Edge brush assembly, sweeping robot and control method of edge brush assembly

Abstract

The application provides a side brush assembly, a sweeping robot and a control method of the side brush assembly, and relates to the technical field of cleaning. The side brush assembly comprises a base and a side brush arm. The base can rotate in a first direction and a second direction. The base is internally provided with a movable space. The movable space has a first working position and a second working position. The first end of the side brush arm is rotatably arranged on the base. The second end of the side brush arm penetrates through the movable space and extends to the outside of the base. The side brush arm is used for switching between the first working position and the second working position. When the base rotates in the first direction, the side brush arm is limited in the first working position. When the base rotates in the second direction, the side brush arm is limited in the second working position. The application solves the problem that the hair or other filamentous foreign matters entangled in the side brush assembly during use need to be cleaned manually frequently in the related art, realizes self-cleaning of the entangled foreign matters during rotation of the side brush, and reduces the maintenance burden of the user.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a side brush assembly, a sweeping robot, and a control method for the side brush assembly. Background Technology

[0002] Robotic vacuum cleaners use side brushes to gather debris from the floor and direct it to the suction port; the cleaning range of these side brushes directly impacts cleaning efficiency. In a home environment, common scenarios such as long hair and damp floors place higher demands on the reliability of the side brush components.

[0003] In related technologies, the side brush of a robotic vacuum cleaner typically includes a side brush arm, which is equipped with bristles. The side brush arm is designed with a relatively straight arm-shaped structure, and when the side brush rotates, it relies on the bristles to sweep the ground and gather the debris towards the suction port.

[0004] In environments with a lot of long hair and in humid conditions, long hair can easily slide and become tangled along the arm during rotation. As the number of side brush arms increases, the cumulative effect of hair tangling intensifies, eventually causing the side brush to jam, reducing cleaning efficiency, and requiring users to clean it manually frequently. Summary of the Invention

[0005] This application provides a side brush assembly, a robotic vacuum cleaner, and a control method for the side brush assembly to solve the problem in related technologies where hair or other filamentous foreign objects entangled in the side brush assembly during use require frequent manual cleaning. This enables the side brush to self-clean entangled foreign objects during rotation, reducing the user's maintenance burden.

[0006] In a first aspect, embodiments of this application provide a side brush assembly, including: a base and a side brush arm. The base is rotatable along a first direction and a second direction. The base has an internal movable space with a first working position and a second working position. A first end of the side brush arm is rotatably disposed on the base, and a second end of the side brush arm passes through the movable space and extends to the outside of the base. The side brush arm is used to switch between the first working position and the second working position. When the base rotates along the first direction, the side brush arm is limited to the first working position. When the base rotates along the second direction, the side brush arm is limited to the second working position.

[0007] This implementation provides a movable space within the base, allowing the side brush arm a certain range of motion, while also enabling the base to rotate in both directions. During these rotations, the side brush arm travels a certain distance due to inertia. Then, by limiting the range of the movable space, the side brush arm can abruptly stop within this inertial travel distance, using centrifugal force to remove any foreign objects entangled on it. This achieves self-cleaning of the side brush assembly during rotation, reducing the user's maintenance burden.

[0008] In one possible implementation, at least two activity spaces and two side brush arms are provided, and the activity spaces and side brush arms are arranged in a one-to-one correspondence.

[0009] In this embodiment, since each side brush arm corresponds to an independent activity space and its swing stroke is constrained by its own defined cavity, multiple side brush arms can maintain relatively clear movement boundaries during operation, reducing collisions, entanglements and accumulation between the arms.

[0010] In one possible implementation, the side brush arm includes a first side brush arm and a second side brush arm. The first side brush arm is rotatably connected to the base via a first foot, and the second side brush arm is rotatably connected to the base via a second foot. The angle between the line connecting the center of the first foot and the center of the base and the line connecting the center of the second foot and the center of the base is α, and α satisfies the following relationship: 180°≤α≤230°.

[0011] This embodiment, through the split arrangement of the two arms and the angle between the first and second legs, enables the side brush arm to balance movement flexibility, positioning reliability, and spatial adaptability under different cleaning conditions, thereby reducing the probability of missed cleaning.

[0012] In one possible implementation, a first limiting part is provided in the first working position to limit the side brush arm to the first working position; a second limiting part is provided in the second working position to limit the side brush arm to the second working position; the included angle between the first side brush arm in the first working position and the second working position is β, and β satisfies the following relationship: 120°≤β≤150°; and / or, the included angle between the first side brush arm in the first working position and the second working position is β, and β satisfies the following relationship: 120°≤β≤150°.

[0013] In this embodiment, since the first limiting part and the second limiting part are respectively set to two working positions, and the included angle β formed by the two parts and the first and second legs meets the requirement of 120° to 150°, the switching process of the side brush arm between the two extreme positions has a clear termination boundary, which can reduce overtravel swing, springback offset and jamming caused by structural interference.

[0014] In one possible implementation, both the first and second side brush arms include: an arm base and brush bristles, with one end of the arm base rotatably connected to the base and the other end extending to the outside of the base; and brush bristles located at the other end of the arm base.

[0015] In this embodiment, since the arm supports and transmits force to the brush bristles, and the brush bristles directly sweep away debris on the ground, this structure can improve the passability and operational stability of the side brush assembly while maintaining edge cleaning capability, making it easier to maintain a continuous cleaning trajectory, reducing local missed sweeps, and improving adaptability to complex ground environments.

[0016] In one possible implementation, the arm includes a rigid section and a flexible section connected to each other, the rigid section being rotatably connected to the base, the flexible section being located outside the base, and the rigid section and the flexible section being arranged at an included angle.

[0017] In this embodiment, the rigid section ensures sufficient attitude transmission accuracy when the side brush arm switches between the first and second working positions, while the flexible section improves passability and fit under irregular working conditions, reducing rigid interference. This structure enhances the compliant adaptation capability of the external brush end while ensuring the reliability of rotation control, thereby reducing the probability of side brush jamming, tangling, and missed cleaning, and improving the continuous cleaning stability of the robot vacuum cleaner in complex environments.

[0018] In one possible implementation, the base has an interior cavity, and the side wall of the base has a through groove communicating with the cavity. One end of the side brush arm is rotatably connected to the bottom wall of the cavity, and the other end passes through the through groove.

[0019] This embodiment provides a relatively enclosed and constrained installation environment for the side brush arm by using a cavity and side wall through grooves. This allows the side brush arm to maintain its external cleaning capability while also enabling necessary extension and swinging through the through grooves, thereby adapting to posture switching under different cleaning conditions.

[0020] In one possible implementation, the base includes a base and a cover plate, the top of the base having an opening communicating with a cavity, the cavity being located inside the base, and a through groove being provided on the side wall of the base; the cover plate covers the opening to close the opening.

[0021] This embodiment uses a shell structure formed by the base and the cover plate to maintain the assembly accuracy and protection reliability of the internal mechanism, so that the side brush arm can maintain a stable support and guiding relationship when rotating in different directions, thereby improving the continuous operation of the side brush assembly under complex working conditions and helping to reduce the probability of failure caused by foreign objects entering the interior.

[0022] Secondly, embodiments of this application provide a sweeping robot, including: a sweeping robot body and at least one side brush assembly as described in any of the above embodiments, the sweeping robot body being provided with a drive assembly; the side brush assembly being connected to the drive assembly, and the side brush assembly being used to rotate along a first direction and a second direction under the drive of the drive assembly.

[0023] In this embodiment, when the robot vacuum is running, the drive component outputs rotational power to the side brush component. The bristles of the side brush component can first enter the working state in the first direction to sweep away dust, hair and particulate debris at the corners of the ground. When it is necessary to change the sweeping trajectory or loosen the tangled objects on the bristles, the side brush component can repeatedly switch between the first direction and the second direction, thereby cleaning away the tangled objects through inertia.

