Cleaning device and cleaning system

Abstract

The cleaning equipment comprises a shell, a cover body assembly and a mechanical arm, an arm bin is formed on the shell, a bin opening is formed in the arm bin, a notch for avoiding the bin opening is formed in the cover body assembly, on the basis, in the using process, the mechanical arm can grab an object, and therefore the mechanical arm can grab the object; and particularly, objects hindering normal operation of the cleaning equipment can be grabbed, obstacles are transferred to other areas, and the cleaning efficiency can be improved. When the mechanical arm does not need to be used, the mechanical arm can be stored in the arm bin through the notch and the bin opening, so that the mechanical arm can be hidden in the arm bin and cannot protrude out of the shell, the size and height of the cleaning equipment are reduced, and then the structure of the cleaning equipment is more compact.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of smart home, especially to a cleaning equipment and cleaning system. BACKGROUND

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning equipment, such as intelligent cleaning equipment, has continuously entered our daily life. In order to better realize the cleaning function, the current cleaning equipment will add a mechanical arm to realize the grabbing or moving of obstacles or garbage. However, the traditional mechanical arm is mostly fixed on the top of the cleaning equipment, which increases the volume and height of the cleaning equipment, and it is difficult to meet the requirements of compact and thin cleaning equipment. SUMMARY

[0003] A series of simplified concepts are introduced in the summary part of the utility model, which will be further described in detail in the specific embodiment part. This part of the utility model does not mean to try to define the key features and necessary technical features of the claimed technical solution, nor does it mean to try to determine the protection scope of the claimed technical solution.

[0004] The utility model aims at solving at least one of the technical problems existing in the prior art or related art.

[0005] To this end, the first aspect of the utility model provides a cleaning equipment.

[0006] The second aspect of the utility model provides a cleaning system.

[0007] Therefore, according to the first aspect of the application, a cleaning equipment is provided, which comprises:

[0008] A shell is formed with an arm bin, and the arm bin is formed with a bin opening;

[0009] A cover assembly is connected to the shell, and the cover assembly is formed with a gap to avoid the bin opening;

[0010] A mechanical arm is connected with the shell and extends out of the arm bin or is stored in the arm bin through the bin opening.

[0011] In a feasible implementation, the cover assembly comprises a first cover plate and a second cover plate, the first cover plate is detachably connected to the shell, and the second cover plate is connected to the shell.

[0012] In a feasible implementation, along the direction of travel of the cleaning equipment, the second cover plate is arranged at the front end of the shell in the direction of travel, and the first cover plate is arranged at the rear end of the shell in the direction of travel.

[0013] In an implementation, at least one of the first cover plate and the second cover plate is formed with a gap to enable the robotic arm to extend out of or be stowed into the arm compartment.

[0014] In an implementation, the first cover plate is formed with a first gap, the second cover plate is formed with a second gap, and the first cover plate and the second cover plate are spliced to form the gap to avoid the compartment opening.

[0015] In an implementation, the cleaning device further comprises:

[0016] a functional device disposed in the housing;

[0017] wherein the first cover plate covers at least part of the functional device.

[0018] In an implementation, the functional device comprises:

[0019] a dust collection box, and the first cover plate is configured to cover the dust collection box.

[0020] In an implementation, the first cover plate is provided with a magnetic member, and the first cover plate is magnetically connected to the housing.

[0021] The second cover plate is formed with a buckle, and the second cover plate is snap-connected to the housing.

[0022] In an implementation, a length direction of the compartment opening is perpendicular to a travel direction of the cleaning device.

[0023] In an implementation, the cleaning device further comprises:

[0024] an arm compartment frame arranged around a periphery of the compartment opening, and the first cover plate and the second cover plate of the cover assembly are arranged around a periphery of the arm compartment frame.

[0025] In an implementation, the cleaning device further comprises: a function adjustment module disposed on the cover assembly and configured to control an operation mode of the functional device.

[0026] an emergency stop module disposed on the arm compartment frame and configured to at least control the robotic arm to perform a safety operation mode.

[0027] In an implementation, the emergency stop module is arranged apart from the function adjustment module.

[0028] In an implementation, at least part of the function adjustment module is arranged on the second cover plate of the cover assembly.

