Cleaning apparatus and cleaning system

Abstract

The embodiment of the application discloses a cleaning device and a cleaning system, the cleaning device comprises a cleaning device main body, a grabbing piece, a function adjusting module and an emergency stop module, through the setting of the function adjusting module and the emergency stop module, the working mode of the cleaning device main body can be adjusted through the function adjusting module, so that the control of the cleaning device main body is more convenient, when the cleaning device appears an abnormal working state, the safety working mode of the grabbing piece can be directly controlled through the emergency stop module, so as to prevent the cleaning device main body from causing danger due to the carrying of the grabbing piece. The emergency stop module and the function adjusting module are arranged at intervals, that is, there is a certain distance between the emergency stop module and the function adjusting module, the user can identify the emergency stop module in the first time, can immediately control the grabbing piece to stop working through the emergency stop module, can improve the efficiency of the emergency stop response, especially can avoid false operation, and can make the use of the cleaning device safer.

Description

[0001] This application is a divisional application of Chinese patent application No. 202411252342.2, filed on September 6, 2024, entitled "Cleaning Equipment and Cleaning System". Technical Field

[0002] This invention relates to the field of smart home technology, and in particular to a cleaning device and cleaning system. Background Technology

[0003] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning equipment, such as intelligent robotic vacuum cleaners, has increasingly entered our daily lives. However, current cleaning equipment may potentially damage external facilities or pose dangers to people in some emergency situations, necessitating more convenient and safer operation and control of these machines. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This part of the invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] Therefore, a first aspect of the present invention provides a cleaning device.

[0007] A second aspect of the present invention provides a cleaning system.

[0008] In view of this, a cleaning device is provided according to a first aspect of the embodiments of this application, comprising: The main body of the cleaning equipment; A gripper, the gripper being connected to the main body of the cleaning equipment; A function adjustment module is disposed on the main body of the cleaning equipment and is used to control the operating mode of the main body of the cleaning equipment; An emergency stop module is provided on the main body of the cleaning equipment and is used at least to control the gripper to perform a safe operating mode; The emergency stop module and the function adjustment module are arranged at intervals.

[0009] In one feasible implementation, the distance between the emergency stop module and the function adjustment module is greater than or equal to 20mm.

[0010] In one feasible implementation, the area formed by the orthographic projection of the working space of the gripper onto the main body of the cleaning equipment is the working coverage area, and the area above the main body of the cleaning equipment excluding the working coverage area is the non-working area, and the emergency stop module is located in the non-working area.

[0011] In one feasible implementation, the distance between the emergency stop module and the work coverage area is less than or equal to 20mm.

[0012] In one feasible implementation, the main body of the cleaning device includes: The housing, the function adjustment module and the emergency stop module are disposed on the housing; Functional modules, wherein the functional modules are disposed within the housing; The housing contains a receiving chamber, through which the gripping member can extend or be stored.

[0013] In one feasible implementation, the housing further includes: A frame is arranged on the top of the receiving compartment, and the emergency stop module is disposed on the frame.

[0014] In one feasible implementation, the cleaning equipment further includes: A controller is connected to the main body of the cleaning equipment and the gripper. A function adjustment module is connected to the controller, and an emergency stop module is connected to the controller and is used to control the execution of safe operating modes by the main body of the cleaning equipment and the gripper.

[0015] In one feasible implementation, the cleaning equipment further includes: A power supply, which is connected to the main body of the cleaning device, the gripping component, and the controller; The power supply and the controller are arranged inside the main body of the cleaning equipment and are located on the same side as the gripper, while the function adjustment module is located above the controller.

[0016] In one feasible implementation, the function adjustment module includes a first touch-sensitive trigger button; The emergency stop module includes a second touch-sensitive trigger button.

[0017] A second aspect of the embodiments of this application provides a cleaning system, comprising: Cleaning equipment as described in any of the above technical solutions; A base station, which is used to house the cleaning equipment.