[0024] In one possible implementation, the robot vacuum cleaner body includes: a first detection component, a second detection component, and a control component. The first detection component is used to detect whether there are foreign objects on the side brush arm; the second detection component is used to detect whether the robot vacuum cleaner has reached a preset location; and the control component is used to control the rotation of the drive component.

[0025] In this embodiment, the first detection component can promptly identify foreign objects on the side brush arm and trigger a processing strategy, the second detection component can ensure that the robot vacuum cleaner performs corresponding control actions at preset locations, and the control component achieves matching of the side brush component's operating state with the environmental state through unified adjustment of the drive component. This helps to reduce the risk of increased resistance and operational interruption caused by side brush entanglement, and improves the accuracy and stability of fixed-point cleaning, recharging and docking, and side brush self-cleaning processes.

[0026] Thirdly, embodiments of this application provide a control method for a side brush assembly. The control method includes the following steps: S1, detecting whether the side brush assembly has met the preset conditions for cleaning foreign objects; S2, when the side brush assembly meets the preset conditions for cleaning foreign objects, the base stops rotating in the first direction, and the side brush arm is at the first working position; S3, after the base stays for a first duration, it starts rotating in the second direction, and after rotating for a second duration, the base stops rotating, and the side brush arm is at the second working position; S4, repeating the above steps until it is detected that the side brush assembly has not met the preset conditions for cleaning foreign objects.

[0027] In this embodiment, by utilizing the bidirectional rotation of the base and the limiting of the active space, the side brush arm repeatedly switches between two working positions, and foreign objects entangled on the extended section of the side brush arm are cleaned up during the posture change.

[0028] In one possible implementation, the preset conditions for cleaning foreign objects include: the robot vacuum body reaching a preset location and there being foreign objects on the side brush arm.

[0029] In this embodiment, the foreign object removal action is triggered only when the robot vacuum body reaches the preset location and there is indeed a foreign object on the side brush arm. The control conditions are clear and the triggering timing is stable, which enables the cleaning action of the side brush arm to match the position state of the whole machine and improves the operational consistency of the side brush assembly. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0031] Figure 1 A structural diagram of the brush assembly provided in this application when it rotates in the second direction;

[0032] Figure 2 An exploded view of the brush component provided in this application;

[0033] Figure 3 A comparison diagram of the brush assembly provided in this application when rotating in the first and second directions;

[0034] Figure 4 An exploded view of the base of the brush assembly provided in this application.

[0035] Figure label:

[0036] 100: Base; 110: First limiting part; 120: Second limiting part; 130: Cavity; 140: Support leg; 150: Through groove; 160: Base; 170: Cover plate;

[0037] 141: First leg; 142: Second leg;

[0038] 200: Side brush arm; 210: Arm base; 220: Brush bristles; 230: First side brush arm; 240: Second side brush arm;

[0039] 211: Rigid section; 212: Flexible section. Detailed Implementation

[0040] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application.

[0041] In existing robotic vacuum cleaners, the side brush assembly mostly adopts a fixed side brush structure driven by a motor. During operation, the side brush arm continuously extends outward from the body and gathers debris from the ground towards the center of the machine while rotating. This solution has a relatively simple structure and can meet the basic cleaning needs of general floors.

[0042] However, in environments with a lot of long hair, thread-like debris, or where dust and damp debris are mixed together, the fixed, extended side brush arms are prone to tangling and piling up, increasing the resistance to the side brush rotation and, in severe cases, affecting the continuity of cleaning. At the same time, when the equipment passes over thresholds, carpet edges, or close to furniture corners, the continuously extending side brush arms are also prone to interfering with obstacles, causing uneven passage, path deviation, or even missed areas, thus affecting the overall cleaning efficiency and operational stability.

[0043] In view of this, how to balance the positional adaptability and cleaning stability under different working conditions during the operation of the side brush assembly has become an urgent technical problem to be solved. To solve the above problem, a side brush assembly is provided, which includes a base 100 that can rotate along a first direction and a second direction. The base 100 has an internal movable space with a first working position and a second working position. The first end of the side brush arm 200 is rotatably disposed on the base 100, and the second end passes through the movable space and extends to the outside of the base 100, so that the side brush arm 200 can switch between the first working position and the second working position as the base 100 rotates in different directions to adapt to the usage needs of different cleaning scenarios.

[0044] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0045] Reference Figure 1 and Figure 2 The side brush assembly provided in this application includes a base 100 and a side brush arm 200. The base 100 is rotatable along a first direction and a second direction. The base 100 has an internal movable space with a first working position and a second working position. A first end of the side brush arm 200 is rotatably mounted on the base 100, and a second end of the side brush arm 200 passes through the movable space and extends to the outside of the base 100. The side brush arm 200 is used to switch between the first working position and the second working position. When the base 100 rotates along the first direction, the side brush arm 200 is limited to the first working position; when the base 100 rotates along the second direction, the side brush arm 200 is limited to the second working position. It should be noted that the first direction is the rotation direction of the side brush assembly during normal cleaning.

[0046] The base 100 refers to the main component used to install, support, and limit the movement of the side brush arm 200. It has an internal space for the side brush arm 200 to switch postures, and the base 100 can rotate bidirectionally around a predetermined axis. The function of the base 100 is to provide the side brush arm 200 with a rotation reference, a limiting reference, and an installation interface. The base 100 can be installed on the side brush mounting position at the bottom of the sweeping robot and is connected in conjunction with the drive mechanism, the limiting mechanism, or the rotating support component. The specific structural dimensions of the base 100 can be determined according to the swing stroke of the side brush arm 200 and the installation space, so that the internal space can meet the requirement that the side brush arm 200 does not cause unexpected interference when switching between two working positions.

[0047] The side brush arm 200 refers to a functional arm that is hinged at one end to the base 100 and extends outward from the base 100 to perform brushing. Its function is to act as a cleaning contact during the rotation of the base 100 to push the debris on the ground to the vicinity of the suction port, and to switch between different limit states through its relative rotation in the activity space under the action of inertia. The first end of the side brush arm 200 is rotatably located at the connection point inside the base 100.

[0048] In one possible embodiment, the side brush arm 200 can adopt a single-arm structure, a double-segment folding arm structure, or an arc-shaped arm structure. Its rotating connection can be achieved by a pin connection, a bushing connection, or a rotary bearing connection. The total length, extension length, and rotation radius of the side brush arm 200 can be set according to the spatial relationship between the edge of the robot chassis and the suction port, so that it can form a stable switching between the first working position and the second working position.

[0049] The active space refers to the internal space area formed inside the base 100 to accommodate the swing of the side brush arm 200 and realize position switching. Its function is to provide a restricted movement path for the side brush arm 200, so that the side brush arm 200 can complete the transition between predetermined positions when the base 100 rotates in different directions, and is constrained by the spatial boundary at the corresponding position. The active space is located inside the base 100 and is connected to the second end of the side brush arm 200 through the path, so that the side brush arm 200 can complete the posture adjustment inside and form the actual brushing length outside. The size of the active space should match the cross-sectional size and swing angle of the side brush arm 200, so as to accommodate the smooth transition of the side brush arm 200 between the first working position and the second working position, and to constrain its posture after it is in place.

[0050] The first working position refers to the predetermined stopping position of the side brush arm 200 in the activity space when the base 100 rotates in the first direction. Its function is to keep the side brush arm 200 in a restricted state in a working posture and to form a linkage with the rotation process of the base 100. The first working position is located on the first side of the activity space or at a predetermined angle position. After the side brush arm 200 switches to this position, its extended end forms a corresponding brushing posture with the outside of the base 100. In a possible embodiment, the first working position can be formed by the boundary constraint of the corresponding position of the activity space. When the side brush arm 200 is in this position, its rotational freedom is constrained in the predetermined direction, and the relative position of the extended end and the edge of the chassis satisfies the preset cleaning coverage relationship.

