Cleaning equipment and cleaning system

Abstract

The utility model discloses cleaning equipment and a cleaning system.The cleaning equipment comprises a cleaning machine body and an additional cleaning device, and the cleaning machine body can move along a first to-be-cleaned surface and clean the first to-be-cleaned surface; the additional cleaning device is arranged on the cleaning machine body, and the additional cleaning device is configured to perform treatment operation on a second to-be-cleaned surface higher than the first to-be-cleaned surface under the condition that the additional cleaning device is mounted on the cleaning machine body. The cleaning machine body is used for cleaning the first to-be-cleaned surface, the additional cleaning device located on the cleaning machine body is used for treating the second to-be-cleaned surface when the second to-be-cleaned surface needs to be cleaned, and therefore the cleaning equipment can clean the first to-be-cleaned surface and can also treat the second to-be-cleaned surface, and the cleaning efficiency is improved. And the application range is expanded.

Description

Technical Field

[0001] This application relates to the technical field of smart home, and particularly to a cleaning device and a cleaning system. Background Art

[0002] With the continuous development of smart home technology, intelligent cleaning devices have entered ordinary household life and gradually achieved popularity. Intelligent cleaning devices can replace users to clean the indoor floor, saving users' time and improving users' quality of life.

[0003] Currently, cleaning devices are usually used to clean the surface on which they move, and their application scope is limited. Summary of the Utility Model

[0004] The purpose of this application is to provide a cleaning device and a cleaning system for expanding the application scope.

[0005] This application is implemented through the following technical solutions.

[0006] The first aspect of this application provides a cleaning device, including:

[0007] A cleaning machine body configured to be able to move along a first surface to be cleaned and clean the first surface to be cleaned. The cleaning machine body includes a navigation module for navigation; an additional cleaning device located on the cleaning machine body, and the additional cleaning device is configured to be able to perform a processing operation on a second surface to be cleaned whose position height is higher than the first surface to be cleaned when it is installed on the cleaning machine body.

[0008] In some embodiments, the additional cleaning device includes: a base; a lifting mechanism, one end of which is connected to the base and the other end is a movable end; a robotic arm, one end of which is connected to the movable end of the lifting mechanism and the other end is an operating end, and the robotic arm can rise or fall under the action of the lifting mechanism; a cleaning actuator connected to the operating end of the robotic arm and capable of performing the processing operation on the second surface to be cleaned under the action of the robotic arm.

[0009] In some embodiments, the additional cleaning device further includes a support mechanism connected to the base, and the support mechanism can support on the first surface to be cleaned.

[0010] In some embodiments, the support mechanism includes a leg driving mechanism and at least one support leg. The leg driving mechanism is connected to the base, the support leg is connected to the leg driving mechanism, and the support leg can be switched between a support state of supporting on the first surface to be cleaned and a retracted state of disengaging from the first surface to be cleaned under the action of the leg driving mechanism.

[0011] In some embodiments, the support leg includes a connecting rod portion and a support rod portion connected to the connecting rod portion. The connecting rod portion is connected to the leg driving mechanism. The base is provided with a sliding groove and a receiving groove communicating with the sliding groove. The connecting rod portion slidably passes through the sliding groove. In the retracted state, the connecting rod portion is received in the sliding groove and the support rod portion is received in the receiving groove; in the support state, a part of the connecting rod portion extends out of the sliding groove, and the support rod portion moves out of the receiving groove and supports on the first surface to be cleaned.

[0012] In some embodiments, a pin shaft is provided on the outer peripheral surface of the connecting rod portion, and a guiding groove is provided on the inner wall of the sliding groove. The pin shaft is slidably disposed in the guiding groove along the extending direction of the guiding groove. The guiding groove includes a spiral section. The connecting rod portion can reciprocally slide in the sliding groove and rotate under the interaction of the spiral section and the pin shaft, so as to switch between the retracted state and the support state.

[0013] In some embodiments, the leg driving mechanism includes: a rotary driving member disposed on the base; a rotating structure connected to the output end of the rotary driving member, and the rotating structure is formed with a limiting sliding groove extending along a straight line; a connecting structure, one end of the connecting structure is disposed in the limiting sliding groove, and the other end is rotatably sleeved on the connecting rod portion; wherein, the rotating structure can reciprocally rotate under the action of the rotary driving member and drive the connecting rod portion to reciprocally slide along the extending direction of the sliding groove through the connecting structure.

[0014] In some embodiments, a universal rolling member is provided at one end of each support leg for supporting on the first surface to be cleaned, and the universal rolling member can roll along the first surface to be cleaned as the cleaning machine body moves.

[0015] In some embodiments, the lifting mechanism includes a lifting driving mechanism and at least one lifting rod group. The lifting driving mechanism is disposed on the base, the lifting rod group is connected to the output end of the lifting driving mechanism, and the free end of the lifting rod group is configured to lift under the drive of the lifting driving mechanism.

[0016] In some embodiments, the lifting rod group includes at least one cross rod group, and the cross rod group includes a first inclined rod and a second inclined rod connected to the first inclined rod. The lifting driving mechanism is configured to drive the included angle between the first inclined rod and the second inclined rod to increase or decrease.

[0017] In some embodiments, the middle parts of the first diagonal rod and the second diagonal rod are hinged to each other. The first ends of the first diagonal rod and the second diagonal rod are respectively connected to the base, and the second ends of the first diagonal rod and the second diagonal rod are respectively connected to the robotic arm. The lifting drive mechanism is configured to drive the first ends of the first diagonal rod and the second diagonal rod to approach or move away from each other.

[0018] In some embodiments, there are two or more cleaning actuators. At least one of the cleaning actuators is connected to the action end of the robotic arm. The two or more cleaning actuators at least include a gripper for grasping an object and a cleaning member for cleaning a surface.

[0019] In some embodiments, the additional cleaning device is detachably connected to the cleaning machine body.

[0020] In some embodiments, the cleaning machine body has a first circuit docking head, and the additional cleaning device has a second circuit docking head. When the additional cleaning device is connected to the cleaning machine body, the first circuit docking head and the second circuit docking head are docked with each other, so that the additional cleaning device and the cleaning machine body are electrically connected, and the cleaning machine body supplies power for the operation of the additional cleaning device; and / or, the cleaning machine body has a first air path docking port, and the additional cleaning device has a second air path docking port. When the additional cleaning device is installed on the cleaning machine body, the first air path docking port and the second air path docking port are docked with each other, so that the air paths of the additional cleaning device and the cleaning machine body are communicated; and / or, the cleaning machine body has a first water path docking port, and the additional cleaning device has a second water path docking port. When the additional cleaning device is installed on the cleaning machine body, the first water path docking port and the second water path docking port are docked with each other, so that the water paths of the additional cleaning device and the cleaning machine body are communicated.

[0021] In some embodiments, the action end of the robotic arm has an actuator docking part capable of docking with the cleaning actuator. The actuator docking part is provided with a docking head for docking with at least one of the air path, circuit and water path of the cleaning actuator.

[0022] In some embodiments, the docking head includes a water path docking head for docking with the water path. When the cleaning actuator is docked to the actuator docking part, the second surface to be cleaned is processed by the cleaning actuator. When the cleaning actuator is not docked to the actuator docking part, clean water can be introduced into the cleaning machine body through the water path docking head of the actuator docking part and / or the sewage in the cleaning machine body can be discharged outside.

[0023] In some embodiments, the actuator docking portion is provided with a first engaging structure, and each of the cleaning actuators has a second engaging structure. The first engaging structure and the second engaging structure can be engaged or disengaged. In the engaged state, the cleaning actuator can move with the robotic arm.

[0024] In some embodiments, the robotic arm is configured to enable the action end to rotate around at least two action axes.

[0025] In some embodiments, the robotic arm includes: a base connected to the movable end of the lifting mechanism; and a first arm, a second arm, and a third arm that are sequentially rotatably connected. The first arm is rotatably connected to the base around its own central axis, and one end of the third arm away from the second arm is rotatably connected to the actuator docking portion.

[0026] In some embodiments, the additional cleaning device is provided with at least one camera, and the camera is used to photograph at least one of the environmental space where the cleaning device is located and the activity space of the action end of the robotic arm.

[0027] In some embodiments, at least one of the cameras is provided on the robotic arm.

[0028] In some embodiments, the first arm is provided with a first camera that photographs at least the activity range of the third arm; and / or, one end of the third arm close to the actuator docking portion is provided with a second camera that photographs at least the actuator docking portion.

[0029] In some embodiments, the navigation module includes a visual navigation module.

[0030] In some embodiments, the processing operation at least includes cleaning and / or tidying up the second surface to be cleaned.

[0031] The second aspect of the present application provides a cleaning system, including: a cleaning device provided as in the first aspect; a base station having at least a parking position for parking the cleaning machine body.

[0032] In some embodiments, the cleaning system further includes a storage station, and at least one cleaning actuator is detachably connected to the storage station, and the cleaning actuator can perform the processing operation.