[0029] In an embodiment, the second cover plate is provided with a first mounting hole, and the function adjustment module is arranged in the first mounting hole.

[0030] The arm compartment frame is provided with a second mounting hole, and the emergency stop module is arranged in the first mounting hole.

[0031] In an embodiment, the cleaning device further comprises:

[0032] A control device is arranged in the shell and connected to the emergency stop module and the function adjustment module.

[0033] In an embodiment, the cleaning device further comprises:

[0034] An obstacle avoidance module is arranged in the shell, and part of the obstacle avoidance module is arranged at the mounting port of the cover assembly.

[0035] In an embodiment, the mounting port is formed on the first cover plate of the cover assembly.

[0036] In an embodiment, the inner wall of the mounting port is provided with a slope relative to the appearance surface of the cover assembly, and the slope angle of the slope is greater than or equal to 17.5° and less than or equal to 22.5°.

[0037] In an embodiment, the cleaning device further comprises:

[0038] A compartment door is connected to the shell and used for covering the compartment port.

[0039] According to a second aspect of the embodiments of the present application, a cleaning system is provided, comprising:

[0040] The cleaning device according to any one of the technical solutions above;

[0041] A base station is used for accommodating the cleaning device.

[0042] Compared with the prior art, the utility model at least has the following beneficial effects:

[0043] The cleaning equipment provided by the embodiment of the application comprises a shell, a cover assembly and a mechanical arm, the shell is formed with an arm bin, the arm bin is formed with a bin opening, the cover assembly is formed with a notch for avoiding the bin opening, and therefore, in use, the mechanical arm can grasp objects, especially objects that hinder the normal operation of the cleaning equipment, and the objects can be transferred to other areas, so that the cleaning efficiency is improved. When the mechanical arm is not used, the mechanical arm can be accommodated in the arm bin through the bin opening, so that the mechanical arm can be hidden in the arm bin, the mechanical arm does not protrude out of the shell, the volume and height of the cleaning equipment are reduced, and therefore, the structure of the cleaning equipment is more compact. Meanwhile, the probability of contact between the user and the mechanical arm is greatly reduced, and therefore, the use of the cleaning equipment is safer. Further, by accommodating the mechanical arm in the arm bin, the gravity center of the mechanical arm can be lowered, so that the gravity center of the mechanical arm is lowered into the shell, and the movement of the cleaning equipment is more stable. Further, by forming the notch of the cover assembly, in combination with the arm bin of the shell, the accommodation height of the mechanical arm can be reduced, and therefore, the height of the cleaning equipment as a whole is reduced, the volume of the cleaning equipment is reduced, and the cleaning equipment is more lightweight and compact in structure.

[0044] The above description is only a summary of the technical scheme of the application, in order to more clearly understand the technical means of the application, the specific embodiments of the application can be implemented in accordance with the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the specific embodiments of the application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0045] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the scope of the application. Moreover, the same reference numerals in different figures represent the same or similar components. In the drawings:

[0046] Figure 1 A schematic structural diagram of a cleaning equipment of an embodiment provided by the application;

[0047] Figure 2 A second angle schematic structural diagram of a cleaning equipment of an embodiment provided by the application;

[0048] Figure 3 A first cover plate hidden schematic structural diagram of a cleaning equipment of another embodiment provided by the application;

[0049] Figure 4 A third angle schematic structural diagram of a cleaning equipment of an embodiment provided by the application;

[0050] Figure 5A fourth angle schematic structural view of the cleaning device according to an embodiment provided in the present application;

[0051] Figure 6 A fifth angle schematic structural view of the cleaning device according to an embodiment provided in the present application;

[0052] Figure 7 A schematic structural view of the mechanical arm stretched state of the cleaning device according to an embodiment provided in the present application;

[0053] Figure 8 A schematic structural view of the cover assembly and the arm compartment frame of the cleaning device according to an embodiment provided in the present application;

[0054] Figure 9 A schematic structural view of the cover assembly and the arm compartment frame of the cleaning device according to an embodiment provided in the present application from another angle;

[0055] Figure 10 A schematic structural view of the hidden and cover assembly of the cleaning device according to an embodiment provided in the present application;

[0056] Figure 11 A schematic structural view of the hidden and cover assembly of the cleaning device according to an embodiment provided in the present application from another angle.