[0018] Compared with the prior art, the present invention has at least the following beneficial effects: The cleaning equipment provided in this application includes a main body, a gripping component, a function adjustment module, and an emergency stop module. During use, the main body performs cleaning operations, while the gripping component can grasp objects, especially those obstructing the main body's normal operation, moving these obstacles to other areas and improving cleaning efficiency. The function adjustment module allows for adjustment of the main body's operating mode, making control more convenient. When the cleaning equipment malfunctions, the emergency stop module can directly control the gripping component to execute a safe operating mode, preventing hazards caused by the gripping component on the main body. Furthermore, the emergency stop module and function adjustment module are spaced apart, meaning there is a certain distance between them. This allows users to immediately identify the emergency stop module when the cleaning equipment malfunctions and immediately control the gripping component to stop, improving emergency stop response efficiency and preventing erroneous operation. Using the function adjustment module as an emergency stop module further enhances the safety of the cleaning equipment.

[0019] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic structural diagram of a cleaning device according to an embodiment of this application, taken from one angle. Figure 2 A schematic structural diagram of a cleaning device according to one embodiment of this application from another angle; Figure 3 A schematic structural diagram of a cleaning device according to an embodiment of this application from another angle; Figure 4 A schematic structural diagram of a hidden portion of the housing of a cleaning device according to an embodiment of this application, taken at one angle; Figure 5 A schematic structural diagram of the housing of a cleaning device according to an embodiment of this application, taken from another angle; Figure 6 A schematic structural diagram of the concealed portion of the housing of a cleaning device according to an embodiment of this application, taken from another angle; Figure 7 This is a schematic structural diagram of the concealed portion of the housing of a cleaning device according to an embodiment of this application, taken from another angle.

[0021] in, Figures 1 to 7 The correspondence between the reference numerals and component names in the attached drawings is as follows: 110 Cleaning equipment body, 120 Gripping parts, 130 Function adjustment module, 140 Emergency stop module, 150 Controller, 160 Power supply; 111 Housing, 112 Functional Module, 1111 Frame, 1112 Storage Chamber, 1121 Travel Component, 1122 Cleaning Component, 1123 Dust Collection Component. Detailed Implementation

[0022] The following description provides numerous specific details to offer a more thorough understanding of the technical solutions provided by this invention. However, it will be apparent to those skilled in the art that the technical solutions provided by this invention can be implemented without one or more of these details.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0024] Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0025] The cleaning device provided in this application embodiment, considering current cleaning devices, adds a gripping component to better achieve the cleaning function, enabling the gripping or movement of obstacles or debris. Specifically, when it is necessary to move a target object, the gripping component unfolds to perform a gripping action. However, because the cleaning device is equipped with a gripping component, the cleaning device may experience various operating conditions. In some conditions, this may affect the use of the cleaning device, and there is even a risk that the cleaning device may tip over due to instability caused by the gripping component's operation, thus reducing the user experience.

[0026] Based on this, such as Figures 1 to 7 As shown, a cleaning device is provided according to a first aspect of the embodiments of this application, comprising: a cleaning device body 110; a gripping member 120 connected to the cleaning device body 110; a function adjustment module 130 disposed on the cleaning device body 110 for controlling the operation mode of the cleaning device body 110; and an emergency stop module 140 disposed on the cleaning device body 110 and at least used to control the execution of a safe operation mode of the gripping member 120; wherein the emergency stop module 140 and the function adjustment module 130 are arranged at intervals.

[0027] The cleaning equipment provided in this embodiment includes a main body 110, a gripper 120, a function adjustment module 130, and an emergency stop module 140. During use, the main body 110 performs cleaning operations, while the gripper 120 can grasp objects, especially those obstructing the normal operation of the main body 110, moving these obstacles to other areas and improving cleaning efficiency. The function adjustment module 130 and the emergency stop module 140 allow for adjustments to the operating mode of the main body 110, making control more convenient. When the cleaning equipment malfunctions, the emergency stop module 140 can directly control the gripper 120 to operate in a safe mode, preventing potential hazards caused by the gripper 120 mounted on the main body 110.