[0033] The beneficial effects of the embodiments of the present application include: The first surface to be cleaned can be cleaned by the main body of the cleaning machine. When the height of the position to be processed is higher than the first surface to be cleaned, the additional cleaning device located above the main body of the cleaning machine is used for processing operations. In this way, the cleaning device can not only clean the first surface to be cleaned, but also process the second surface to be cleaned, expanding the scope of use of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered to be a limitation of the present application. Moreover, in all the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0035] Figure 1 A three-dimensional structure diagram of the cleaning device provided by some embodiments of the present application when the lifting mechanism is in the non-lifted state;

[0036] Figure 2 A three-dimensional structure diagram of the main body of the cleaning machine provided by some embodiments of the present application;

[0037] Figure 3 A three-dimensional structure diagram of the additional cleaning device in a non-lifted state from one perspective provided by some embodiments of the present application;

[0038] Figure 4 A three-dimensional structure diagram of the cleaning device provided by some embodiments of the present application when the lifting mechanism is in the lifted state;

[0039] Figure 5 A three-dimensional structure diagram of the assembled base and support mechanism provided by some embodiments of the present application when the support mechanism is in the retracted state;

[0040] Figure 6 A three-dimensional structure diagram of the additional cleaning device in a lifted state provided by some embodiments of the present application;

[0041] Figure 7 A three-dimensional structure diagram of the base provided by some embodiments of the present application;

[0042] Figure 8 A top view of the assembled base and support mechanism provided by some embodiments of the present application when the support mechanism is in the retracted state;

[0043] Figure 9 For Figure 8 The cross-sectional view taken along line A-A in;

[0044] Figure 10 For Figure 9Enlarged view of part A in [the figure];

[0045] Figure 11 is Figure 8 Cross-sectional view taken along line B-B in [the figure];

[0046] Figure 12 is Figure 11 Enlarged view of part B in [the figure];

[0047] Figure 13 Schematic perspective view of the assembled base and support mechanism in the support state provided by some embodiments of the present application;

[0048] Figure 14 Front view of the cleaning machine body and the additional cleaning device stored in the base station provided by some embodiments of the present application;

[0049] Figure 15 Front view of the cleaning machine body and the additional cleaning device stored in the base station provided by some embodiments of the present application;

[0050] Figure 16 Schematic perspective view of another angle of the additional cleaning device in the non-raised state provided by some embodiments of the present application;

[0051] Figure 17 Flowchart of a cleaning control method provided by some embodiments of the present application;

[0052] Figure 18 Schematic diagram of the composition of the control module of the cleaning system provided by some embodiments of the present application.

[0053] Explanation of reference numerals

[0054] 10. Additional cleaning device; 1. Base; 111. Sliding groove; 112. Receiving groove; 113. Guiding groove; 114. Arc convex surface; 2. Lifting mechanism; 21. Lifting drive mechanism; 22. Cross structure; 221. First diagonal bar; 222. Second diagonal bar; 23. Top plate; 231. First strip hole; 24. Bottom plate; 241. Second strip hole; 3. Robot arm; 30 Base; 31. Actuator docking part; 311. Pneumatic circuit docking joint; 312. Electrical circuit docking joint; 313. Water circuit docking joint; 32. First arm; 33. Second arm; 34. Third arm; 35. Fourth arm; 36. First camera; 37. Second camera; 4. Cleaning actuator; 4a. Mechanical claw; 4b. Rotary brush; 4c. Floor washing brush; 5. Support mechanism; 51. Leg drive mechanism; 511. Rotary drive part; 512. Rotating structure; 5121. Limit sliding groove; 513. Connection structure; 5131. Sliding joint; 5132. Adapter sleeve; 514. Universal rolling part; 515. Guide strip; 52. Support leg; 521. Connecting rod part; 522. Support rod part; 523. Pin shaft; 20. Cleaning machine body; 201. First electrical circuit docking joint; 202. First pneumatic circuit docking port; 203. First water circuit docking port; 204. Visual navigation module; 50. Actuator positioning structure; 60. Base station; 70. Storage station; 100. Washbasin; 200. Sink; 300. Faucet; 1001. Control device. Detailed implementation manners

[0055] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, and therefore are only examples and cannot be used to limit the protection scope of the present application.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and the above accompanying drawings of this application are intended to cover non-exclusive inclusion.

[0057] In the description of the embodiments of the present application, technical terms such as "first", "second", "third", "fourth", etc. are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, "a plurality" means more than two unless otherwise specifically defined.

[0058] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0059] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0060] In the description of the embodiments of the present application, the orientation or position relationship indicated by technical terms such as "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", and "circumferential" are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0061] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0062] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and may be direct contact or contact through an intermediate medium layer. It may be contact with essentially no interaction force between the two contacting parties, or it may be contact with interaction force between the two contacting parties.

[0063] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0064] Figure 1 A schematic diagram of the three-dimensional structure of the cleaning device provided in some embodiments of the present application when the lifting mechanism is in a non-raised state; Figure 2 A schematic diagram of the three-dimensional structure of a cleaning machine body provided in some embodiments of the present application;Figure 3 Schematic perspective view of an additional cleaning device provided in some embodiments of the present application in a non-raised state; Figure 4 Schematic perspective view of a cleaning device provided in some embodiments of the present application with the lifting mechanism in a raised state; Figure 5 Schematic perspective view of an assembled base and support mechanism provided in some embodiments of the present application with the support mechanism in a retracted state; Figure 6 Schematic perspective view of an additional cleaning device provided in some embodiments of the present application in a raised state; Figure 7 Schematic perspective view of a base provided in some embodiments of the present application; Figure 8 Top view of an assembled base and support mechanism provided in some embodiments of the present application with the support mechanism in a retracted state; Figure 9 For Figure 8 Cross-sectional view taken along line A-A in Figure 10 For Figure 9 Enlarged view of portion A in Figure 11 For Figure 8 Cross-sectional view taken along line B-B in Figure 12 For Figure 11 Enlarged view of portion B in Figure 13 Schematic perspective view of an assembled base and support mechanism provided in some embodiments of the present application with the support mechanism in a supporting state; Figure 14 Front view of a cleaning machine body and an additional cleaning device provided in some embodiments of the present application stored in a base station;

[0065] Figure 15 Front view of a cleaning machine body and an additional cleaning device provided in some embodiments of the present application stored in a base station; Figure 16 Another perspective schematic perspective view of an additional cleaning device provided in some embodiments of the present application in a non-raised state; Figure 17 Flowchart of a cleaning control method provided in some embodiments of the present application; Figure 18 Schematic diagram of the composition of a control module of a cleaning system provided in some embodiments of the present application.

[0066] In some embodiments of the present application, for ease of explanation, a first direction, a second direction, and a height direction are defined. The first direction, the second direction, and the height direction are directions that intersect each other, where "intersecting each other" includes perpendicular intersection. For ease of understanding the embodiments of the present application, in Figures 1 to 16 the illustrated embodiments, an example where the first direction, the second direction, and the height direction are perpendicular to each other is used for explanation. However, those skilled in the art should understand that the embodiments of the present application are not limited to the case where the three directions are perpendicular to each other.

[0067] For ease of explanation, asFigure 1 , Figure 4 and Figure 6 As shown by the arrows in Figure 1 , Figure 4 and Figure 6 , with the direction of arrow X as the first direction, the direction of arrow Y as the second direction, and the direction of arrow Z as the height direction. When the cleaning device is placed on a horizontal plane, the height direction Z is the vertical direction.

[0068] Cleaning devices such as floor sweeping robots are currently widely used in households. However, these cleaning devices usually clean the ground while moving on the ground. However, it is also desired that the cleaning device can clean or tidy surfaces other than the ground (such as tabletops, sofa surfaces, etc.). The cleaning device, cleaning system, and cleaning control method provided in this application can meet the above needs.

[0069] The first aspect of this application provides a cleaning device. As Figures 1 to 4 shown, the cleaning device includes a cleaning machine body 20 and an additional cleaning device 10. The cleaning machine body 20 is configured to be able to move along the first surface to be cleaned and clean the first surface to be cleaned; the additional cleaning device 10 is located above the cleaning machine body 20, and the additional cleaning device 10 is configured to be able to perform processing operations on the second surface to be cleaned whose position height is higher than the first surface to be cleaned when it is installed on the cleaning machine body 20.

[0070] The cleaning machine body 20 is a cleaning device that can move independently on the surface on which it is placed and clean the surface. The cleaning machine body 20 can be, but is not limited to, a vacuuming robot, a mopping and vacuuming integrated robot, etc. The vacuuming robot is mainly used to remove dust and debris on the ground, and it cleans the ground through a built-in suction system and brushes. Most vacuuming robots are equipped with an automatic navigation system. In addition to the vacuuming function, the mopping and vacuuming integrated robot also has a wet mopping function. It is equipped with a water tank and a mop, and can clean stains on the ground. The above cleaning device can also include a sensing system, an energy system, a human-computer interaction system, etc. The above systems are not shown in the figure. The components of each system included in any existing cleaning device can be adopted and integrated into the cleaning machine body 20 of the embodiment of this application to complete the overall operation function of the cleaning device described in the embodiment of this application. The integration or positional relationship of the above systems can be obtained with reference to the prior art without conflicting with the technical purpose of the embodiment of this application, and will not be elaborated here.

[0071] The additional cleaning device 10 is located above the cleaning machine body. Optionally, it can include that the additional cleaning device 10 is fixedly installed on the cleaning machine body, it can include that the additional cleaning device 10 is detachably installed on the cleaning machine body, or it can also include the situation where the additional cleaning device 10 is located above the cleaning machine body and there is an electrical connection between the additional cleaning device 10 and the cleaning machine body.

[0072] The additional cleaning device 10 can be installed on the cleaning machine body 20 and located above the cleaning machine body 20, and can perform processing operations on surfaces at higher positions. Exemplarily, the additional cleaning device 10 includes, but is not limited to, a robotic arm and a cleaning actuator connected to the operating end of the robotic arm. The cleaning actuator can be moved to a higher position under the action of the robotic arm and perform processing operations on the surface at the higher position.

[0073] Exemplarily, the first surface to be cleaned can be, but is not limited to, the ground, and the second surface to be cleaned can be, but is not limited to, a desktop, a sofa surface, a window sill surface, or a cabinet surface, etc. The positions of these surfaces can be higher than the ground. The cleaning machine body 20 cannot automatically reach the second surface to be cleaned for operation. Therefore, the cleaning device provided in the embodiment of the present application can perform processing operations on these surfaces with higher positions through the additional cleaning device 10 installed on the cleaning machine body 20.