[0057] Wherein, Figures 1 to 11 The correspondence between the reference signs and the component names in the accompanying drawings is as follows:

[0058] 110 housing, 120 cover assembly, 130 mechanical arm, 140 functional device, 150 arm compartment frame, 160 function adjustment module, 170 emergency stop module, 180 obstacle avoidance module, 190 compartment door;

[0059] 111 arm compartment, 112 compartment opening;

[0060] 121 first cover plate, 122 second cover plate, 123 first avoiding opening, 124 second avoiding opening;

[0061] 141 dust collection box, 142 main control board, 143 power supply, 144 auxiliary wheel, 145 driving wheel, 146 cleaning element;

[0062] 181 mounting opening. DETAILED DESCRIPTION

[0063] In the following description, a large number of specific details are given in order to provide a more thorough understanding of the technical solutions provided by the present application. However, it is obvious to those skilled in the art that the technical solutions provided by the present application can be implemented without one or more of these details.

[0064] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0065] Reference will now be made to the drawings to describe the exemplary embodiments of the present application in more detail. The exemplary embodiments of the present application can, however, be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0066] As shown in the drawings, Figures 1 to 11 According to a first aspect of the embodiments of the present application, a cleaning device is provided, which includes a housing 110, an arm compartment 111 is formed on the housing 110, and a compartment opening 112 is formed on the arm compartment 111; a cover assembly 120 is connected to the housing 110, and a gap is formed on the cover assembly 120 to avoid the compartment opening 112; a mechanical arm 130 is connected to the housing 110, and can be extended out of the arm compartment 111 or stored in the arm compartment 111 through the compartment opening 112.

[0067] The cleaning device provided by the embodiments of the present application includes the housing 110, the cover assembly 120, and the mechanical arm 130. The arm compartment 111 is formed on the housing 110, the compartment opening 112 is formed on the arm compartment 111, and the gap is formed on the cover assembly 120 to avoid the compartment opening 112. Therefore, during use, the mechanical arm 130 can grasp objects, especially objects that hinder the normal operation of the cleaning device, and move the obstacles to other areas, thereby improving the cleaning efficiency. When the mechanical arm 130 is not needed, the mechanical arm 130 can be stored in the arm compartment 111 through the gap or the compartment opening 112, so that the mechanical arm 130 can be hidden in the arm compartment 111, and the mechanical arm 130 will not protrude out of the housing 110, that is, the probability of the user contacting the mechanical arm 130 is greatly reduced, thereby making the use of the cleaning device safer.

[0068] The cleaning device provided by the embodiment of the present application can reduce the gravity center of the mechanical arm 130 by storing the mechanical arm 130 in the arm compartment 111, so that the gravity center of the mechanical arm 130 is lowered into the shell 110, and the movement of the cleaning device is more stable. At the same time, the size of the whole machine is not increased, and the structure layout of the whole machine is more compact. By lowering the overall gravity center of the cleaning device, the cleaning device is less likely to tip over or lose balance during cleaning, especially when encountering complex terrain such as slopes and carpet edges, the cleaning device can maintain more stable motion performance, thereby improving cleaning efficiency and safety. In particular, for some low furniture bottom, corner and other difficult-to-clean areas, the cleaning device with low gravity center can clean more deeply and leave no dead angle. The cleaning device is more stable during movement and is less likely to deviate or lose control due to external forces. At the same time, the cleaning device is more flexible when turning, climbing and other actions, and can easily cope with various complex environments.

[0069] The cleaning device provided by the embodiment of the present application can reduce the storage height of the mechanical arm 130 by the gap of the cover assembly 120 in combination with the arm compartment 111 of the shell 110, thereby reducing the overall height of the cleaning device, which is beneficial to reducing the size of the cleaning device, making the cleaning device more lightweight and compact. After the height of the cleaning device is reduced, it can more easily enter low areas such as sofa bottoms, bed bottoms, etc. These areas are often difficult to reach by traditional cleaning tools. The low-height cleaning device can more effectively remove dust and dirt in these areas, thereby improving overall cleaning coverage. The low-height cleaning device generally has higher flexibility and can easily move between furniture to avoid collisions with furniture. This flexibility not only helps to improve cleaning efficiency, but also reduces the risk of damage to the cleaning device during operation. For users, the low-height cleaning device is easier to store and store, and does not occupy too much space. The low-height cleaning device can be applied to more different cleaning scenes, such as homes, offices, shopping malls, etc. In particular, in some places with high cleaning requirements, such as hospitals, laboratories, etc., the low-height cleaning device can more effectively meet the cleaning needs.