[0028] It is understood that controlling the gripper 120 to perform safe operating modes can include various methods, such as controlling the gripper 120 to maintain its current state, controlling the gripper 120 to be powered off, or controlling the gripper 120 to be stored inside the cleaning equipment body 110.

[0029] It is understandable that the main body of the cleaning equipment 110 can have multiple operating modes, and the function adjustment module 130 can be used to select and control the operating modes of the main body of the cleaning equipment 110. The operating modes of the main body of the cleaning equipment 110 include, but are not limited to: mopping mode, sweeping mode, dust collection mode, high-efficiency obstacle avoidance cleaning mode, scheduled cleaning mode, etc. In addition to adjusting the operating modes, the function adjustment module 130 can also control the specific cleaning method of the main body of the cleaning equipment 110, such as adjusting the travel speed of the main body of the cleaning equipment 110, controlling the cleaning frequency of the cleaning components 1122 of the main body of the cleaning equipment 110, controlling the rotation speed of the main brush of the main body of the cleaning equipment 110, and controlling the power supply, etc. By incorporating the function adjustment module 130 on the main body of the cleaning equipment 110, users can participate more in the direct control of the main body of the cleaning equipment 110, making the operating mode of the main body of the cleaning equipment 110 more in line with user expectations and improving the user experience.

[0030] The cleaning device body 110 provided in this embodiment of the application is provided with a cleaning component 1122. During use, the cleaning component 1122 can contact the ground, and as the cleaning device body 110 moves, the cleaning component 1122 can clean the ground. In order to improve cleaning efficiency, the cleaning component 1122 can be connected to the housing 111 of the cleaning device body 110 through a driving component, so that the cleaning component 1122 can generate relative displacement with respect to the housing 111, such as the cleaning component 1122 being able to rotate relative to the housing 111.

[0031] The cleaning equipment provided in this application embodiment takes into account that the gripper 120 may lead to special situations in the cleaning equipment. Therefore, the cleaning equipment provided in this application is equipped with an emergency stop module 140. Furthermore, considering that the cleaning equipment is equipped with both a function adjustment module 130 and an emergency stop module 140, the user may mistakenly operate the function adjustment module 130 in an emergency. Therefore, the emergency stop module 140 and the function adjustment module 130 of the cleaning equipment provided in this application embodiment are arranged at a distance, meaning there is a certain distance between them. Based on this, when the cleaning equipment malfunctions, the user can immediately identify the emergency stop module 140 and use it to immediately stop the gripper 120, improving the efficiency of the emergency stop response and, in particular, preventing misoperation, such as mistaking the function adjustment module 130 for the emergency stop module 140, thus making the use of the cleaning equipment safer.

[0032] It is understood that, in addition to controlling the gripper 120 to execute a safe operating mode, the emergency stop module 140 of the cleaning equipment provided in this application embodiment can also be used to control the main body 110 of the cleaning equipment to execute a safe operating mode. That is to say, when the cleaning equipment malfunctions, the user can use the emergency stop module 140 to control the gripper 120 and the main body 110 of the cleaning equipment to directly execute a safe operating mode, which can make the use of the cleaning equipment safer.

[0033] It is understood that the main body 110 of the cleaning equipment may include, but is not limited to, a machine body, a cleaning system, and a drive system. These systems coordinate with each other to enable the cleaning equipment to move autonomously to perform its cleaning function. The functional components constituting these systems are integrated within the housing 111. It is understood that the cleaning equipment can be a self-moving cleaning device, which is a device that automatically performs cleaning operations in a designated area without user intervention.