[0051] The second working position refers to another predetermined stopping position within the activity space corresponding to the side brush arm 200 when the base 100 rotates in the second direction. Its function is to keep the side brush arm 200 in a restricted state in another working posture and adapt to cleaning or avoidance requirements different from the first working position. The second working position is located on the second side of the activity space or at a predetermined angle position opposite to the first working position. After the side brush arm 200 switches to this position, the positional relationship of its extended end relative to the outside of the base 100 changes. In one possible embodiment, the second working position is formed by the constraint relationship of the corresponding position in the activity space, and the side brush arm 200 forms a posture adapted to the current operating state at this position.

[0052] During operation, after the side brush assembly is installed on the bottom of the robot vacuum, the drive mechanism drives the base 100 to rotate in the first direction. Due to inertia, the side brush arm 200 can swing relative to the connection point when the base 100 rotates, and stop at the first working position under the limitation of the activity space, and then continue to rotate in the first direction to clean foreign objects on the surface to be cleaned. When it is necessary to clean foreign objects entangled on the side brush assembly, simply rotate the side brush assembly back and forth in the first and second directions. During the direction switching process, since the side brush arm 200 has a certain shape within the activity space, the side brush arm 200 will continuously fling out foreign objects on itself under the action of inertia, thereby achieving cleaning.

[0053] This application provides a movable space within the base 100, allowing the side brush arm 200 to move freely while simultaneously enabling the base 100 to rotate in both directions. During the forward and reverse rotation of the base 100, the side brush arm 200 travels a certain distance due to inertia. Then, by limiting the range of the movable space, the side brush arm 200 can abruptly stop within this inertial travel distance, thereby using centrifugal force to remove foreign objects entangled on the side brush arm 200. This achieves self-cleaning of entangled foreign objects by the side brush assembly during rotation, reducing the user's maintenance burden.

[0054] Reference Figure 1 In some embodiments of this application, at least two activity spaces and two side brush arms 200 are provided, and the activity spaces and side brush arms 200 are provided in a one-to-one correspondence.

[0055] The system includes at least two active spaces and two corresponding side brush arms 200, which can be understood as setting multiple independent and collaborative cleaning units within a single side brush assembly to improve coverage or achieve multi-position coordination. Its function is to expand the cleaning coverage area, reduce localized omissions, and prevent interference between the multiple side brush arms 200 during swinging by setting two or more corresponding active spaces within the base 100, with each active space accommodating a corresponding side brush arm 200. This allows multiple side brush arms 200 to rotate independently, synchronously, or alternately within their respective defined ranges, thereby preventing interference between the multiple side brush arms 200 during swinging and improving the stability and controllability of the side brush assembly operation.

[0056] Specifically, multiple activity spaces can be distributed circumferentially along the base 100, or each activity space corresponds to a side brush arm 200, and the two constitute an independent working unit. Each working unit can share the same base 100 shell, or they can be distinguished inside the base 100 by partition ribs, partitions or independent cavities, so as to ensure that the movement path of the side brush arm 200 in its respective activity space is relatively independent.

[0057] In one possible embodiment, the active space can be configured as an arc cavity, a fan-shaped cavity, or a strip-shaped guide cavity to accommodate the swinging envelope of the side brush arm 200 in different directions; the side brush arm 200 can adopt a double-arm, triple-arm, or multi-arm structure of equal or unequal length, or a segmented brush arm structure to correspond to different cleaning areas; the multiple active spaces inside the base 100 can be separated by plastic partitions, metal frames, or integrally injection-molded ribs; the side brush arm 200 can be made of flexible nylon, reinforced plastic, metal core coated with rubber, or elastic composite material to take into account wear resistance, resilience, and anti-winding performance.

[0058] The circumferential angle and spacing between multiple activity spaces can be set according to the overall chassis size, suction port position and expected cleaning width to avoid collision or jamming of the side brush arm 200 when switching working positions. The length of the side brush arm 200, the outward extension of the bristles 220 and the depth of the activity space can be matched and set according to the coverage range and obstacle avoidance requirements.

[0059] In this embodiment, since each side brush arm 200 corresponds to an independent active space and its swing stroke is constrained by its respective defined cavity 130, the multiple side brush arms 200 can maintain relatively clear motion boundaries during operation, reducing collisions, entanglements, and accumulation between the arms. Therefore, this one-to-one correspondence multi-active-space, multi-side brush arm 200 structure can achieve more stable operation without significantly increasing control complexity.

[0060] Reference Figure 3 ( Figure 3 The dashed lines represent the first side brush arm 230 and the second side brush arm 240 in a first position (implemented as the first side brush arm 230 and the second side brush arm 240 in a second position). In some embodiments of this application, the side brush arm 200 includes a first side brush arm 230 and a second side brush arm 240. The first side brush arm 230 is rotatably connected to the base 100 via a first support 141, and the second side brush arm 240 is rotatably connected to the base 100 via a second support 142. The angle between the line connecting the center of the first support 141 and the center of the base 100 and the line connecting the second support 142 and the center of the base 100 is α, where α satisfies the following relationship: 180°≤α≤230°. In other possible embodiments, 200°≤α≤220°.

[0061] In this embodiment, the first side brush arm 230 and the second side brush arm 240 constitute a dual-arm split side brush structure. The first support leg 141 and the second support leg 142 serve as independent rotation fulcrums for the two side brush arms 200 relative to the base 100. The first support leg 141 and the second support leg 142 support the corresponding side brush arm 200 and provide an mounting interface for it to rotate around the base 100. With this configuration, the two side brush arms 200 can switch postures independently under the influence of the base 100, thereby achieving bidirectional coverage of different areas during cleaning and ensuring a relatively stable force distribution for the side brush arms 200 under different working conditions.

[0062] The first leg 141 and the second leg 142 are both mounted on the base 100, and the angle α between the two legs and the center of the base 100 is limited to the range of 180° to 230°. This arrangement of the two legs 140 in an approximately opposite and slightly deflected manner can improve the support stability and controllability of the switching action while ensuring that the brush arms 200 on both sides have sufficient space for movement.

[0063] The first support 141 and the second support 142 can be made into columnar, shaft-shaped, or stepped shaft-shaped structures, respectively. They can also adopt a short shaft structure with flange, a sleeve-type rotating shaft structure, or an integrally molded structure. In terms of materials, the first support 141 and the second support 142 can be made of metal shaft core, engineering plastic shaft core, surface-coated shaft core, or a metal and plastic composite structure to balance structural strength, wear resistance, and assembly reliability. In terms of size design, the axial length of the first support 141 and the second support 142 can be matched according to the thickness of the base 100, the thickness of the side brush arm 200, and their rotation space. The diameter of the first support 141 and the second support 142 can form an interference fit with the shaft hole on the base 100, and the two support points are arranged at a large angle in the plane to facilitate the distribution of rotational load and avoid excessive interference of the side brush arm 200 during switching.

[0064] When started, the side brush assembly is installed on the bottom of the robot vacuum and enters the cleaning area with the whole machine. The first side brush arm 230 and the second side brush arm 240 form rotational supports at the first support leg 141 and the second support leg 142, respectively. When the base 100 rotates in a predetermined direction under the action of the drive mechanism, the two side brush arms 200 enter the corresponding working positions under the drive of the relative movement of the base 100 and act on the debris on the ground. Since the two support legs 140 are arranged at an angle of 180° to 230°, the two side brush arms 200 can maintain a relatively clear spatial separation relationship when unfolding or switching. They can not only sweep away dust on the walls, corners and edges of obstacles through their respective swing ranges, but also reduce the probability of mutual restraint and interference with the outside world when encountering thresholds, furniture corners or local protrusions. As the base 100 rotates in different directions, the first side brush arm 230 and the second side brush arm 240 can adjust their positions in predetermined postures and maintain a stable rotation trajectory under the support of the first support leg 141 and the second support leg 142. This makes the cleaning coverage more continuous and the force state of the side brush arm 200 more balanced, thereby reducing the risk of entanglement and accumulation caused by long hair, linear debris or damp attachments, and improving the passability and working stability of the side brush assembly in complex ground environments.