[0070] It can be understood that the cleaning device can be a sweeping robot, a mopping robot, a sweeping and mopping integrated machine, or other cleaning devices that meet the requirements. Specifically, the cleaning device includes but is not limited to a shell 110, a cleaning system, a driving system, etc. The above-mentioned systems cooperate with each other to enable the cleaning device to move autonomously to achieve cleaning functions. The functional elements constituting the above-mentioned systems in the cleaning device are integrally arranged in the shell 110. It can be understood that the cleaning device can be a self-moving cleaning device, wherein the self-moving cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation.

[0071] As Figures 1 to 9As shown, in a possible implementation, the cover assembly 120 includes a first cover plate 121 and a second cover plate 122, the first cover plate 121 is detachably connected to the housing 110, and the second cover plate 122 is connected to the housing 110.

[0072] In this technical solution, the structural composition of the cover assembly 120 is further provided, the cover assembly 120 can include a first cover plate 121 and a second cover plate 122, that is, the cover assembly 120 can be composed of two or more than two plates, and based on this, the split design of the cover assembly 120 makes it more convenient for users to open and clean the internal dust box, filter screen and other components. Such a design helps users to regularly clean and maintain the cleaning equipment, and keeps it in good working condition and cleaning effect. When the cleaning equipment needs to be repaired or replaced, the split cover plate also makes the repair work more simple and efficient. The cleaning equipment can make more effective use of the internal space, and reasonably layout various sensors, motors and other key components. This design helps to improve the overall performance and stability of the cleaning equipment, while also helping to reduce the size and weight of the machine, making it more portable and easy to carry. Improve user experience: the split cover plate design makes the appearance of the cleaning equipment more simple and elegant, meeting the aesthetic needs of modern homes. Users can open the first cover plate 121 or the second cover plate 122 through simple operation to perform dust box cleaning, filter screen replacement and other maintenance work, improving the convenience and comfort of use.

[0073] As shown in Figure 1 and Figure 4 , the arrow direction is the direction of travel, and a is the front end of the direction of travel. In a possible implementation, along the direction of travel of the cleaning equipment, the second cover plate 122 is arranged on the housing 110 at the front end of the direction of travel, and the first cover plate 121 is arranged on the housing 110 at the rear end of the direction of travel.

[0074] In this technical solution, the arrangement of the first cover plate 121 and the second cover plate 122 is further provided, the first cover plate 121 and the second cover plate 122 are arranged along the direction of travel of the cleaning equipment, and the second cover plate 122 is arranged at the front end of the direction of travel, which facilitates the opening of the first cover plate 121 behind it, and facilitates the maintenance of the dust collection box 141, and at the same time, the first cover plate 121 and the second cover plate 122 as the appearance of the cleaning equipment, arranged along the direction of travel can make the cleaning equipment more beautiful.

[0075] As shown in Figures 1 to 3 , in a possible implementation, at least one of the first cover plate 121 and the second cover plate 122 is formed with a gap, and the gap is used as the storage port 112 of the arm storage 111 to enable the mechanical arm 130 to extend out or be stored in the arm storage 111.

[0076] In the technical solution, the forming mode of the gap is further provided, and the gap or the bin opening 112 can be formed only on the first cover plate 121. In this case, the second cover plate 122 can be a relatively regular pattern, facilitating the preparation of the second cover plate 122, and only the first cover plate 121 needs to be designed for mold opening, thereby reducing the cost. Based on the same reason, the gap or the bin opening 112 can be formed only on the second cover plate 122. In this case, the first cover plate 121 can be a relatively regular pattern, facilitating the preparation of the first cover plate 121, and only the second cover plate 122 needs to be designed for mold opening, thereby reducing the cost. In addition, the gap can also be formed on the first cover plate 121 and the second cover plate 122. In this case, when the first cover plate 121 and the second cover plate 122 are connected to the shell 110, the two gaps can be spliced to form a gap avoiding the bin opening 112. In this way, from the appearance, the bin opening 112 can be surrounded by two plate bodies, making the cleaning device more design and more beautiful. At the same time, the opening area on each plate body is reduced, and the mechanical strength of the first cover plate 121 and the second cover plate 122 is increased.