[0034] Furthermore, the gripper 120 is applied to the cleaning equipment. For example, the gripper 120 is connected to the housing 111 of the main body 110 of the cleaning equipment, allowing the gripper 120 to move with the main body 110 of the cleaning equipment to reach the target position. The movement of the gripper 120 enables the gripping or movement of obstacles, objects, and debris near the cleaning equipment, thereby better achieving the autonomous cleaning function. It is understood that the aforementioned objects can also be objects desired by the user, such as remote controls, fruit, etc., which will not be listed here.

[0035] It is understood that the gripper 120 may include a robotic arm with a gripper at its free end. Based on this, the robotic arm can provide the gripper 120 with multiple degrees of freedom, which facilitates the gripping of items and the extension or folding of the gripper 120.

[0036] like Figures 1 to 3 As shown, in one feasible implementation, the distance between the emergency stop module 140 and the function adjustment module 130 is greater than or equal to 20 mm.

[0037] In this technical solution, the distance between the emergency stop module 140 and the function adjustment module 130 is further provided. The distance between the emergency stop module 140 and the function adjustment module 130 is greater than or equal to 20mm. This setting makes the distance between the emergency stop module 140 and the function adjustment module 130 greater. When the user finds that the cleaning equipment is in an abnormal state, the user can find the setting position of the emergency stop module 140 at the first time, which can reduce or eliminate the probability of user error.

[0038] In some examples, in addition to the difference in position, the emergency stop module 140 and the function adjustment module 130 may also have a difference in color. For example, the color of the exterior surface of the emergency stop module 140 may be different from that of the function adjustment module 130. This can also reduce the probability of erroneous operation. For example, the emergency stop module 140 may be a more conspicuous red.

[0039] In one feasible implementation, the area formed by the orthographic projection of the working space of the gripper 120 onto the main body 110 of the cleaning equipment is the working coverage area, and the area above the main body 110 of the cleaning equipment excluding the working coverage area is the non-working area. The emergency stop module 140 is located in the non-working area. Figure 2 As shown, the area enclosed by the thick black solid line, forming an approximate T-shape, is the work coverage area.

[0040] This technical solution further provides the location of the emergency stop module 140. The emergency stop module 140 is installed on the housing 111 of the main body 110 of the cleaning equipment and located in the non-operating area of ​​the gripper 120. This design takes into account that under certain working conditions, the gripper 120 may obstruct part of the main body 110 of the cleaning equipment. In this case, an abnormal state of the gripper 120 may affect the user's operation of the gripper 120. Based on this, regardless of the working condition of the gripper 120, the gripper 120 will not affect the user's operation of the emergency stop module 140. This allows the user to quickly execute a safe operating mode on the gripper 120 when the cleaning equipment malfunctions, improving the efficiency of the shutdown mechanism and making the use of the cleaning equipment safer.

[0041] It is understandable that the cleaning equipment itself can rotate during operation. Therefore, in order to improve the reliability of the gripper 120 operation, the gripper 120 can have several operating angles. Combined with the rotation of the cleaning equipment itself, it can grip items located around the cleaning equipment. Therefore, the projection of the working area of ​​the gripper 120 on the main body 110 of the cleaning equipment will not cover the entire main body 110 of the cleaning equipment. This setting will facilitate the layout of the emergency stop module 140.

[0042] In one feasible implementation, the distance between the emergency stop module 140 and the work coverage area is less than or equal to 20 mm.

[0043] In this technical solution, the relationship between the emergency stop module 140 and the work coverage area is further provided. The emergency stop module 140 is set outside the work coverage area, and the distance between the emergency stop module 140 and the work coverage area is less than or equal to 20mm. That is to say, although the emergency stop module 140 is arranged outside the work coverage area, its setting position is as close as possible to the work coverage area. With this setting, when the cleaning equipment encounters a special working condition, the user's first reaction is to observe the main body of the cleaning equipment 110. The user can find the emergency stop module 140, which is closer to the gripper 120, at the first time. The user can operate the emergency stop module 140 as soon as possible and control the gripper 120 to stop as soon as possible, making the use of the cleaning equipment safer.