[0065] This embodiment, through the split arrangement of the two arms and the angle between the first support leg 141 and the second support leg 142, enables the side brush arm 200 to take into account the flexibility of movement, the reliability of positioning, and the adaptability of space under different cleaning conditions. This helps to improve the cleaning efficiency of the sweeping robot in the edge area and reduce the probability of operation deviation or missed cleaning.

[0066] Reference Figure 3In some embodiments of this application, a first limiting part 110 is provided in the first working position, and a second limiting part 120 is provided in the second working position; the angle between the line connecting the first support leg 141 and the first limiting part 110 and the line connecting the second support leg 142 and the second limiting part 120 is β, and β satisfies the following relationship: 120°≤β≤150°, and in some possible embodiments, 130°≤β≤140°.

[0067] Both the first limiting part 110 and the second limiting part 120 can be understood as mechanical limiting structures used to restrict the endpoint of the movement of the side brush arm 200. Specifically, the first limiting part 110 is used for stopping and positioning the side brush arm 200 when it is in the first working position, and the second limiting part 120 is used for stopping and positioning the side brush arm 200 when it is in the second working position. The function of this limiting structure is to constrain the swing stroke of the side brush arm 200 when the base 100 drives the side brush arm 200 to rotate and switch working postures, ensuring that the side brush arm 200 can stably remain in the predetermined position. This prevents interference with the internal structure of the base 100 due to excessive rotation, or affects the brush's sweeping trajectory on the ground due to positioning deviation.

[0068] The first limiting part 110 and the second limiting part 120 can be disposed within the movable space inside the base 100, or arranged at relative positions on the movement path of the side brush arm 200, forming a corresponding cooperation relationship with the first support leg 141 and the second support leg 142. The angle β formed by the line connecting the first support leg 141 and the first limiting part 110 and the line connecting the second support leg 142 and the second limiting part 120 is used to characterize the relative unfolding angle of the limiting points corresponding to the two working positions in the structure. When β is controlled within the range of 120° to 150°, it ensures that the side brush arm 200 can complete the switching between two working postures while maintaining an appropriate interval between the limiting points, thereby balancing the switching stroke, positioning stability, and structural avoidance requirements.

[0069] In one possible embodiment, the first limiting part 110 and the second limiting part 120 can be implemented in the form of a protrusion, a baffle, a baffle wall, a limiting post, the edge of a limiting groove, or an arc-shaped stop surface, respectively. The first limiting part 110 and the second limiting part 120 can be integrally injection molded with the base 100, or they can be installed as independent inserts at corresponding positions on the base 100. If integral injection molding is used, the first limiting part 110 and the second limiting part 120 can be an integral plastic stop block made of the same material as the base 100. If inserts are used, the first limiting part 110 and the second limiting part 120 can be metal inserts, hard plastic blocks, or rubber buffers, fixed to the base 100 by snap-fit, screw connection, hot-melt riveting, or ultrasonic welding. For vibration reduction and noise reduction, an elastic layer can be applied to the outside of the stop surface to reduce impact noise and wear when the side brush arm 200 contacts the first limiting part 110 and the second limiting part 120.

[0070] The first limiting part 110 and the second limiting part 120 are respectively arranged in the end area of ​​the corresponding working position during installation, so that the side brush arm 200 moves along a predetermined trajectory during rotation, and then the first support leg 141 and the second support leg 142 contact the corresponding first limiting part 110 and the second limiting part 120 to complete the positioning. Therefore, the geometric relationship between the two and the first support leg 141 and the second support leg 142 directly affects the parking posture of the side brush arm 200. In terms of size, the height, width and thickness of the first limiting part 110 and the second limiting part 120 can be matched according to the swing radius of the side brush arm 200, the diameter of the first support leg 141 and the second support leg 142 and the internal space of the base 100. Its thickness can be a structural dimension sufficient to withstand repeated collisions, and the rounded transition or inclined guide structure of the limiting surface can be set as needed to form a smooth guide when the side brush arm 200 approaches the end position. At the same time, when the β angle is in the range of 120° to 150°, the first limiting part 110 and the second limiting part 120 will not be too close to each other, resulting in insufficient switching space, nor will they be too far apart, resulting in excessive stroke of the side brush arm 200, which is conducive to achieving a more stable and repeatable positioning effect.

[0071] When started, the base 100 rotates in the first or second direction under the action of the drive mechanism. The side brush arm 200 gradually deflects with the relative movement in the internal moving space of the base 100 and moves to the predetermined working position under the drive of the corresponding first leg 141 or second leg 142. When the side brush arm 200 enters the first working position, the first leg 141 contacts the first limiting part 110 and is stopped by it. The side brush arm 200 is thus stably stopped in the first working posture. When the base 100 rotates in the opposite direction, the side brush arm 200 swings to the second working position in the other direction and is limited by the second leg 142 contacting the second limiting part 120. Since the first limiting part 110 and the second limiting part 120 are respectively set to two working positions, and the angle β formed by the two with the first support 141 and the second support 142 meets the requirement of 120° to 150°, the switching process of the side brush arm 200 between the two extreme positions has a clear termination boundary, which can reduce overtravel swing, springback offset and jamming caused by structural interference.

[0072] Reference Figure 2 In some embodiments of this application, the side brush arm 200 includes: arm base 210 and brush bristles 220. One end of the arm base 210 is rotatably connected to the base 100, and the other end extends to the outside of the base 100; the brush bristles 220 are disposed at the other end of the arm base 210.

[0073] Specifically, the arm 210 is a support component used to support the brush bristles 220 and transmit their movement to the cleaning end. One end of the arm 210 is rotatably connected to the base 100, and the other end extends outward from the base 100 so that the brush bristles 220 can contact the ground or the surface to be cleaned outside the base 100. The brush bristles 220 are the cleaning medium that directly participates in the brushing operation. Their function is to sweep away dust, fine particles, hair, and debris on the ground when the side brush arm 200 swings or rotates, and guide them to the vicinity of the suction inlet or the middle area of ​​the machine body, thereby cooperating with the whole machine to complete the cleaning.

[0074] The arm seat 210 and the base 100 can be rotatably fitted together via a pin, pivot, hinge pin, or integrally molded rotating shaft. The extended portion of the arm seat 210 protrudes from the outer contour of the base 100 to form the mounting end for the brush bristles 220, which can be fixed to this mounting end and move synchronously with the arm seat 210. To facilitate stable assembly, the arm seat 210 can be a rod-shaped, plate-shaped, frame-shaped, or bent arm-shaped structure. It can be an independent injection-molded part or a shell-type structure with reinforcing ribs. Metal bushings can also be embedded in certain areas to improve the wear resistance of rotating parts.

[0075] The bristles 220 can be in the form of straight bristles, wavy bristles, branched bristles, tufted bristles, or mixed bristle tufts. The material can be nylon filaments, flexible plastic filaments, animal hair, or composite fibers to meet different requirements for hardness, resilience, and abrasion resistance. In some embodiments, the bristles 220 can be fixed to the end of the arm base 210 by insertion, press-fitting, hot-melt bonding, gluing, or overmolding. Alternatively, mounting holes, slots, or bristle tuft seats can be pre-set at the end of the arm base 210 to improve assembly efficiency and ease of replacement.