[0074] The first surface to be cleaned includes the surface to be cleaned that has not been cleaned, and also includes the surface that needs to be cleaned and has been cleaned. Similarly, the second surface to be cleaned includes the surface to be cleaned that has not been cleaned, and also includes the surface that needs to be cleaned and has been cleaned. The position heights of the second surface to be cleaned and the first surface to be cleaned are different. In some embodiments, the second surface to be cleaned is higher than the first surface to be cleaned.

[0075] The cleaning actuator includes, but is not limited to, a cleaning brush for sweeping and a gripper for grasping objects. In some specific embodiments, the cleaning brush can be a roller brush or a brush; the gripper can be used to grasp items to be cleaned or sorted, and can also be used to grasp a cleaning cloth for wiping, etc.

[0076] "Processing operation" includes, but is not limited to, cleaning or sorting. Exemplarily, the additional cleaning device 10 can clean the second surface to be cleaned and remove dust and debris attached to the second surface to be cleaned; the additional cleaning device 10 can also sort the second surface to be cleaned and arrange the useful objects placed on the second surface to be cleaned neatly, etc.

[0077] The cleaning device provided in the embodiment of the present application can use the cleaning machine body 20 to clean the first surface to be cleaned, and when it is necessary to perform processing operations on the second surface to be cleaned, use the additional cleaning device 10 located above the cleaning machine body 20 to perform processing operations on the second surface to be cleaned. In this way, the cleaning device can not only clean the first surface to be cleaned, but also perform processing operations on the second surface to be cleaned, and the use range of the cleaning device is wide.

[0078] In some embodiments of the present application, the additional cleaning device 10 is detachably connected to the cleaning machine body 20.

[0079] Thus, the cleaning device provided by the embodiments of the present application can have two cleaning modes. The first cleaning mode is applicable to cleaning only one continuous surface (the first surface to be cleaned, such as the ground). In this mode, the cleaning machine body 20 can operate alone. The cleaning machine body 20 moves along this surface and cleans the area passed through during the movement. The second cleaning mode is applicable to processing operations on surfaces whose position height is higher than the first surface to be cleaned and cannot be directly cleaned by the cleaning machine body 20. In this mode, the additional cleaning device 10 is installed on the cleaning machine body 20. The additional cleaning device 10 moves along the first surface to be cleaned under the carrying of the cleaning machine body 20, approaches the second surface to be cleaned, and after moving to an appropriate position, processes the second surface to be cleaned through the additional cleaning device 10. In addition, the above two cleaning modes can be used in combination. For example, in the second cleaning mode, the cleaning machine body 20 can also clean the first surface to be cleaned passed through. The above two cleaning modes can be used in combination in one cleaning operation.

[0080] The switching between the first cleaning mode and the second cleaning mode can be achieved electrically or by disassembling and assembling the additional cleaning device 10 and the cleaning machine body 20.

[0081] For the cleaning device provided by the embodiments of the present application, when only the first surface to be cleaned needs to be cleaned, the cleaning machine body 20 can be used, which reduces the load of the cleaning machine body 20, is beneficial to saving energy, and moreover, the cleaning machine body 20 is convenient to enter low spaces for cleaning; when the second surface to be cleaned needs to be cleaned, the additional cleaning device 10 can be installed on the cleaning machine body 20 to realize the processing operation on the second surface to be cleaned. Thus, the cleaning operation of the cleaning device has high flexibility and takes into account more cleaning scenarios.

[0082] As Figure 3 and Figure 4 shown, in some embodiments, the additional cleaning device 10 includes a base 1, a lifting mechanism 2, a robotic arm 3, and a cleaning actuator 4. The base 1 is detachably connected to the cleaning machine body 20; one end of the lifting mechanism 2 is connected to the base 1, and the other end is a movable end; one end of the robotic arm 3 is connected to the movable end of the lifting mechanism 2, and the other end is an operating end. The robotic arm 3 can rise or fall under the action of the lifting mechanism 2; the cleaning actuator 4 is connected to the operating end of the robotic arm 3 and can process the second surface to be cleaned under the action of the robotic arm 3.

[0083] The lifting mechanism 2 is a structure for driving the robotic arm 3 to lift, and can be, but is not limited to, a lead screw lift, a scissor lift, or a hydraulic lift, etc. Optionally, the lifting mechanism 2 can also be a structure that can be lifted under manual operation.

[0084] The robotic arm 3 is a device for driving the cleaning actuator 4 to move its position flexibly and / or change its posture, so as to realize the cleaning function of the additional cleaning device 10. Optionally, the robotic arm 3 can adopt a structure with one arm; similarly optionally, the robotic arm 3 can adopt a structure in which two or more arms are connected by joints. In some embodiments, the robotic arm 3 has multiple rotating axes, so that the action end of the robotic arm 3 can drive the cleaning actuator to perform actions such as rotation, pitching, rolling, and translation.

[0085] The cleaning actuator 4 is a device for moving its position or changing its posture under the action of the robotic arm 3 so as to be able to perform treatment operations on the surface to be cleaned. Optionally, the cleaning actuator 4 can be a cleaning brush, and the cleaning function is realized by moving the cleaning brush on the surface to be cleaned; optionally, the cleaning actuator 4 can also be a cleaning roller including a water outlet, and the cleaning function is realized by wiping the surface to be cleaned; optionally, the cleaning actuator 4 can also be a robotic claw, and the cleaning and / or sorting function is realized by picking up the objects on the surface to be cleaned. Of course, further optionally, the cleaning actuator 4 can also be a dust suction device with an adsorption function, and the cleaning function is realized by adsorbing dust, waste chips, etc. on the surface to be cleaned. For the form of the cleaning actuator 4, as long as it can be connected to the robotic arm 3 and can be driven to perform treatment operations, there is no special limitation.

[0086] In this way, when it is necessary to clean the second surface to be cleaned, by flexibly changing the position of the cleaning actuator 4 through the robotic arm 3, the position and posture of the cleaning actuator 4 can be accurately adjusted. And when the position of the second surface to be cleaned is at a higher position and the cleaning actuator 4 cannot be touched by the robotic arm 3 alone, the lifting mechanism 2 can be used to drive the robotic arm 3 to rise so that the cleaning actuator 4 can reach a higher position, thereby further expanding the scope of use.

[0087] In some embodiments, the cleaning machine body 20 has a first connection structure (not shown in the figure), and the additional cleaning device 10 has a second connection structure (not shown in the figure). The first connection structure and the second connection structure are detachably connected and fixed to each other.

[0088] Exemplarily, the top of the cleaning machine body 20 has a first connection structure, and the bottom of the base 1 of the additional cleaning device 10 has a second connection structure. By detachably connecting the first connection structure and the second connection structure, the detachable installation of the additional cleaning device 10 on the cleaning machine body 20 is realized.

[0089] Optionally, one of the first connection structure and the second connection structure has a slot, and the other has a buckle. During installation, the buckle is engaged with the slot, so that the first connection structure and the second connection structure are engaged together, thereby realizing the connection between the additional cleaning device 10 and the cleaning machine body 20. The engagement action between the slot and the buckle can be that the two are directly inserted along the height direction Z and then engaged, or they can be engaged after being inserted and then rotated. The specific engagement action is determined by the specific structures of the slot and the buckle. The specific structures of the slot and the buckle can refer to the prior art and are not specifically limited herein.

[0090] Optionally, the first connection structure and the second connection structure are respectively electromagnets. When they need to be connected, the electromagnets are energized for magnetic attraction to realize the connection between the additional cleaning device 10 and the cleaning machine body 20. When the cleaning machine body 20 needs to operate independently, the current of the electromagnet is disconnected, so that the first connection structure and the second connection structure are separated from each other, realizing the removal of the additional cleaning device 10 from the cleaning machine body 20.

[0091] In this way, through the detachable connection of the first connection structure and the second connection structure, the detachable installation of the additional cleaning device 10 on the cleaning machine body 20 is realized. The additional cleaning device 10 is installed on the cleaning machine body 20, so that the additional cleaning device 10 can move synchronously with the movement of the cleaning machine body 20. The additional cleaning device 10 and the cleaning machine body 20 share the movement driving device in the cleaning machine body 20, saving parts and costs, and also reducing the space occupation. Moreover, due to the mutual connection of the first connection structure and the second connection structure, the connection reliability between the additional cleaning device 10 and the cleaning machine body 20 is improved, and the probability of misalignment between the two is reduced, thereby improving the operation reliability of the cleaning equipment.

[0092] In some embodiments, as Figure 2 shown, the cleaning machine body 20 has a first circuit docking head 201, and the additional cleaning device 10 has a second circuit docking head (not shown in the figure). When the additional cleaning device 10 is connected to the cleaning machine body 20, the first circuit docking head 201 and the second circuit docking head are docked, so that the additional cleaning device 10 and the cleaning machine body 20 are electrically connected, and thus the additional cleaning device 10 can be powered by the cleaning machine body 20.

[0093] The first circuit connector 201 and the second circuit connector can be respectively arranged at the positions where the cleaning machine body 20 and the additional cleaning device 10 are docked with each other. Optionally, the first circuit connector 201 is arranged on the top surface of the cleaning machine body 20, and the second circuit connector is arranged on the bottom surface of the additional cleaning device 10. Further optionally, one of the first circuit connector 201 and the second circuit connector is a conductive protrusion, and the other is a conductive terminal with a groove. After the additional cleaning device 10 is installed on the cleaning machine body 20, the conductive protrusion is inserted into the groove of the conductive terminal, and the inner wall of the conductive protrusion and the groove of the conductive terminal are in contact to achieve electrical conduction.

[0094] It should be noted that the cleaning machine body 20 includes a rechargeable battery for supplying electrical energy for the operation of the cleaning machine body 20.

