal distance L2 is greater than the first distance threshold and the first horizontal distance L1 is less than the first distance threshold, the cleaning component switches from the retracted state to the first extended state. At this time, the distance the cleaning component extends is less than the first extension threshold.

12. The cleaning equipment as claimed in claim 1, characterized in that, The floor brush assembly also includes: When the cleaning component is in the extended state, if both the first horizontal distance L1 and the second horizontal distance L2 are greater than the second distance threshold, the cleaning component switches from the extended state to the retracted state.

13. The cleaning equipment as described in claim 1, characterized in that, The floor brush assembly also includes: When the cleaning component is in the extended state, if both the first horizontal distance L1 and the second horizontal distance L2 are less than the second distance threshold, the cleaning component remains in the extended state.

14. The cleaning equipment as described in claim 5 or 6, characterized in that, The floor brush assembly also includes: When the cleaning component is in the extended state, if the first horizontal distance L1 is less than the third distance threshold, the cleaning component stops extending.

15. The cleaning equipment as claimed in claim 1, characterized in that, The second distance sensor is inclined relative to the outer surface of the sidewall of the floor brush housing, including: The angle α between the second distance sensor and the plane containing the outer surface of the side wall of the floor brush housing satisfies: tanα=((H1-H2) / L2); Wherein, H1 represents the height of the top of the floor brush assembly from the surface to be cleaned, and H2 represents the height of the second distance sensor from the surface to be cleaned.

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