[0076] When started, the base 100 rotates in a preset direction under the action of the drive mechanism, thereby driving the arm 210 and its end bristles 220, which are rotatably connected to it, into the corresponding working posture. The bristles 220, in their extended state, contact the ground and bend elastically, which can push the dust and debris attached to the edges, corners, and furniture edges inward. Since the arm 210 supports and transmits force to the bristles 220, and the bristles 220 directly sweep away the debris on the ground, this structure can improve the passability and operational stability of the side brush assembly while maintaining the edge cleaning capability, making it easier to maintain a continuous cleaning trajectory, reducing local missed areas, and improving adaptability to complex ground environments.

[0077] Reference Figure 2 In some embodiments of this application, the arm support 210 includes a rigid segment 211 and a flexible segment 212 connected to each other. The rigid segment 211 is rotatably connected to the base 100, and the flexible segment 212 is located outside the base 100. The rigid segment 211 and the flexible segment 212 are arranged at an included angle.

[0078] The rigid section 211 is a relatively rigid connecting component that bears the rotational transmission of the side brush arm 200 and forms a reliable pivot connection with the base 100. The flexible section 212 is a working component that performs brushing operations on the outside of the base 100 and allows for elastic deformation. After the rigid section 211 is rotatably connected to the base 100, it can stably transmit the rotational posture of the base 100 to the arm 210 and provide controlled support and guidance for the flexible section 212. The flexible section 212 is located outside the base 100 and bears the contact with the ground, walls, furniture corners, etc. It can bend moderately when encountering thresholds, carpet edges, or local obstacles, thereby reducing jamming and impact. The rigid section 211 and the flexible section 212 are arranged at an angle, so that the arm 210 forms an offset and extended spatial posture, which helps the flexible section 212 to form a more suitable incident angle when close to the cleaning surface.

[0079] In one possible embodiment, the rigid segment 211 can be configured as a straight rod-like structure, a short shaft-like structure, or a sheet-like structure with reinforcing ribs to improve its torsional and bending resistance; the flexible segment 212 can be configured as an arc-shaped segment or a thin-walled elastic segment to enhance its resilience and ground-following ability. The rigid segment 211 can be made of glass fiber reinforced plastic or metal to meet the strength and wear resistance requirements of the rotating connection; the flexible segment 212 can be made of silicone or soft rubber to ensure stable elastic recovery under repeated bending conditions.

[0080] The rigid section 211 and the flexible section 212 can be connected by injection molding, integral injection molding, plug-in fitting, or nesting to form an integral or semi-integral arm base 210 structure. The connection can be provided with transition fillets, stepped transition surfaces, or reinforcing transition ribs to reduce stress concentration. The length of the rigid section 211 is less than the length of the flexible section 212, or it can be designed to be approximately equal to the length of the flexible section 212 according to the overall space layout requirements. The included angle can be set to an obtuse angle, a near-right angle, or an angle with a predetermined bending amount according to the expected working posture, so that the flexible section 212 can form a deflection posture more suitable for brushing close to the ground when it extends outward.

[0081] When started, the base 100 rotates under the action of the drive mechanism. The rigid section 211, as the part directly rotatably connected to the base 100, first changes its posture synchronously with the base 100 and transmits this rotation to the flexible section 212 located outside the base 100. Since the flexible section 212 and the rigid section 211 are set at an angle, the flexible section 212 can gradually enter or exit the cleaning area in an offset state during rotation, and elastically bends or rebounds according to the undulation of the ground, the edge contour, and external resistance when in contact with the ground, thereby making the bristles 220 maintain a relatively stable contact pressure with the ground.

[0082] In this way, the rigid section 211 ensures sufficient attitude transmission accuracy for the side brush arm 200 when switching between the first and second working positions, while the flexible section 212 improves passability and conformity under irregular working conditions, reducing rigid interference with thresholds, furniture edges, or tangled objects. This structure enhances the compliant adaptation capability of the external brush end while ensuring the reliability of rotation control, thereby reducing the probability of side brush jamming, tangling, and missed cleaning, and improving the continuous cleaning stability of the robot vacuum in complex environments.

[0083] Reference Figure 4 In some embodiments of this application, the base 100 has a cavity 130 inside, and the side wall of the base 100 has a through groove 150 communicating with the cavity 130. One end of the side brush arm 200 is rotatably connected to the bottom wall of the cavity 130, and the other end passes through the through groove 150.

[0084] The cavity 130 can be understood as a receptacle-like movement space located inside the base 100, used to house and guide the rotating end of the side brush arm 200 and its local transmission area. The through slot 150 is a connecting opening on the side wall of the base 100, allowing the side brush arm 200 to extend outward from inside the base 100 and swing within a predetermined range. The rotatable connection between one end of the side brush arm 200 and the bottom wall of the cavity 130 means that the side brush arm 200 uses the bottom of the cavity 130 as a rotational support surface, enabling it to reciprocate around this support point. This structure, through the combination of the cavity 130 and the side wall through slot 150, provides a relatively enclosed and constrained installation environment for the side brush arm 200, allowing it to maintain external cleaning capabilities while enabling necessary extension and retraction through the through slot 150, thus adapting to posture changes under different cleaning conditions.

[0085] In terms of specific form, the cavity 130 can be configured as a cylindrical cavity, a fan-shaped cavity, an elliptical cavity, or a partially deepened irregular cavity to match the swing trajectory of the side brush arm 200; the through groove 150 can be configured as a straight groove, an arc groove, a conical guide groove, or an open groove with rounded corners to reduce interference and wear when the side brush arm 200 extends. The rotating connection between the side brush arm 200 and the bottom wall of the cavity 130 can be achieved through a rotating shaft, a riveting shaft, a screw shaft, or an integrally formed shaft seat. The rotating joint is arranged close to the center or eccentric position of the bottom of the cavity 130 to adjust the outward posture of the side brush arm 200 according to the rotation direction of the base 100.

[0086] Reference Figure 4 In some embodiments of this application, the base 100 includes a base 160 and a cover plate 170. The top of the base 160 is provided with an opening communicating with the cavity 130. The cavity 130 is located inside the base 160. A through groove 150 is provided on the side wall of the base 160. The cover plate 170 covers the opening to close it.

[0087] The base 160 can be understood as the lower supporting shell of the base 100, which forms the main space of the cavity 130 and supports the rotating connection structure of the side brush arm 200. The cover plate 170 is the corresponding upper sealing part, which, together with the base 160, encloses a relatively closed internal space, thereby providing installation and limiting conditions for the side brush arm 200 and its rotating mating parts. The opening at the top of the base 160 communicates with the cavity 130, allowing the cavity 130 to be installed, positioned, and maintained from above during assembly. The through groove 150 on the side wall allows the side brush arm 200 to extend or swing through, ensuring that the side brush arm 200 can form a motion interface between the inside and outside of the cavity 130. After the cover plate 170 is closed over the opening, it can seal the top of the cavity 130, reducing the entry of dust, hair, or liquid impurities into the internal mechanism, and providing protection and guidance for the internal rotating parts. The housing formed by the combination of the base 160 and the cover plate 170 is not only easy to disassemble and maintain, but also helps to improve the stability of the internal structure.

[0088] In the above structure, the base 160 is a lower housing component that forms the main body of the cavity 130 and provides a lateral through-slot 150. Its function is to support the mounting base of the side brush arm 200, define the inner boundary of the cavity 130, and provide a lateral outlet channel for the extended components. The cover plate 170 is an upper cover component used to close the top opening of the base 160. Its function is to close the top of the cavity 130, so that the interior forms a relatively complete working environment. The base 160 and the cover plate 170 can be connected by screws, snaps, welding, or a sealing fit. Preferably, the cover plate 170 and the base 160 form an overlapping edge or a pressed edge to improve the structural strength and dustproof performance after closure.