[0095] In this way, the additional cleaning device 10 is powered by the cleaning machine body 20, so that the additional cleaning device 10 does not need to be provided with a rechargeable battery, which is beneficial to the miniaturization and light weight of the additional cleaning device 10. The additional cleaning device 10 and the cleaning machine body 20 share the rechargeable battery in the cleaning machine body 20, saving components, reducing costs, and also reducing space occupation.

[0096] In some embodiments, as Figure 2 shown, the cleaning machine body 20 has a first air path docking port 202, and the additional cleaning device 10 has a second air path docking port (not shown in the figure). When the additional cleaning device 10 is installed on the cleaning machine body 20, the first air path docking port 202 and the second air path docking port are docked, so that the air paths of the additional cleaning device 10 and the cleaning machine body 20 are communicated, which can be used to form a negative pressure environment at the execution end of the additional cleaning device 10 to adsorb dust and debris on the second surface to be cleaned, and realize the function of negative pressure cleaning.

[0097] It should be noted that the cleaning machine body 20 may include a dust collection container for collecting dust and debris, a suction fan for negative pressure cleaning, and an air pipe connected to the suction fan. When the cleaning machine body 20 works alone, the suction fan forms a negative pressure at the negative pressure suction port at the bottom of the cleaning machine body 20 through suction, sucking the dust and debris below the cleaning machine body 20 into the air pipe, and the dust and debris enter the dust collection container through the air pipe, realizing the negative pressure cleaning of the first surface to be cleaned. In addition, the first air path docking port 202 of the cleaning machine body 20 is communicated with the air pipe. The additional cleaning device 10 is provided with a guide air pipe. One end of the guide air pipe extends to the bottom end of the additional cleaning device 10 to form a second air path docking port, and the other end extends to the execution end of the additional cleaning device 10 to form a negative pressure suction port. After the first air path docking port 202 and the second air path docking port of the additional cleaning device 10 are communicated, the negative pressure suction port is connected to the suction fan and the dust collection container through the guide air pipe and the air pipe. The suction fan can form a negative pressure at the negative pressure suction port at the execution end of the additional cleaning device 10 through suction, so that the dust and debris on the second surface to be cleaned sequentially enter the dust collection container through the guide air pipe and the air pipe, thereby realizing the negative pressure cleaning of the second surface to be cleaned.

[0098] In this way, the cleaning machine body 20 and the additional cleaning device 10 share the suction fan and some air pipes of the cleaning machine body 20, saving components, reducing costs, and also reducing the space occupation.

[0099] In some embodiments, as Figure 2 shown, the cleaning machine body 20 has a first water path docking port 203, and the additional cleaning device 10 has a second water path docking port (not shown in the figure). When the additional cleaning device 10 is installed on the cleaning machine body 20, the first water path docking port 203 and the second water path docking port are docked, so that the water paths of the additional cleaning device 10 and the cleaning machine body 20 are communicated.

[0100] It should be noted that the cleaning machine body 20 includes a water pump, a water tank, and a water pipe for guiding the flow. The water pump is used to provide power for the flow of clean water in the water pipe. The water pump can pump the clean water in the water tank through the water pipe to the mopping module of the cleaning machine body 20 to clean the first surface to be cleaned. The water pump can also pump the external clean water (such as the water in the faucet) through the water pipe into the water tank to add clean water to the water tank. The first waterway docking port 203 of the cleaning machine body 20 is connected to the water pipe. The additional cleaning device 10 has a diversion pipeline. One end of the diversion pipeline extends to the bottom end of the additional cleaning device 10 to form a second waterway docking port, and the other end extends to the execution end of the additional cleaning device 10 to form a clean water port. When the first waterway docking port 203 of the cleaning machine body 20 is docked with the second waterway docking port of the additional cleaning device 10, the clean water port is connected to the water pump and the water tank through the diversion pipeline and the water pipe. In this way, the clean water in the water tank can flow to the clean water port of the additional cleaning device 10 along the water pipe and the diversion pipeline in sequence under the action of the water pump to supply water to the floor washing brush of the additional cleaning device 10; and, the external clean water (such as the water in the faucet) can flow to the water tank of the cleaning machine body 20 along the diversion pipeline and the water pipe in sequence under the action of the water pump to add water to the cleaning machine body 20.

[0101] Optionally, the cleaning machine body 20 includes a sewage tank, a sewage pump, and a sewage pipe. The cleaning machine body 20 has at least two first waterway docking ports 203, and at least one of the first waterway docking ports 203 is connected to the sewage pipe. The sewage pump is used to provide power for the flow of sewage in the sewage pipe. The sewage pump can pump the sewage on the surface to be cleaned through the sewage pipe into the sewage tank to realize the function of sucking sewage. The sewage pump can also drive the sewage in the sewage tank to be discharged outward through the sewage pipe to realize the function of discharging sewage. The additional cleaning device 10 has a sewage guiding pipe. One end of the sewage guiding pipe extends to the bottom end of the additional cleaning device 10 to form a second waterway docking port, and the other end extends to the execution end of the additional cleaning device 10 to form a sewage port. When the first waterway docking port 203 of the cleaning machine body 20 is docked with the second waterway docking port of the additional cleaning device 10, the sewage port is connected to the sewage tank and the sewage pump through the sewage guiding pipe and the sewage pipe. The sewage in the sewage tank can flow to the sewage port of the additional cleaning device 10 along the sewage pipe and the sewage guiding pipe in sequence under the action of the sewage pump to discharge the sewage in the cleaning machine body 20 to the outside. In this way, the sewage can be discharged into the sewage discharge part with a relatively high position. For example, even if the height of the sink or the toilet is relatively high, the sewage can be discharged smoothly. Optionally, the sewage pump can also pump the sewage on the external surface to be cleaned into the sewage tank through the sewage guiding pipe and the sewage pipe in sequence to recover the sewage and realize the cleaning function.

[0102] In this way, the first waterway docking interface 203 of the cleaning machine main body 20 is docked with the second waterway docking interface of the additional cleaning device 10, so that the waterways of the cleaning machine main body 20 and the additional cleaning device 10 are connected. The cleaning machine main body 20 and the additional cleaning device 10 share the water pump and related pipelines in the cleaning machine main body 20, which can realize various cleaning operations of the additional cleaning device 10, save components, reduce costs, and also reduce the space occupation.

[0103] In some embodiments, as Figure 2 shown, the cleaning machine main body 20 includes a navigation module for navigation. Further, the navigation module includes a visual navigation module 204.

[0104] The visual navigation module 204 is a module that senses the surrounding environment through a TOF (Time of flight) camera or other sensors to achieve navigation and obstacle avoidance. The cleaning machine main body 20 equipped with the visual navigation module 204 can intelligently avoid obstacles and more accurately plan the cleaning path. The specific structure of the visual navigation module 204 can refer to the prior art and will not be elaborated here.

[0105] The visual navigation module 204 can be installed on the cleaner main body 20. For example, it can be installed on the side part of the cleaning machine main body 20. When the cleaning machine main body 20 is moving, usually the side part faces the moving direction. In some embodiments, multiple visual navigation modules 204 can be equipped on the cleaning machine main body 20.

[0106] When the additional cleaning device 10 is installed on the cleaning machine main body 20 and performs processing operations, the visual navigation module 204 can also navigate the overall structure composed of the additional cleaning device 10 and the cleaning machine main body 20.

[0107] In some embodiments, as Figure 3 and Figure 4 shown, the additional cleaning device 10 further includes a support mechanism 5. The support mechanism 5 is connected to the base 1, and the support mechanism 5 can support on the first surface to be cleaned.

[0108] Optionally, the support mechanism 5 can be a retractable structure. For example, the support legs of the support mechanism 5 can change between the deployed state and the retracted state. In the deployed state, the support legs support on the first surface to be cleaned, and in the retracted state, the support legs are separated from the first surface to be cleaned. Similarly optionally, the support mechanism 5 can be a non-retractable structure. When the additional cleaning device 10 is installed on the cleaning machine main body 20, the support mechanism 5 always supports on the first surface to be cleaned.

[0109] When the additional cleaning device 10 is installed on the cleaning machine body 20, since the center of gravity of the robotic arm 3 and the lifting mechanism 2 is relatively high and changes with the movement of the robotic arm 3, there is a possibility that the additional cleaning device 10 and even the entire cleaning equipment may tip over. By providing the support mechanism 5 and making it support between the base 1 and the first surface to be cleaned, the stability of the additional cleaning device 10 and the entire cleaning equipment can be increased.

[0110] In some embodiments, the support mechanism 5 can be switched between a supported state supported on the first surface to be cleaned and a retracted state disengaged from the first surface to be cleaned. Optionally, once the additional cleaning device 10 is installed on the cleaning machine body 20, the support mechanism 5 assumes the supported state; similarly optionally, the support mechanism 5 assumes the supported state according to a control signal, where the control signal includes a start signal for the additional cleaning device 10 to start a processing operation, and an instruction signal externally input to request the support mechanism 5 to assume the supported state (such as pressing a relevant button).

[0111] Optionally, the support mechanism 5 can be manually put into the retracted state; similarly optionally, the support mechanism 5 assumes the retracted state according to a control signal, where the control signal includes an end signal for the additional cleaning device 10 to end the processing operation, and an instruction signal externally input to request the support mechanism 5 to assume the retracted state (such as pressing a relevant button).

[0112] Thus, by providing the retractable support mechanism 5, the support mechanism 5 can be put into the supported state in scenarios such as movement and processing operations to improve the stability of the cleaning equipment, and the support mechanism 5 can be put into the retracted state when the support of the support mechanism 5 is not required, facilitating the disassembly, installation, storage, etc. of the additional cleaning device 10.

[0113] In some embodiments, as Figure 1 、 Figures 4 to 6 shown, the support mechanism 5 includes a leg driving mechanism 51 and at least one support leg 52. The leg driving mechanism 51 is connected to the base 1, and the support leg 52 is connected to the leg driving mechanism 51. The support leg 52 can be switched between a supported state supported on the first surface to be cleaned and a retracted state disengaged from the first surface to be cleaned under the action of the leg driving mechanism 51.