[0044] like Figures 1 to 7 As shown, in one feasible embodiment, the main body 110 of the cleaning equipment includes: a housing 111, a function adjustment module 130 and an emergency stop module 140 disposed on the housing 111; and a function module 112 disposed inside the housing 111. The housing 111 has a receiving compartment formed therein, through which the gripping member 120 can extend or be stored.

[0045] This technical solution further provides the structural composition of the cleaning equipment body 110. The cleaning equipment body 110 may include a housing 111 and a functional module 112 disposed within the housing 111. The housing 111 is used to accommodate the functional module 112, and the functional module 112 enables the cleaning equipment body 110 to have cleaning and movement functions. It is understood that the functional module 112 includes, but is not limited to: a traveling component 1121, a cleaning component 1122, a dust collection component 1123, and an obstacle avoidance component, etc.

[0046] In this technical solution, a receiving cavity can also be formed on the shell 111. The gripping member 120 can extend through or be stored in the receiving cavity. The gripping member 120 is foldable and accommodated in the receiving cavity. The receiving cavity provides storage space for the gripping member 120, allowing it to be folded and stored within the cavity, reducing the space occupied by the gripping member 120. This makes the cleaning equipment easier to store and improves its aesthetic appearance. Furthermore, since the receiving cavity is located on the main body 110 of the cleaning equipment, the structure of the main body 110 can be fully utilized to store the gripping member 120. The structure is simple and meets the design requirements of a compact structure and small size for the cleaning equipment. It is understood that when the gripping member 120 needs to perform a gripping operation, it can move to extend from the receiving cavity to perform the operation. Simultaneously, when the gripping member 120 is not in operation, it can be stored in the receiving cavity, lowering its center of gravity and reducing the failure rate of the cleaning equipment.

[0047] like Figures 1 to 7 As shown, in one possible embodiment, the housing 111 further includes a frame 1111, which is arranged on the top of the receiving compartment 1112, and the emergency stop module 140 is disposed on the frame 1111.

[0048] In this technical solution, the housing 111 may also include a frame 1111. The frame 1111 can be set around the work coverage area. The frame 1111 is set on the top of the receiving chamber 1112, which makes the top of the cleaning equipment body 110 more layered and makes the cleaning equipment body 110 more beautiful. Furthermore, by setting the frame 1111, the area where the gripper 120 extends and is stored can be enclosed, which can serve as a warning and reduce the probability of users accidentally touching the work coverage area of ​​the gripper 120, making the use of the cleaning equipment safer.

[0049] In this technical solution, the emergency stop module 140 is disposed on the frame 1111. Based on this, during the assembly of the cleaning equipment, the emergency stop module 140 can be disposed on the frame 1111 first, and then the frame 1111 together with the emergency stop module 140 can be connected to the housing 111, which facilitates the rapid assembly of the cleaning equipment. At the same time, it allows the emergency stop module 140 to be closer to the gripper 120. When the cleaning equipment encounters a special working condition, the user's first reaction is to observe the main body of the cleaning equipment 110. The user can find the emergency stop module 140, which is closer to the gripper 120, immediately. The user can operate the emergency stop module 140 as soon as possible and control the gripper 120 to execute the safe operation mode, making the use of the cleaning equipment safer.

[0050] like Figures 4 to 7 As shown, in one feasible embodiment, the cleaning equipment further includes: a controller 150, which is connected to the cleaning equipment body 110 and the gripper 120; a function adjustment module 130, which is connected to the controller 150; and an emergency stop module 140, which is connected to the controller 150 and used to control the cleaning equipment body 110 and the gripper 120 to perform a safe operation mode.

[0051] This technical solution further provides a style of cleaning equipment, which may include a controller 150. The controller 150 can communicate with the main body 110 and the gripper 120 of the cleaning equipment. The function adjustment module 130 and the emergency stop module 140 can be connected to the controller 150. Based on this function adjustment module 130, the operating mode of the main body 110 of the cleaning equipment can be adjusted through the controller 150. The emergency stop module 140 can control the main body 110 and the gripper 120 of the cleaning equipment to perform a safe operating mode through the controller 150, making the use of the main body 110 of the cleaning equipment safer.