[0089] The base 160 can be a disc-shaped base 160, a ring-shaped base 160, or a box-shaped base 160, with the specific shape adapted to the installation space of the side brush assembly at the bottom of the machine. The cover plate 170 can be a flat cover, a curved cover, or a partially transparent observation cover, so as to meet the sealing function while taking into account the ease of assembly and visibility for maintenance. In terms of materials, the base 160 and the cover plate 170 can be made of nylon-reinforced plastic, metal parts, or plastic-metal composite parts. When it is necessary to improve wear resistance or load-bearing rigidity, metal bushings or reinforcing rib structures can also be embedded locally. In terms of dimensions, the cover plate 170 covers the top opening of the base 160, and the thickness of the base 160 and the depth of the cavity 130 should meet the requirements of the rotation space, installation space of the side brush arm 200, and the outlet space of the through groove 150. The specific values ​​can be set according to the outer diameter of the side brush assembly and the layout of the machine chassis.

[0090] When activated, the side brush assembly is installed in a predetermined position on the bottom of the robot vacuum. The base 160 provides space for the rotating parts of the side brush arm 200 through its internal cavity 130. One end of the side brush arm 200 rotates within the cavity 130, while the other end extends out of the base 100 via a slot 150 on the side wall and contacts the ground for cleaning. Because the base 160 has an opening at the top which is closed by a cover plate 170, the cavity 130 can maintain a relatively stable closed state during operation, thereby reducing the probability of dust, hair, or foreign objects entering the rotating area from above and reducing the risk of component jamming and wear. At the same time, the slot 150 limits the outward extension path of the side brush arm 200, allowing the side brush arm 200 to rotate along a preset trajectory when switching working positions without easily causing swaying interference.

[0091] As the machine moves near walls, furniture corners, or obstacles, the housing structure formed by the base 160 and the cover plate 170 maintains the assembly precision and protective reliability of the internal mechanisms. This ensures that the side brush arm 200 maintains a stable support and guiding relationship when rotating in different directions, thereby improving the operational continuity of the side brush assembly under complex working conditions and helping to reduce the probability of malfunctions caused by debris entering the interior and cleaning deviations caused by structural loosening. This structure can improve the protection and maintenance convenience of the cavity 130 while ensuring the normal extension and switching of the side brush arm 200, thus improving the overall cleaning stability and service life of the machine.

[0092] This application also provides a robotic vacuum cleaner, including: a robotic vacuum cleaner body and at least one side brush assembly as described in any of the above embodiments, wherein the robotic vacuum cleaner body is provided with a drive assembly; the side brush assembly is connected to the drive assembly and is used to rotate along a first direction and a second direction under the drive of the drive assembly.

[0093] The robot vacuum cleaner body refers to the main structure that carries the entire cleaning function unit and moves on the surface to be cleaned. Its interior houses components such as the drive assembly, while its exterior forms the chassis edge area for mounting the side brush assembly. The body provides structural support, a motion carrier, and a mounting reference, and through the relative movement between its bottom and the ground, it drives the side brush assembly to cover different cleaning areas.

[0094] The drive component refers to a transmission unit located within the robot vacuum cleaner's body, used to output rotational power to the side brush assembly. Its function is to output mechanical torque and drive the side brush assembly to rotate along a first direction and a second direction. The drive component is located within the body of the robot vacuum cleaner near the side brush mounting position and forms a dynamic coupling relationship with the side brush assembly.

[0095] Rotation along the first and second directions refers to the side brush assembly's ability to switch between two opposite rotational directions under the action of the drive assembly. The first and second directions correspond to the forward and reverse rotation states of the side brush assembly under different working conditions, respectively. This rotation method allows the side brush assembly to switch directions according to the operating state, thereby gathering dirt towards the center of the machine body when rotating on one side, and detaching bristles 220, loosening tangled objects, or adjusting the sweeping trajectory when rotating on the other side. In one possible embodiment, rotation along the first and second directions may also include continuous rotation, intermittent reverse rotation, or periodic alternating rotation to adapt to different cleaning scenarios. The speed and torque matching relationship of the side brush assembly can be set according to the ground adhesion conditions to maintain stable sweeping capability under different rotational directions.

[0096] When the robot vacuum is running, the drive component outputs rotational power to the side brush component. The brush bristles 220 of the side brush component can first enter the working state in the first direction to sweep away dust, hair and particulate debris in the corners of the ground. When it is necessary to change the sweeping trajectory or loosen the tangled objects on the brush bristles 220, the side brush component can switch repeatedly between the first and second directions to clean up the tangled objects through inertia.

[0097] In some embodiments of this application, the robot vacuum cleaner body includes: a first detection component, a second detection component, and a control component. The first detection component is used to detect whether the side brush arm 200 has foreign objects; the second detection component is used to detect whether the robot vacuum cleaner has reached a preset location; and the control component is used to control the rotation of the drive component.

[0098] In terms of specific arrangement, the first detection component can be set near the side brush arm 200, inside the side brush cover, in the area of ​​the side brush base 160, or adjacent to the side brush movement path, so as to obtain information on whether there are foreign objects around the side brush arm 200 through direct or indirect detection. Its spatial relationship with the side brush arm 200 is close proximity, and the sensing direction is towards the outer periphery of the side brush arm 200's sweeping area. The second detection component can be set inside or outside the main body, including but not limited to the front end of the body, under the chassis, around the shell, or in the navigation module area, and can be used in conjunction with map information, visual information, infrared information, or beacon information to complete the identification and arrival confirmation of preset locations. The control component is arranged in the control cavity 130 inside the robot body, and establishes a control relationship with the drive component, the first detection component, and the second detection component through electrical connection, signal line connection, wireless communication, or bus communication to realize the reception, processing, and transmission of output control signals of detection signals.

[0099] In terms of form and material, in one possible embodiment, the first detection component may be one or more of an optical sensor, infrared sensor, capacitive sensor, Hall sensor, pressure sensor, vision camera, or micro switch. The sensor housing may be made of plastic, polycarbonate, or metal shielding housing and may be in the form of a column, sheet, or embedded module. The second detection component may be one or more of an ultrasonic sensor, infrared positioning module, positioning module, vision module, QR code recognition module, magnetic navigation sensor, or inertial navigation module. Its mounting housing may be a plastic part, metal bracket, or composite support and may be configured as a circular, elongated, or modular box according to the positioning method. The control component may be a microcontroller, embedded control board, control unit, or integrated main control circuit. Its circuit board may be a flexible circuit board and may be electrically connected to external components by soldering, plug-in, or connector.

[0100] In terms of size and proportion, the effective detection distance of the first detection component can be matched according to the shape of the side brush arm 200 to meet the requirements for close-range identification of foreign objects on the surface of the side brush arm 200; the sensing range of the second detection component can cover the area corresponding to the preset location, and the distance between its installation position and the edge of the main body can be arranged according to the positioning accuracy of the whole machine to ensure the reliability of the positioning judgment; the circuit area of ​​the control component can be set to a size that is compatible with the main control cavity 130 according to the functional complexity, and it should be reasonably isolated from the power module and communication module to meet the requirements of wiring, heat dissipation and electromagnetic compatibility.

[0101] Upon startup, the control component first initializes the first and second detection components. The first detection component continuously or intermittently samples the surrounding environment of the side brush arm 200 and converts the detection results into a signal indicating the presence of foreign objects. Simultaneously, the second detection component, combining positioning data, environmental features, or preset marker information from the robot's movement, continuously updates the robot's current position and outputs status information indicating whether it has reached the preset location. Upon receiving a foreign object signal from the first detection component, the control component can control the drive component to rotate forward, reverse, maintain a constant speed, change speed, or stop, based on the duration, quantity, or degree of obstruction of the foreign object. This causes the side brush arm 200 to perform corresponding brush removal, shaving, or cleaning actions. When the second detection component confirms that the robot has reached the preset location, the control component can further control the drive component to enter a preset working mode, such as performing side brush cleaning at a fixed location, resetting before recharging, or tidying up before parking, thus enabling the side brush component to complete the corresponding operation at the target location.