[0114] Exemplarily, the support leg 52 can be provided in one, two, three, four or other numbers. When the number of support legs 52 is more than two, the two or more support legs 52 can be evenly distributed around the central axis of the base 1 to improve the stability of the support. In Figure 4 、 Figure 6 shown in the specific embodiment, the number of support legs 52 is 4, symmetrically distributed around the cleaning machine body 20.

[0115] As Figure 4 andFigure 6 As described above, when the support legs 52 are extended to be in a supported state, each support leg 52 supports the first surface to be cleaned around the cleaning machine body 20.

[0116] In addition, the leg driving mechanism 51 is provided on the base 1 in the additional cleaning device 10, and the support legs 52 are connected to the leg driving mechanism 51. Thus, the supporting force of the first surface to be cleaned on the support legs 52 can be reliably transmitted to the additional cleaning device 10, so that the additional cleaning device 10 which is prone to tipping can be reliably supported.

[0117] In some embodiments, as Figures 6 to 8 shown, the support leg 52 includes a connecting rod portion 521 and a support rod portion 522 connected to the connecting rod portion 521. The connecting rod portion 521 is connected to the leg driving mechanism 51. The base 1 is provided with a sliding groove 111 and a receiving groove 112 communicating with the sliding groove 111. The connecting rod portion 521 slidably passes through the sliding groove 111. In the retracted state, the connecting rod portion 521 is received in the sliding groove 111 and the support rod portion 522 is received in the receiving groove 112. In the supported state, a part of the connecting rod portion 521 extends out of the sliding groove 111, and the support rod portion 522 moves out of the receiving groove 112 and supports on the first surface to be cleaned.

[0118] As Figure 6 shown, the connecting rod portion 521 and the support rod portion 522 are connected in a manner that forms a certain angle. Regarding the size of the angle, as long as the support rod portion 522 can support on the first surface to be cleaned and can stably support the additional cleaning device 10 when the support leg 52 is in the supported state, there is no particular limitation.

[0119] Optionally, the connecting rod portion 521 and the support rod portion 522 can be configured as straight rods or can be configured as curved rods with a certain curvature. In the Figure 6 shown specific embodiment, the connecting rod portion 521 is configured as a straight rod and the support rod portion 522 is configured as a curved rod.

[0120] The sliding groove 111 has a groove shape capable of accommodating the connecting rod portion 521; the receiving groove 112 has a groove shape capable of receiving the support rod portion 522. As Figure 7 shown, on the base 1, sliding grooves 111 having the same number as the support legs 52 are formed. A part of the sliding groove 111 is open upward. One end in the groove length direction of the sliding groove 111 communicates with the receiving groove 112, and the receiving groove 112 is formed along the outer edge of the base 1.

[0121] Thus, the sliding groove 111 plays a role in guiding the sliding of the connecting rod portion 521, and the sliding groove 111 can also accommodate the connecting rod portion 521. The receiving groove 112 can easily accommodate the support rod portion 522, so that the support leg 52 is accommodated in the base 1 in the retracted state, reducing the occupation of space. Moreover, both the sliding groove 111 and the receiving groove 112 are provided in the base, which can reduce the number of components and is beneficial to improving the overall aesthetics of the connection state between the additional cleaning device 10 and the cleaning machine body 20.

[0122] In some embodiments, as Figure 7 、 Figure 9 and Figure 10 shown, a pin shaft 523 is provided on the outer peripheral surface of the connecting rod portion 521, and a guiding groove 113 is provided on the inner wall of the sliding groove 111. The pin shaft 523 is slidably disposed in the guiding groove 113 along the extending direction of the guiding groove 113. The guiding groove 113 includes a spiral section. The connecting rod portion 521 can reciprocally slide in the sliding groove 111, and under the interaction of the spiral section of the guiding groove 113 and the pin shaft 523, it rotates so that the end of the support rod portion 522 supports on the first surface to be cleaned, thereby switching between the retracted state and the supporting state.

[0123] Thus, under the guiding action of the spiral section of the guiding groove 113 on the pin shaft 523, the pin shaft 523 rotates around the central axis of the connecting rod portion 521 while sliding along the spiral section, thereby driving the connecting rod portion 521 to rotate around the central axis of the connecting rod portion 521 while sliding along the sliding groove 111, thereby driving the support rod portion 522 to rotate, realizing the switching of the support leg 52 between the retracted state and the supporting state.

[0124] Exemplarily, the angle of rotation of the support leg 52 between the retracted state and the supporting state is approximately 90°.

[0125] In some embodiments, the guiding groove 113 further includes a straight section communicating with the spiral section, and the extending direction of the straight section is consistent with the extending direction of the sliding groove. The end of the spiral section connected to the straight section has a position offset of approximately 90 degrees relative to the end of the spiral section away from the straight section.

[0126] Thus, when the pin shaft 523 slides along the straight section, the support leg 52 moves linearly without rotation. After the pin shaft 523 slides from the straight section to the spiral section, the support leg 52 moves linearly while rotating around the central axis of the connecting rod portion 521, thereby realizing the switching of the support leg 52 between the retracted state and the supporting state.

[0127] In some embodiments, as Figure 5 、 Figure 8 and Figure 9As shown, the outrigger drive mechanism 51 includes a rotary drive member 511, a rotating structure 512, and a connecting structure 513. The rotary drive member 511 is provided on the base 1; the rotating structure 512 is connected to the output end of the rotary drive member 511, and the rotating structure 512 is formed with a limiting chute 5121 extending along a straight line; one end of the connecting structure 513 is provided in the limiting chute 5121, and the other end is rotatably sleeved on the connecting rod portion 521; wherein, the rotating structure 512 can reciprocally rotate under the action of the rotary drive member 511, and drive the connecting rod portion 521 to reciprocally slide along the extending direction of the sliding groove 111 through the connecting structure 513.

[0128] Exemplarily, the rotary drive member 511 can be, but is not limited to, a rotary motor or a rotary cylinder. The rotating structure 512 can be a square plate, a circular plate, or a plate of other shapes. The limiting chute 5121 extends radially along the rotation direction of the connecting structure 513.

[0129] In this way, the function of the outrigger drive mechanism 51 to drive the outrigger 52 to switch between the retracted state and the supported state is realized. The structure of the outrigger drive mechanism 51 is simple and occupies little space.

[0130] Specifically, as Figure 10 and Figure 12 shown, the connecting structure 513 includes an adapter sleeve 5132 and a sliding joint 5131 connected to the adapter sleeve 5132. The adapter sleeve 5132 is sleeved on one end of the connecting rod portion 521 away from the support rod portion 522. The sliding joint 5131 penetrates into the limiting chute 5121 of the rotating structure 512. The adapter sleeve 5132 can relatively rotate around the central axis of the connecting rod portion 521 with respect to the connecting rod portion 521. The connecting rod portion 521 can move along the central axis and rotate relative to the sliding joint 5131 under the cooperation of the limiting chute 5121 and the sliding joint 5131. The sliding joint 5131 is always located in the limiting chute 5121. When the sliding joint 5131 drives the connecting rod portion 521 to move in place, the outrigger 52 switches from the retracted state to the supported state or from the supported state to the retracted state. Thus, the rotary drive member 511 can drive the outrigger 52 to switch between the retracted state and the supported state by rotating the rotating structure 512. In Figure 8 the shown embodiment, when the rotating structure 512 rotates clockwise, the outrigger 52 can switch from the retracted state to the supported state; when the rotating structure 512 rotates counterclockwise, the outrigger 52 can switch from the supported state to the retracted state.

[0131] In some embodiments, for each support leg 52, the rotating structure 512 is provided with a limiting sliding groove 5121, and for each support leg 52, a connecting structure 513 is provided. The limiting sliding grooves 5121 and the connecting structures 513 are arranged in one-to-one correspondence. When the rotation driving member 511 drives the rotating structure 512 to rotate, it drives each connecting structure 513 to slide in its respective limiting sliding groove 5121 at the same time, and drives the support legs 52 connected thereto to rotate while moving along a straight line, so that each support leg 52 synchronously switches between the retracted state and the supporting state.

[0132] In some embodiments, as Figure 12 and Figure 13 shown, the upper slot opening of the sliding groove 111 of the base 1 is blocked by a guiding pressing strip 515. The middle of the guiding pressing strip 515 is provided with an opening. A part of the sliding joint 5131 of the connecting structure 513 extends into the sliding groove 111 through the opening and is connected to the adapter sleeve 5132 located in the sliding groove 111. Along the width direction of the sliding groove 111, the size of the opening is smaller than the size of the part of the sliding joint 5131 located in the limiting sliding groove 5121 and the size of the adapter sleeve 5132. In this way, the guiding pressing strip 515 restricts the adapter sleeve 5132 in the sliding groove 111, thereby preventing the connecting rod portion 521 from disengaging from the upper slot opening, so that the connecting rod portion 521 can only slide along its axial direction and rotate around its central axis, so as to realize the synchronous switching of the support leg 52 between the retracted state and the supporting state.

[0133] In some embodiments, as Figure 12 shown, the inner wall of the sliding groove 111 on the lower side of the connecting rod portion 521 has at least two arc-shaped convex surfaces 114. The arc-shaped convex surfaces 114 extend along the extending direction of the sliding groove 111, and the connecting rod portion 521 of the support leg 52 contacts the arc-shaped convex surfaces 114. The setting of the arc-shaped convex surfaces 114 reduces the contact area between the inner wall of the sliding groove 111 and the connecting rod portion 521, reduces the friction force between the two, is beneficial to reducing the power for driving the support leg 52 to move, and thus saves energy.