[0052] It is understood that the emergency stop module 140 is connected to the controller 150 and is used to control the cleaning equipment body 110 and the gripper 120 to execute a safe operation mode. The safe operation mode includes various methods, such as controlling the gripper 120 to maintain the current state, controlling the gripper 120 to be powered off, or controlling the gripper 120 to be stored inside the cleaning equipment body 110, controlling the cleaning equipment body 110 to maintain the current state, or controlling the cleaning equipment body 110 to be powered off, etc.

[0053] In some examples, controller 150 may include a motherboard that can be connected via wiring to cleaning equipment body 110 and gripper 120, and the motherboard may be connected to function adjustment module 130 and emergency stop module 140.

[0054] like Figures 4 to 7 As shown, in one feasible embodiment, the cleaning device further includes a power supply 160, which is connected to the cleaning device body 110, the gripper 120, and the controller 150; wherein the power supply 160 and the controller 150 are arranged inside the cleaning device body 110 and on the same side of the gripper 120, and the function adjustment module 130 is located above the controller 150.

[0055] In this technical solution, the cleaning equipment may further include a power supply 160, which is connected to the main body 110, the gripper 120, and the controller 150. The power supply 160 serves as the power source for the main body 110 and the gripper 120. The power supply 160 and the controller 150 are arranged within the main body 110 and on the same side as the gripper 120, further clarifying the layout of the components. This allows the center of gravity of the gripper 120 to be distributed as much as possible in the front-middle area of ​​the main body 110, making the cleaning equipment more stable. It also facilitates the establishment of connections between the gripper 120, the main body 110, and the controller 150, making it easier to power on the cleaning equipment.

[0056] It is understood that the power supply 160 and controller 150 are arranged inside the main body 110 of the cleaning equipment and on the same side of the gripper 120, meaning that in the direction of travel of the cleaning equipment, that is, in the front-to-back direction of the cleaning equipment, the power supply 160 and controller 150 are arranged on the same side of the gripper 120. The function adjustment module 130 being located above the controller 150 means that, along the height direction of the cleaning equipment, the function adjustment module 130 is located at the top of the controller 150.

[0057] In this technical solution, the function adjustment module 130 is located above the controller 150, which facilitates the direct connection between the function adjustment module 130 and the controller 150, making the assembly and preparation of the cleaning equipment easier, improving the response efficiency of the function adjustment module 130, and reducing the failure rate.

[0058] In one feasible implementation, the function adjustment module 130 includes a first touch-sensitive trigger button; the emergency stop module 140 includes a second touch-sensitive trigger button.

[0059] In this technical solution, a specific style of the function adjustment module 130 is further provided. The function adjustment module 130 may include a first touch-sensitive trigger button, which means that the user can activate the function adjustment module 130 by touch, making the activation of the function adjustment module 130 more convenient, the use of the cleaning equipment more convenient, and improving the user experience.

[0060] In this technical solution, the specific style of the emergency stop module 140 is further provided. The emergency stop module 140 may include a second touch-sensitive trigger button, that is, the user can activate the emergency stop module 140 by touch, making the triggering of the emergency stop module 140 more convenient, the use of the cleaning equipment more convenient, improving the user experience, and also improving the response efficiency of the emergency stop module 140, making it easier to control the gripper 120 to execute the safe operation mode in a timely manner.

[0061] It is understood that the touch button can be a press-triggered button or a capacitively triggered button, and this application does not limit the specific type of touch button.

[0062] In some examples, the function adjustment module 130 and the emergency stop module 140 may include touch-sensitive buttons, as well as other remote control triggering methods, such as infrared control, Bluetooth control, Wi-Fi module control, and NFC module control, etc.