[0102] The first detection component can promptly identify foreign objects on the side brush arm 200 and trigger a handling strategy. The second detection component can ensure that the robot vacuum cleaner performs corresponding control actions at preset locations. The control component achieves the matching of the side brush component's operating state with the environmental state through unified adjustment of the drive component. This helps reduce the risk of increased resistance and operational interruption caused by side brush entanglement, and improves the accuracy and stability of fixed-point cleaning, recharging and docking, and side brush self-cleaning processes.

[0103] This application also provides a control method for a side brush assembly, the control method comprising the following steps: S1, detecting whether the side brush assembly has met the preset conditions for cleaning foreign objects; S2, when the side brush assembly meets the preset conditions for cleaning foreign objects, the base 100 stops rotating in the first direction, and the side brush arm 200 is at the first working position; S3, after the base 100 stays for a first duration, it starts to rotate in the second direction, and after rotating for a second duration, the base 100 stops rotating, and the side brush arm 200 is at the second working position; S4, repeating the above steps until it is detected that the side brush assembly has not met the preset conditions for cleaning foreign objects.

[0104] The control method of this application is executed by a side brush assembly installed on the bottom of the robotic vacuum cleaner. The side brush assembly includes a base 100 and a side brush arm 200. The base 100 is connected to the side brush drive mechanism of the robotic vacuum cleaner body and is used to selectively rotate along a first direction and a second direction under the action of control commands. The base 100 has an internal movable space, which defines a first working position and a second working position. The first end of the side brush arm 200 is rotatably disposed within the base 100, and the second end passes through the movable space and extends to the outside of the base 100, so that it swings relative to the base 100 and stops at the corresponding working position when the base 100 changes direction.

[0105] The robot vacuum cleaner has a controller inside. The controller is electrically connected to the side brush drive mechanism and the detection unit for judging the status of the side brush. The detection unit is used to provide the controller with the judgment information required to determine whether the side brush assembly has met the conditions for cleaning foreign objects. After receiving the judgment result that the conditions are met, the controller changes the driving mode of the side brush drive mechanism on the base 100, so that the base 100 switches between stopping, reversing rotation and re-circulation. With the limiting effect of the internal moving space of the base 100 on the side brush arm 200, the side brush arm 200 repeatedly switches between the first working position and the second working position to perform the action of cleaning foreign objects.

[0106] S1: Detect whether the side brush assembly has met the preset conditions for cleaning foreign objects.

[0107] The preset conditions for cleaning foreign objects refer to the trigger conditions of the control method. Only when these conditions are met will the controller control the side brush assembly to exit the normal cleaning rotation state and enter subsequent stop, reverse, and switching actions. The preset conditions are at least used to determine whether the side brush assembly needs to perform foreign object cleaning-related actions. Specifically, the controller can make this judgment based on the side brush status information and / or robot operating status information fed back by the detection unit. This step is completed by the controller and detection unit of the sweeping robot body. During the normal cleaning process, the controller continuously receives detection signals and determines whether the side brush assembly has met the preset conditions for cleaning foreign objects based on the detection results. When the base 100 is in the normal cleaning state of continuously rotating in the first direction, the side brush arm 200 is confined to the first working position within the activity space. At this time, the side brush arm 200 extends outward and performs sweeping. In this step, the controller completes the determination of whether it is necessary to release the entangled objects through posture switching and uses the determination result as the trigger signal to subsequently drive the base 100 to stop rotating.

[0108] S2: When the side brush assembly reaches the preset condition for cleaning foreign objects, the base 100 stops rotating in the first direction, and the side brush arm 200 is in the first working position at this time.

[0109] The first working position in this step refers to the stopping position of the side brush arm 200 within the activity space when the base 100 rotates in the first direction. In this position, the side brush arm 200 maintains a predetermined posture due to the constraint of the activity space boundary. When the controller determines in step S1 that the preset condition has been met, it immediately outputs a stop command to the side brush drive mechanism, thereby removing the torque that originally drove the base 100 in the first direction, and the base 100 stops rotating in the first direction. Since the side brush arm 200 was pressed against and confined to the first working position under the action of rotation in the first direction during the previous normal cleaning phase, the side brush arm 200 remains in the first working position due to inertia and does not immediately switch when the base 100 stops rotating.

[0110] The "stopping rotation in the first direction" step in this process does not simply shut down the entire machine; rather, it controls only the rotation of the base 100 of the side brush assembly. This can be achieved through the overall machine control strategy. Structurally, a rotation transmission path is formed between the base 100 and the side brush drive mechanism. After the controller issues a stop command, the output shaft of the drive mechanism stops driving the base 100 to continue rotating. The side brush arm 200 in the activity space has already been guided to the first working position, so its extended end retains the spatial posture of the first working position when it stops rotating. At the end of this step, the controller simultaneously starts a timer to enter the first duration of dwell control. The first duration refers to the time period during which the base 100 remains stationary after stopping rotation in the first direction. This time parameter is stored and recalled by the controller to ensure the stability of the side brush arm 200's posture in the first working position before proceeding with the subsequent drive switching in the second direction.

[0111] S3: After the base 100 stays for a first duration, it begins to rotate in the second direction, and after rotating for a second duration, the base 100 stops rotating, and the side brush arm 200 is at the second working position.

[0112] The first duration in this step is the holding time after stopping, and the second duration is the time during which the base 100 continues to rotate in the second direction. Both are time parameters in the control flow, and the controller times and switches them according to preset values. After starting the first duration timing in step S2, the controller outputs a reverse drive command to the side brush drive mechanism when the timing ends, causing the base 100 to switch from its original first-direction rotation state to rotation in the second direction. Since the first end of the side brush arm 200 is rotatably located inside the base 100, and its second end extends through the active space to the outside of the base 100, when the base 100 rotates in the reverse direction, the inner wall of the active space applies a guiding and limiting effect to the side brush arm 200, causing the side brush arm 200 to swing from its original first working position to the second working position.

[0113] The controller keeps the base 100 rotating continuously in the second direction until the second time period ends. At this time, the side brush arm 200 has reached its position on the opposite side of the active space and is confined to the second working position. The second working position refers to the stopping position of the side brush arm 200 in the active space when the base 100 rotates in the second direction. After the side brush arm 200 switches to this position, its outward posture relative to the base 100 changes. When the second time period ends, the controller issues a stop command again, causing the base 100 to stop rotating, and the side brush arm 200 remains in the second working position. This process is completed through the reverse drive of the base 100 and the mechanical limiting of the active space. It does not require a separate drive component on the side brush arm 200, and the existing rotating structure can be used to enable the side brush arm 200 to complete the position switching required for cleaning foreign objects.

[0114] S4: Repeat the above steps until the side brush component is detected to have not met the preset conditions for cleaning foreign objects.

[0115] The phrase "repeating the above steps" in this step means that after completing S3, the controller does not directly resume regular cleaning in a single direction, but instead calls the detection logic of S1 again to re-evaluate the current state of the side brush assembly. If the side brush assembly still meets the preset conditions for cleaning foreign objects, the controller again executes the cyclical action of stopping the base 100, staying for a first duration, rotating in the second direction for a second duration, and then stopping, causing the side brush arm 200 to repeatedly switch between the first working position and the second working position. Since the side brush arm 200 forms a restricted swing relationship with the base 100 through the activity space, and the first working position and the second working position correspond to two different limited postures, during the repeated switching process, the extended section of the side brush arm 200 and the foreign objects entangled on it will repeatedly be subjected to the pulling, shaking, and position flipping effects of directional changes, resulting in loosening, displacement, or detachment.