[0134] In some embodiments, as Figure 13 shown, at one end of each support leg 52 for supporting on the first surface to be cleaned, a universal rolling member 514 is provided. The universal rolling member 514 can roll along the first surface to be cleaned as the cleaning machine body 20 moves.

[0135] The universal rolling member 514 can be, but is not limited to, a universal wheel or a universal ball.

[0136] During the movement of the additional cleaning device 10 along with the cleaning machine body 20, the rolling member 514 rolls along the first surface to be cleaned, reducing the frictional force between the support leg 52 and the first surface to be cleaned, reducing the energy consumption of the power device in the cleaning machine body 20, and reducing the probability of the additional cleaning device 10 tipping over.

[0137] In some embodiments, the lifting mechanism 2 includes a lifting drive mechanism 21 and at least one lifting rod group. The lifting drive mechanism 21 is disposed on the base 1, the lifting rod group is connected to the output end of the lifting drive mechanism 21, and the free end of the lifting rod group is configured to lift under the drive of the lifting drive mechanism 21.

[0138] Exemplarily, the lifting rod group may include more than two intersecting rod bodies, and the lifting is achieved by changing the angle between the intersecting rod bodies; the lifting rod group may also include a single or more than two parallel rod bodies, and the lifting is achieved by changing the angle of the rod body relative to the horizontal plane.

[0139] In this way, the lifting rod group and the lifting drive mechanism 21 achieve the driving of the lifting of the robotic arm 3, so that the cleaning actuator 4 can touch the second surface to be cleaned at different position heights, thereby further expanding the scope of use.

[0140] In some embodiments, as Figure 6 shown, the lifting rod group includes at least one cross rod group. The cross rod group includes a first inclined rod 221 and a second inclined rod 222 connected to the first inclined rod 221. The lifting drive mechanism 21 is configured to drive the angle between the first inclined rod 221 and the second inclined rod 222 to increase or decrease.

[0141] In this way, the movement output by the lifting drive mechanism 21 is converted into lifting along the height direction Z by the cross rod group. Moreover, the structure of the lifting mechanism 2 is simple, and the occupied height space is small after folding.

[0142] In some embodiments, as Figure 6 shown, the middle of the first inclined rod 221 is hinged to the middle of the second inclined rod 222. The first end of the first inclined rod 221 and the first end of the second inclined rod 222 are respectively connected to the base 1, and the second end of the first inclined rod 221 and the second end of the second inclined rod 222 are respectively connected to the robotic arm 3. The lifting drive mechanism 21 is configured to drive the first end of the first inclined rod 221 and the first end of the second inclined rod 222 to approach or move away from each other.

[0143] Exemplarily, there are two cross rod groups, and the two cross rod groups are arranged at intervals and parallel to each other along a first direction X intersecting the plane where the first inclined rod 221 and the second inclined rod 222 are located.

[0144] In this way, the movement output by the lifting drive mechanism 21 is converted into lifting along the height direction Z by the cross bar group. Moreover, the structure of the lifting mechanism 2 is simple, and the occupied height space is small after folding.

[0145] In some embodiments, as Figure 6 shown, the lifting mechanism 2 further includes a bottom plate 24 connected to the bottom end of the cross bar group and a top plate 23 connected to the top end of the cross bar group. The bottom plate 24 is connected to the base 1, and the robotic arm 3 is connected to the top plate 23. The lifting drive mechanism 21 is installed on the bottom plate 24.

[0146] The lifting drive mechanism 21 can be, but is not limited to, a pneumatic telescopic rod or a hydraulic telescopic rod.

[0147] In some embodiments, as Figure 6 shown, the cross bar group includes at least two cross structures 22 formed by cross-connecting a first diagonal rod 221 and a second diagonal rod 222, and at least two cross structures 22 are sequentially connected along the height direction. Among adjacent two cross structures 22, the first end of the second diagonal rod 222 of the cross structure 22 located above is hinged to the second end of the first diagonal rod 221 of the cross structure 22 located below, and the first end of the first diagonal rod 221 of the cross structure 22 located above is hinged to the second end of the second diagonal rod 222 of the cross structure 22 located below. The second end of the first diagonal rod 221 of the cross structure 22 located at the uppermost is hinged to the top plate 23, and the second end of the second diagonal rod 222 of the cross structure 22 located at the uppermost is hinged to the first strip-shaped hole 231 of the top plate 23. The first strip-shaped hole 231 extends along a second direction Y that intersects both the height direction Z and the first direction X. The first end of the second diagonal rod 222 of the cross structure 22 located at the lowermost is hinged to the bottom plate 24, and the first end of the first diagonal rod 221 is hinged to the second strip-shaped hole 241 of the bottom plate 24. The second strip-shaped hole 241 extends along the second direction Y.

[0148] It should be noted that the rotation center axes between the hinged diagonal rods in the lifting mechanism 2 are all consistent with the first direction X.

[0149] In some embodiments, as Figure 6 shown, the lifting drive mechanism 21 is installed on the bottom plate 24. The output end of the lifting drive mechanism 21 is connected to the first end of the first diagonal rod 221 of the cross structure 22 located at the lowermost. By driving the first end of the first diagonal rod 221 to reciprocate along the second direction Y, the cross bar group can be folded and unfolded, thereby realizing the lifting or lowering of the robotic arm 3.

[0150] Optionally, the telescopic rod of the lifting drive mechanism 21 includes a transverse member, and both ends of the transverse member are respectively connected to the first end of the first diagonal rod 221, so as to be able to synchronously drive the cross structures 22 on both sides.

[0151] In some embodiments, as Figure 14 shown, the cleaning device may be equipped with more than two cleaning actuators 4, at least one cleaning actuator 4 being connected to the moving end of the robotic arm 3, and the more than two cleaning actuators 4 at least including a gripper for grasping an object and a cleaning member for cleaning a surface.

[0152] The gripper may be a mechanical gripper 4a or a dexterous hand, etc.; the cleaning member may be a brush, a roller brush 4b, a floor washing brush 4c, a carpet suction head or a hard floor suction head, etc.

[0153] Thus, by replacing the cleaning actuator 4, more cleaning functions can be achieved, making the cleaning range of the cleaning device wider.

[0154] The second surface to be cleaned can be processed by these cleaning actuators.

[0155] In some embodiments, the processing operation on the second surface to be cleaned at least includes cleaning the second surface to be cleaned and / or tidying up the second surface to be cleaned.

[0156] "Cleaning" includes actions such as removing dust, debris, stains, etc. from the surface to be cleaned. For example, using tools such as a rag, a brush, a roller brush, etc., and cooperating with water or a cleaning agent to wipe the dust, debris, stains on the surface to be cleaned; using a vacuum cleaner to suck the dust and debris on the surface to be cleaned; using a gripper to grasp larger-sized waste objects such as blocks and paper balls on the surface to be cleaned, and so on.

[0157] "Tidying up" includes actions of straightening the positions of useful objects on the second surface to be cleaned. For example, when there are useful objects that are toppled or in disorder on the second surface to be cleaned, select the gripper among more than two cleaning actuators and install it on the moving end of the robotic arm to perform operations of righting or adjusting the order of the useful objects.

[0158] The above-mentioned processing operation of the cleaning actuator can be achieved by cooperating with the robotic arm 3. In some embodiments, as Figure 15 and Figure 16 shown, the moving end of the robotic arm 3 has an actuator docking portion 31 that can be docked with the cleaning actuator 4, and the actuator docking portion 31 is provided with a docking head that is docked with at least one of the air circuit, the circuit, and the water circuit of the cleaning actuator 4.

[0159] Thus, the cleaning machine body 20 can supply at least one of water, electricity, and gas to the cleaning actuator 4, so as to realize the normal cleaning function of the cleaning actuator 4.

[0160] In some embodiments, as Figure 15 and Figure 16As shown, the docking head includes a waterway docking head 313 that docks with the waterway described above; when the cleaning actuator 4 is docked to the actuator docking part 31, the second surface to be cleaned is processed by the cleaning actuator 4. When the cleaning actuator 4 is not docked to the actuator docking part 31, clean water can be introduced into the cleaning machine body 20 and / or the sewage in the cleaning machine body 20 can be discharged through the waterway docking head 313 of the actuator docking part 31.

[0161] After the cleaning actuator 4 and the actuator docking part 31 are connected, the waterway of the cleaning actuator 4 is docked and communicated with the waterway docking head 313 of the actuator docking part 31, so as to supply water to the cleaning actuator 4 and realize the normal cleaning function of the cleaning actuator 4. In addition, the cleaning actuator 4 may not be docked to the actuator docking part 31, and only clean water can be introduced into the cleaning machine body 20 and / or the sewage in the cleaning machine body 20 can be discharged through the waterway docking head 313.

[0162] In some embodiments, the docking head further includes an air path docking head 311 and an electrical circuit docking head 312 that are respectively docked with the air path and the electrical circuit of the cleaning actuator 4.

[0163] After the cleaning actuator 4 and the actuator docking part 31 are connected, the air path of the cleaning actuator 4 is docked and communicated with the air path docking head 311 of the actuator docking part 31, the electrical circuit is electrically connected to the electrical circuit docking head 312 of the actuator docking part 31, and the waterway is docked and communicated with the waterway docking head 313 of the actuator docking part 31, so as to supply water, power, and air to the cleaning actuator 4 and realize the normal cleaning function of the cleaning actuator 4.

[0164] Exemplarily, as Figure 15 shown, the robotic arm 3 moves the actuator docking part 31 above the sink 200 provided on the washbasin 100. The sewage in the cleaning machine body 20 can be discharged into the sink 200 through the waterway docking head 313 of the actuator docking part 31. In addition, the waterway docking head 313 of the actuator docking part 31 can be docked with the water outlet of the faucet 300 on the washbasin 100 to add clean water to the water tank in the cleaning machine body 20 through the waterway docking head 313.