[0063] like Figures 1 to 7 As shown, a second aspect of the embodiments of this application provides a cleaning system, comprising: a cleaning device as described in any of the above technical solutions; and a base station for housing the cleaning device.

[0064] The cleaning system provided in this application includes a cleaning device and a base station. The base station can accommodate the cleaning device, replenish cleaning fluid and water, and clean the cleaning component 1122 of the cleaning device, making the cleaning device more convenient to use. In addition, the base station can also replenish water and charge the cleaning device. The cleaning device of this cleaning system is equipped with a function adjustment module 130 and an emergency stop module 140. The function adjustment module 130 can adjust the working mode of the main body 110 of the cleaning device, making the control of the main body 110 of the cleaning device more convenient. When the cleaning device malfunctions, the emergency stop module 140 can directly control the gripper 120 to execute a safe working mode to prevent danger caused by the gripper 120 mounted on the main body 110 of the cleaning device. The emergency stop module 140 and the function adjustment module 130 of the cleaning equipment are arranged at an interval. That is to say, there is a certain distance between the emergency stop module 140 and the function adjustment module 130. Based on this, when the cleaning equipment has an abnormal working state, the user can identify the emergency stop module 140 at the first time and control the gripper 120 to stop working immediately through the emergency stop module 140. This can improve the efficiency of emergency stop response and, in particular, avoid incorrect operation. If the function adjustment module 130 is used as the emergency stop module 140, the use of the cleaning equipment can be made safer.

[0065] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0067] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0068] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A cleaning device, characterized in that, include: The main body of the cleaning equipment; A gripper, the gripper being connected to the main body of the cleaning equipment; A function adjustment module is disposed on the main body of the cleaning equipment and is used to control the operating mode of the main body of the cleaning equipment; An emergency stop module is provided on the main body of the cleaning equipment and is used at least to control the gripper to perform a safe operating mode; The emergency stop module and the function adjustment module are arranged at intervals. The emergency stop module and the function adjustment module are different colors.

2. The cleaning equipment according to claim 1, characterized in that, The distance between the emergency stop module and the function adjustment module is greater than or equal to 20mm.

3. The cleaning equipment according to claim 1, characterized in that, The area formed by the orthographic projection of the gripper's working space onto the main body of the cleaning equipment is the working coverage area, and the area above the main body of the cleaning equipment excluding the working coverage area is the non-working area. The emergency stop module is located in the non-working area.

4. The cleaning equipment according to claim 3, characterized in that, The distance between the emergency stop module and the work coverage area is less than or equal to 20mm.

5. The cleaning equipment according to claim 1, characterized in that, The main body of the cleaning equipment includes: The housing, the function adjustment module and the emergency stop module are disposed on the housing; Functional modules, wherein the functional modules are disposed within the housing; The housing contains a receiving chamber, through which the gripping member can extend or be stored.

6. The cleaning equipment according to claim 5, characterized in that, The housing also includes: A frame is arranged on the top of the receiving compartment, and the emergency stop module is disposed on the frame.

7. The cleaning equipment according to any one of claims 1 to 6, characterized in that, Also includes: A controller is connected to the main body of the cleaning equipment and the gripper. A function adjustment module is connected to the controller, and an emergency stop module is connected to the controller and is used to control the main body of the cleaning equipment and the gripper to perform a safe operation mode.

8. The cleaning equipment according to claim 7, characterized in that, Also includes: A power supply, which is connected to the main body of the cleaning device, the gripping component, and the controller; The power supply and the controller are arranged inside the main body of the cleaning equipment and are located on the same side as the gripper, while the function adjustment module is located above the controller.

9. The cleaning equipment according to any one of claims 1 to 6, characterized in that, The function adjustment module includes a first touch-sensitive trigger button; The emergency stop module includes a second touch-sensitive trigger button.

10. A cleaning system, characterized in that, include: The cleaning equipment as described in any one of claims 1 to 9; A base station, which is used to house the cleaning equipment.

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