[0116] After each cycle, the detection unit continues to collect the status signal of the side brush assembly and feeds the result back to the controller. When the controller determines that the side brush assembly has not met the preset conditions for cleaning foreign objects, it indicates that it is no longer necessary to continue executing the foreign object cleaning cycle. At this time, the controller exits the control of this cycle and restores the normal cleaning drive state of the side brush assembly. In terms of structural cooperation, the internal moving space of the base 100 provides a controlled swing space for the side brush arm 200. The first working position and the second working position form two clear extreme attitude boundaries. Therefore, the controller can achieve repeated execution of the foreign object cleaning action simply by changing the rotation direction, stopping time and holding time of the base 100, and end the cycle when the detection result turns to not meeting the conditions.

[0117] In this embodiment, the controller relies on a base 100 with a movable space, a first working position, and a second working position, as well as a side brush arm 200 rotatably connected to the base 100. First, it detects whether the side brush assembly meets the preset conditions for cleaning foreign objects. When the conditions are met, it controls the base 100 to stop rotating in the first direction, keeping the side brush arm 200 in the first working position. Then, after the first duration ends, it drives the base 100 to rotate in the second direction and stops at the end of the second duration, switching the side brush arm 200 to the second working position. This action is repeated until it is detected that the side brush assembly has not met the preset conditions for cleaning foreign objects. With the bidirectional rotation of the base 100 and the limiting action of the movable space, the side brush arm 200 repeatedly switches between the two working positions. Foreign objects entangled on the extended section of the side brush arm 200 are released during the posture changes. When the side brush assembly subsequently returns to its normal cleaning state, the rotational resistance is small, the cleaning continuity is relatively stable, and no additional independent cleaning mechanism is required.

[0118] In some embodiments of this application, the preset conditions for cleaning foreign objects include: the robot vacuum cleaner body reaches a preset location and there are foreign objects on the side brush arm 200.

[0119] After the robot vacuum cleaner moves along a preset path to a preset location, the position detection result is sent to the controller. The controller, together with the foreign object detection result of the side brush arm 200, determines whether the preset conditions for cleaning foreign objects are met. Position detection can be obtained by the positioning unit on the robot chassis. Foreign object detection can be based on changes in the rotational resistance of the side brush arm 200, posture deviation information, or the contact state of the area adjacent to the side brush arm 200. When a foreign object is detected on the surface, outer side, or adjacent area of ​​the side brush arm 200, a foreign object presence signal is output.

[0120] When both the location arrival signal and the foreign object presence signal are simultaneously triggered, the controller determines that the preset conditions for cleaning the foreign object have been met and sends a control signal to the drive mechanism of the base 100, causing the side brush assembly to enter the corresponding rotation switching process. At this time, the robot vacuum cleaner body stays at a location convenient for cleaning operations, and the side brush arm 200, driven by the base 100, performs a predetermined posture adjustment to detach or remove foreign objects attached to the side brush arm 200. During operation, the location status and foreign object status are monitored synchronously, and subsequent control is triggered only when both conditions are met, thereby enabling the side brush arm 200 to enter the cleaning state at the appropriate location.

[0121] With this implementation method, the foreign object cleaning action is triggered only when the robot vacuum body reaches the preset location and there is indeed a foreign object on the side brush arm 200. The control conditions are clear and the triggering timing is stable, which can make the cleaning action of the side brush arm 200 match the position status of the whole machine and improve the operational consistency of the side brush assembly.

[0122] Finally, it should be noted that other embodiments of this application will readily conceive of by those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope.

Claims

1. A side brush assembly, characterized in that, include: The base (100) is rotatable along a first direction and a second direction. The base (100) has an internal space for movement, which has a first working position and a second working position. Side brush arm (200), the first end of the side brush arm (200) is rotatably disposed on the base (100), and the second end of the side brush arm (200) passes through the active space and extends to the outside of the base (100); The side brush arm (200) is used to switch between a first working position and a second working position; When the base (100) rotates in the first direction, the side brush arm (200) is limited to the first working position; when the base (100) rotates in the second direction, the side brush arm (200) is limited to the second working position.

2. The side brush assembly according to claim 1, characterized in that, The active space and the side brush arm (200) are provided in at least two, and the active space and the side brush arm (200) are provided in a one-to-one correspondence.

3. The side brush assembly according to claim 2, characterized in that, The side brush arm (200) includes a first side brush arm (230) and a second side brush arm (240). The first side brush arm (230) is rotatably connected to the base (100) via a first support (141), and the second side brush arm (240) is rotatably connected to the base (100) via a second support (142). The angle between the line connecting the center of the first leg (141) and the center of the base (100) and the line connecting the center of the second leg (142) and the center of the base (100) is α, and α satisfies the following relationship: 180°≤α≤230°.

4. The side brush assembly according to claim 3, characterized in that, The first working position is provided with a first limiting part (110), which is used to limit the side brush arm (200) to the first working position; The second working position is provided with a second limiting part (120), which is used to limit the side brush arm (200) to the second working position; The angle between the first side brush arm (230) in the first working position and in the second working position is β, and the β satisfies the following relationship: 120°≤β≤150°; And / or, the angle between the first side brush arm (230) in the first working position and in the second working position is β, wherein β satisfies the following relationship: 120°≤β≤150°.

5. The side brush assembly according to claim 3, characterized in that, Both the first side brush arm (230) and the second side brush arm (240) include: An arm seat (210) is rotatably connected at one end to the base (100) and at the other end extends to the outside of the base (100); Brush bristles (220) are located at the other end of the arm base (210).

6. The side brush assembly according to claim 5, characterized in that, The arm support (210) includes a rigid section (211) and a flexible section (212) connected to each other. The rigid section (211) is rotatably connected to the base (100), and the flexible section (212) is located outside the base (100). The rigid section (211) and the flexible section (212) are arranged at an included angle.

7. The side brush assembly according to any one of claims 1-6, characterized in that, The base (100) has a cavity (130) inside, and the side wall of the base (100) has a through groove (150) communicating with the cavity (130). One end of the side brush arm (200) is rotatably connected to the bottom wall of the cavity (130), and the other end passes through the through groove (150).

8. The side brush assembly according to claim 7, characterized in that, The base (100) includes: The base (160) has an opening at its top that communicates with the cavity (130), the cavity (130) is located inside the base (160), and the through groove (150) is located on the side wall of the base (160). A cover plate (170) is fitted over the opening to close it.

9. A robotic vacuum cleaner, characterized in that, include: The robot vacuum cleaner body is equipped with a drive assembly; At least one side brush assembly as described in any one of claims 1-8, the side brush assembly being connected to the drive assembly, the side brush assembly being configured to rotate along the first direction and the second direction under the drive of the drive assembly.

10. The sweeping robot according to claim 9, characterized in that, The robotic vacuum cleaner body includes: A first detection component is used to detect whether the side brush arm (200) has foreign objects; The second detection component is used to detect whether the sweeping robot has reached the preset location; A control component for controlling the rotation of the drive component.

11. A control method for a side brush component, characterized in that, The control method includes the following steps: Check whether the side brush assembly meets the preset conditions for cleaning foreign objects; When the side brush assembly reaches the preset condition for cleaning foreign objects, the base (100) stops rotating in the first direction, and the side brush arm (200) is in the first working position at this time; After the base (100) stays for a first duration, it begins to rotate in the second direction, and after rotating for a second duration, the base (100) stops rotating, and the side brush arm (200) is at the second working position at this time; Repeat the above steps until it is detected that the side brush assembly has not met the preset conditions for cleaning foreign objects.

12. The control method for the side brush assembly according to claim 11, characterized in that, The preset conditions for cleaning foreign objects include: the robot vacuum body reaches the preset location and there are foreign objects on the side brush arm (200).

Images