[0165] In this way, the usage mode of the cleaning device is made more flexible and diverse, further expanding the scope of use.

[0166] In some embodiments of the present application, the actuator docking part 31 is provided with a first engaging structure (not shown in the figure), and each cleaning actuator 4 has a second engaging structure. The first engaging structure and the second engaging structure can be engaged or disengaged. In the engaged state, the cleaning actuator 4 can move with the robotic arm 3.

[0167] In this way, the detachable connection between the cleaning actuator 4 and the robotic arm 3 is realized through the first engaging structure and the second engaging structure, which facilitates the replacement of the cleaning actuator 4, thereby improving the flexibility of use.

[0168] Exemplarily, the first engaging structure includes a slot, and the second engaging structure includes a buckle. The second engaging structure is inserted along a straight line direction and then rotated to engage with the slot, realizing the connection between the cleaning actuator 4 and the robotic arm 3. The specific structures of the slot and the buckle can refer to the prior art and will not be elaborated here.

[0169] In some embodiments, the robotic arm 3 is configured such that the action end can rotate around at least two action axes. The two action axes can intersect or be parallel to each other. Optionally, the robotic arm 3 can include two sections of arms or three sections of arms or four sections of arms or more; similarly optionally, the robotic arm 3 can include one joint or two joints or three joints or more.

[0170] In some embodiments, as Figure 16 shown, the robotic arm 3 includes a base 30 and a first arm 32, a second arm 33, and a third arm 34 that are sequentially rotatably connected. The base 30 is connected to the movable end of the lifting mechanism 2; the first arm 32 is rotatably connected to the base 30 around its own central axis, and one end of the third arm 34 away from the second arm 33 is rotatably connected to the actuator docking portion 31.

[0171] In this way, the robotic arm 3 has four movable joints, and the movement of the robotic arm 3 is relatively flexible, with high flexibility in moving the position of the cleaning actuator 4.

[0172] In some embodiments, as Figure 16 shown, the first arm 32 can output rotation around its own central axis, the second arm 33 can perform a pitching motion relative to the first arm 32, the third arm 34 can perform a pitching motion relative to the second arm 33, and the actuator docking portion 31 can perform a pitching motion relative to the third arm 34.

[0173] In some embodiments, the additional cleaning device is provided with at least one camera, and the camera is used to photograph at least one of the environmental space where the cleaning device is located and the activity space of the action end of the robotic arm 3.

[0174] Furthermore, at least one camera is disposed on the robotic arm 3.

[0175] In some embodiments, the first arm 32 is provided with a first camera 36, and the first camera 36 photographs at least the activity range of the third arm 34; and / or, one end of the third arm 34 close to the actuator docking portion 31 is provided with a second camera 37, and the second camera 37 photographs at least the actuator docking portion 31.

[0176] The first camera 36 is provided on the first arm 32 and can rotate around the central axis of the first arm 32 as the first arm 32 rotates around the axis. It is used to capture the visual parameters of larger objects and is mainly applied to obstacle avoidance and navigation. For example, it can take pictures and detect a larger range including the movement range of the end arm to prevent the robotic arm 3 from interfering with other objects or to guide the robotic arm to approach the target position.

[0177] The second camera 37 is installed on the third arm 34 and is used to capture the visual parameters of finer objects at the end. It is mainly applied to photograph the actions of the actuator docking part 31 and can also be used to photograph the actions of the cleaning actuator 4. For example, it can be used for the alignment action with the object to be picked up during the sorting operation.

[0178] The second aspect of the present application provides a cleaning system, including a base station 60 and the cleaning device provided in the first aspect. The base station 60 has at least a parking position for parking the cleaning machine body.

[0179] In some embodiments, the base station 60 is provided with an accommodation space at a position close to the first surface to be cleaned (such as the ground), and this accommodation space can be used as the parking position for the cleaning machine body 20. The base station 60 can adopt the structure of the existing base station and can include some or all of the functions of the existing base station, which will not be elaborated here again.

[0180] Since the cleaning system includes the cleaning device provided in the first aspect and the cleaning system has all the beneficial effects of the cleaning device, the application range of the cleaning system is wide.

[0181] In some embodiments, as Figure 14 shown, the cleaning device further includes a storage station 70, and at least one cleaning actuator 4 is detachably connected to the storage station 70 respectively, and the cleaning actuator can perform processing operations.

[0182] The storage station 70 is used to store each cleaning actuator 4. After determining which cleaning actuator 4 to use, the robotic arm 3 will be assembled with the corresponding cleaning actuator 4 to achieve the corresponding cleaning function.

[0183] Specifically, as Figure 14 shown, the storage station 70 is provided with an actuator positioning structure 50 corresponding to each cleaning actuator 4. The actuator positioning structure 50 is used to position the cleaning actuator 4 in the storage station 70. Exemplarily, the actuator positioning structure 50 includes at least two support rods extending along the horizontal direction, and the support rods support the bottom of the cleaning actuator 4 to limit the position of the cleaning actuator 4 in the storage station.

[0184] In some embodiments, as Figure 14As shown, an additional cleaning and fixing structure (not shown) may also be provided in the storage station 70, and the additional cleaning and fixing structure is used to detachably connect the robotic arm 3.

[0185] In some embodiments of the present application, the storage station and the base station 60 may be of a split structure or may be formed integrally. In this way, the storage station and the base station 60 form an integral structure, making the structure compact, occupying less space, facilitating moving, and simplifying navigation and positioning.

[0186] A third aspect of the present application provides a cleaning control method applied to a cleaning system. The cleaning system includes a cleaning device, and the cleaning device includes a cleaning machine body 20 and an additional cleaning device 10. The additional cleaning device 10 is detachably located above the cleaning machine body 20.

[0187] As Figure 17 shown, the cleaning control method includes:

[0188] S100, the cleaning machine body 20 moves along the first surface to be cleaned and cleans the first surface to be cleaned; and / or,

[0189] S200, the additional cleaning device 10 performs a processing operation on the second surface to be cleaned whose position height is higher than the first surface to be cleaned.

[0190] The cleaning control method provided by the embodiments of the present application can use the cleaning machine body 20 to clean the first surface to be cleaned, and when it is necessary to perform a processing operation on the second surface to be cleaned, use the additional cleaning device 10 located above the cleaning machine body 20 to perform a processing operation on the second surface to be cleaned. In this way, the cleaning device can not only clean the first surface to be cleaned, but also perform cleaning, sorting and other processing operations on the second surface to be cleaned, and is applicable to a variety of cleaning and sorting scenarios.

[0191] As Figure 18As shown, in some embodiments of the present application, the control device 1001 can be communicatively connected to the cleaning machine body 20, the robotic arm 3, the cleaning actuator 4, the lifting drive mechanism 21 of the lifting mechanism 2, the first camera 36, and the second camera 37. The control device 1001 can process the image information captured by the first camera 36 and the second camera 37, and the control device 1001 can control the actions of the cleaning machine body 20, the robotic arm 3, the cleaning actuator 4, the lifting drive mechanism 21 of the lifting mechanism 2, and the rotation drive member 511 of the support mechanism 5 of the cleaning device. It can also be used to control the information interaction between the cleaning device and the base station 60 and the storage station 70, and to control the actions of the base station 60, the storage station 70, etc. Optionally, the control device 1001 includes a control device provided in at least any one of the cleaning machine body 20, the base station 60, and the storage station 70; similarly optionally, the control device 1001 can include a control device provided in a host computer or a server, etc. In addition, the communication between the cleaning machine body 20, the base station 60, and the storage station, and the communication between the host computer or the server and the cleaning device can be in a wireless communication manner or other suitable manners. The fourth aspect of the present application provides a cleaning control method, which is applied to the storage station 70 or the base station 60. The storage station 70 has a storage position for storing the cleaning actuator 4, and the cleaning actuator 4 is used for processing operations.

[0192] The following is an example to illustrate the cleaning control method applied to the cleaning system.

[0193] As a specific example, the control device 1001 controls the cleaning machine body 20 parked in the parking position of the base station 60 to move out of the parking position.

[0194] In the case where there is no high platform (such as a desktop, a window sill, etc., where the surface height is higher than the ground) to be processed, the control device 1001 controls the cleaning machine body 20 to move alone along the ground to clean the ground.

[0195] In the case where there is a high platform to be processed, the additional cleaning device 10 is installed on the cleaning machine body 20. The control device 1001 controls the support mechanism 5 to support on the ground. The control device 1001 controls the cleaning machine body 20 to move, bringing the additional cleaning device 10 close to the high platform, and controls the robotic arm 3 to move until the cleaning actuator 4 of the additional cleaning device 10 moves to a position where it can process the high platform, then the robotic arm 3 stops. The control device 1001 controls the cleaning actuator 4 to move to process the high platform. If the cleaning actuator 4 cannot move to a height where it can process the high platform through the movement of the robotic arm 3, the control device 1001 controls the lifting mechanism 2 to drive the robotic arm 3 to rise, so that the cleaning actuator 4 moves to a height where it can process the high platform.

[0196] When the current cleaning actuator 4 is unable to handle the object to be processed on the high tabletop, the control device 1001 determines the type of the target cleaning actuator 4 based on the image information captured by the second camera 37, and sends a request to the storage station (integrated with the base station). In response to the request from the cleaning machine body 20, the storage station sends the first information of the storage position to the cleaning machine body 20. The first information at least includes the position information of the storage station and the status information of the cleaning actuator 4. The status information includes whether the cleaning actuator 4 is located at the storage position and the type of the cleaning actuator 4. The control device 1001 controls the cleaning machine body 20 to approach the storage station according to the first information from the storage station. The control device 1001 controls the currently connected current cleaning actuator 4 of the robotic arm 3 to approach the idle storage position in the storage station, unloads the current cleaning actuator 4, and controls the action end of the robotic arm 3 that is not connected to the cleaning actuator 4 to approach the target storage position in the storage station where the target cleaning actuator 4 is stored, and connects the target cleaning actuator 4. After the replacement of the cleaning actuator 4 is completed, the control device 1001 controls the cleaning machine body 20 to move, approach the high tabletop with the additional cleaning device 10, and control the robotic arm 3 to act until the cleaning actuator 4 of the additional cleaning device 10 moves to a position where it can handle the high tabletop. The control device 1001 controls the cleaning actuator 4 to act to perform a processing operation on the high tabletop.

[0197] After the processing is completed, the control device 1001 sends a request to the storage station. In response to the request from the cleaning machine body 20, the storage station sends the position information of the storage station to the cleaning machine body 20. The control device 1001 controls the cleaning machine body 20 to approach the storage station with the additional cleaning device 10 according to the position information, stores the cleaning actuator 4 of the additional cleaning device 10 in the storage position, and stores other structures of the additional cleaning device 10 except the cleaning actuator 4 in the storage station. In addition, the cleaning machine body 20 plans a homecoming path under the control of the control device 1001 and moves along the homecoming path to the parking position of the base station 60, so that the cleaning machine body 20 is parked at the parking position.

[0198] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be covered by the scope of the description of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way.

Claims

1. A cleaning device, characterized in that, Comprising: A cleaning machine body configured to be able to move along a first surface to be cleaned and clean the first surface to be cleaned, the cleaning machine body including a navigation module for navigation; An additional cleaning device located above the cleaning machine body, the additional cleaning device being configured to be able to perform a processing operation on a second surface to be cleaned whose position height is higher than the first surface to be cleaned when it is installed on the cleaning machine body.

2. The cleaning device according to claim 1, characterized in that, The additional cleaning device includes: A base; A lifting mechanism, one end of which is connected to the base and the other end is a movable end; A robotic arm, one end of which is connected to the movable end of the lifting mechanism and the other end is an operating end, the robotic arm being able to rise or fall under the action of the lifting mechanism; A cleaning actuator connected to the operating end of the robotic arm, capable of performing the processing operation on the second surface to be cleaned under the action of the robotic arm.

3. The cleaning device according to claim 2, characterized in that, The additional cleaning device further includes a support mechanism connected to the base, the support mechanism being able to support on the first surface to be cleaned.

4. The cleaning device according to claim 3, characterized in that, The support mechanism includes a leg driving mechanism and at least one support leg, the leg driving mechanism being connected to the base, the support leg being connected to the leg driving mechanism, the support leg being able to switch between a support state of supporting on the first surface to be cleaned and a retracted state of disengaging from the first surface to be cleaned under the action of the leg driving mechanism.

5. The cleaning device according to claim 4, wherein The support leg includes a connecting rod portion and a support rod portion connected to the connecting rod portion, the connecting rod portion being connected to the leg driving mechanism, The base is provided with a sliding groove and a receiving groove communicating with the sliding groove, the connecting rod portion slidingly passing through the sliding groove, In the retracted state, the connecting rod portion is received in the sliding groove and the support rod portion is received in the receiving groove; In the support state, a part of the connecting rod portion extends out of the sliding groove, and the support rod portion moves out of the receiving groove and supports on the first surface to be cleaned.

6. The cleaning device according to claim 5, characterized in that A pin shaft is provided on the outer peripheral surface of the connecting rod portion, a guiding groove is provided on the inner wall of the sliding groove, the pin shaft is slidably arranged in the guiding groove along the extending direction of the guiding groove, and the guiding groove includes a spiral section, The connecting rod portion can reciprocally slide in the sliding groove and rotate under the interaction of the spiral section and the pin shaft, so as to switch between the retracted state and the support state.

7. The cleaning device according to claim 6, wherein, The leg driving mechanism includes: A rotary driving member provided on the base; A rotating structure connected to the output end of the rotary driving member, the rotating structure being formed with a limiting sliding groove extending along a straight line; A connecting structure, one end of which is arranged in the limiting sliding groove and the other end is rotatably sleeved on the connecting rod portion; Wherein, the rotating structure can reciprocally rotate under the action of the rotary driving member and drive the connecting rod portion to reciprocally slide along the extending direction of the sliding groove through the connecting structure.

8. The cleaning device according to claim 4, characterized in that One end of each of the support legs for supporting on the first surface to be cleaned is provided with a universal rolling member, and the universal rolling member can roll along the first surface to be cleaned as the cleaning machine body moves.

9. The cleaning device according to any one of claims 2 to 8, characterized in that, The lifting mechanism includes a lifting drive mechanism and at least one lifting rod group. The lifting drive mechanism is arranged on the base, the lifting rod group is connected to the output end of the lifting drive mechanism, and the free end of the lifting rod group is configured to lift under the drive of the lifting drive mechanism.

10. The cleaning device according to claim 9, characterized in that, The lifting rod group includes at least one cross rod group, and the cross rod group includes a first inclined rod and a second inclined rod connected to the first inclined rod. The lifting drive mechanism is configured to drive the angle between the first inclined rod and the second inclined rod to increase or decrease.

11. The cleaning device according to claim 10, wherein, The middle parts of the first inclined rod and the second inclined rod are hinged to each other. The first ends of the first inclined rod and the second inclined rod are respectively connected to the base, and the second ends of the first inclined rod and the second inclined rod are respectively connected to the robotic arm. The lifting drive mechanism is configured to drive the first ends of the first inclined rod and the second inclined rod to approach or move away from each other.

12. The cleaning device according to any one of claims 2 to 8, 10, and 11, characterized in that, There are more than two cleaning actuators. At least one of the cleaning actuators is connected to the action end of the robotic arm. The more than two cleaning actuators at least include a claw for grasping an object and a cleaning member for cleaning a surface.

13. The cleaning device according to claim 9, wherein, There are more than two cleaning actuators. At least one of the cleaning actuators is connected to the action end of the robotic arm. The more than two cleaning actuators at least include a claw for grasping an object and a cleaning member for cleaning a surface.

14. The cleaning device according to any one of claims 1 to 8, 10, 11, and 13, characterized in that, The additional cleaning device is detachably connected to the cleaning machine body.

15. The cleaning device according to any one of claims 1 to 8, 10, 11, and 13, wherein the cleaning machine body has a first circuit docking head, and the additional cleaning device has a second circuit docking head. When the additional cleaning device is connected to the cleaning machine body, the first circuit docking head and the second circuit docking head are docked, so that the additional cleaning device and the cleaning machine body are electrically connected to supply power for the operation of the additional cleaning device through the cleaning machine body; and / or the cleaning machine body has a first air path docking port, and the additional cleaning device has a second air path docking port. When the additional cleaning device is installed on the cleaning machine body, the first air path docking port and the second air path docking port are docked, so that the air paths of the additional cleaning device and the cleaning machine body are communicated; and / or the cleaning machine body has a first water path docking port, and the additional cleaning device has a second water path docking port. When the additional cleaning device is installed on the cleaning machine body, the first water path docking port and the second water path docking port are docked, so that the water paths of the additional cleaning device and the cleaning machine body are communicated.

16. The cleaning device according to any one of claims 2 to 8, 10, 11, and 13, characterized in that, The action end of the robotic arm has an actuator docking part capable of docking with the cleaning actuator, and the actuator docking part is provided with a docking head for docking with at least one of the air path, circuit, and water path of the cleaning actuator.

17. The cleaning device according to claim 16, characterized in that, The docking head includes a waterway docking head that docks with the waterway; When the cleaning actuator is docked to the actuator docking part, the second surface to be cleaned is processed by the cleaning actuator. When the cleaning actuator is not docked to the actuator docking part, clean water can be introduced into the cleaning machine body through the waterway docking head of the actuator docking part and / or the sewage in the cleaning machine body can be discharged outside.

18. The cleaning device according to claim 16, characterized in that, The actuator docking part is provided with a first engaging structure, and each cleaning actuator has a second engaging structure. The first engaging structure and the second engaging structure can be engaged or disengaged. In the engaged state, the cleaning actuator can move with the robotic arm.

19. The cleaning device according to any one of claims 2 to 8, 10, 11, 13, 17, and 18, characterized in that, The robotic arm is configured to enable the action end to rotate around at least two action axes.

20. The cleaning device according to claim 19, wherein, The robotic arm includes: A base connected to the movable end of the lifting mechanism; and A first arm, a second arm, and a third arm that are sequentially rotatably connected. The first arm is rotatably connected to the base around its own central axis, and one end of the third arm away from the second arm is rotatably connected to the actuator docking part.

21. The cleaning device according to any one of claims 2 to 8, 10, 11, 13, 17, 18, 20, characterized in that, The additional cleaning device is provided with at least one camera, and the camera is used to photograph at least one of the environmental space where the cleaning device is located and the activity space of the action end of the robotic arm.

22. The cleaning device according to claim 21, wherein At least one of the cameras is provided on the robotic arm.

23. The cleaning device according to claim 20, wherein The first arm is provided with a first camera that photographs at least the activity range of the third arm; and / or One end of the third arm close to the actuator docking part is provided with a second camera that photographs at least the actuator docking part.

24. The cleaning device according to any one of claims 1 to 8, 10, 11, 13, 17, 18, 20, 22, and 23, characterized in that, The navigation module includes a visual navigation module.

25. The cleaning device according to any one of claims 1 to 8, 10, 11, 13, 17, 18, 20, 22, and 23, characterized in that, The processing operation at least includes cleaning the second surface to be cleaned and / or tidying up the second surface to be cleaned.

26. A cleaning system, characterized in that, Including: The cleaning device according to any one of claims 1 to 25; A base station having at least a parking position for parking the cleaning machine body.

27. The cleaning system according to claim 26, characterized in that, The cleaning system further includes a storage station, and at least one cleaning actuator is detachably connected to the storage station, and the cleaning actuator can perform the processing operation.

Images