[0077] As shown in Figures 6 to 7 , in a possible implementation, the first cover plate 121 is formed with a first avoiding opening 123, the second cover plate 122 is formed with a second avoiding opening 124, the first cover plate 121 and the second cover plate 122 are spliced, and the first avoiding opening 123 and the second avoiding opening 124 are spliced to form the bin opening 112 or form a gap to avoid the bin opening 112.

[0078] In the technical solution, the specific forming mode of the gap or the bin position is further provided, the first cover plate 121 is formed with a first avoiding opening 123, the second cover plate 122 is formed with a second avoiding opening 124, and the bin opening 112 is avoided by splicing the first avoiding opening 123 and the second avoiding opening 124. In this way, from the appearance, the bin opening 112 can be surrounded by two plate bodies, making the cleaning device more design and more beautiful. At the same time, the opening area on each plate body is reduced, and the mechanical strength of the first cover plate 121 and the second cover plate 122 is increased.

[0079] As shown in Figures 8 to 9 , in a possible implementation, the cleaning device further comprises: a functional device 140, the functional device 140 is arranged in the shell 110; and the first cover plate 121 covers at least part of the functional device 140.

[0080] In the technical solution, the structure of the cleaning device is further provided, and the cleaning device can be equipped with functional devices 140 in the shell 110. The basic functions of the cleaning device, such as cleaning, traveling, navigation, dust collection and the like, can be realized through the arrangement of the functional devices 140. By covering the first cover plate 121 on part of the functional devices 140, the functional devices 140 under the first cover plate 121 can be maintained or repaired by disassembling the first cover plate 121, and the use of the cleaning device can be more convenient.

[0081] It can be understood that in some examples, the functional devices 140 can also be arranged under the second cover plate 122, but considering that the first cover plate 121 has a larger area, the functional devices 140 that need to be maintained at a high frequency can be arranged under the first cover plate 121, especially for facilitating the maintenance of the dust collection box 141 under the first cover plate 121.

[0082] In some examples, the cleaning device can include a traveling assembly, and the traveling assembly can include an auxiliary wheel 144 and a driving wheel 145. The auxiliary wheel 144 and the driving wheel 145 can form a support area, and the arm compartment 111 on the shell 110 can be formed in the support area. Based on this, when the mechanical arm 130 is accommodated in the arm compartment 111, the center of gravity of the mechanical arm 130 can be distributed in the support area, so that the operation of the cleaning device can be more stable, and the cleaning device is less likely to tip over or lose balance during cleaning, especially when encountering complex terrain such as slopes and carpet edges, the motion performance can be kept more stable, thereby improving the cleaning efficiency and safety.

[0083] As shown in FIG. 1, Figures 10 to 11 In a possible implementation, the functional devices 140 include a dust collection box 141, and the first cover plate 121 is used to cover the dust collection box 141.

[0084] In the technical solution, the structure of the functional devices 140 is further provided, and the functional devices 140 can include the dust collection box 141. Through the arrangement of the dust collection box 141, the dust collected during the operation of the cleaning device can be collected. By covering the first cover plate 121 on the dust collection box 141, the dust collection box 141 can be cleaned only by disassembling the first cover plate 121, so that the cleaning of the dust collection box 141 is more convenient.

[0085] In some examples, the functional devices 140 can further include a main control board 142 and a power supply 143. The operation of the cleaning device can be controlled through the arrangement of the main control board 142, and the power supply 143 can be used as a power source

[0086] In an implementation, the first cover plate 121 is provided with a magnetic member, and the first cover plate 121 is magnetically connected to the housing 110; the second cover plate 122 is provided with a buckle, and the second cover plate 122 is buckled to the housing 110.

[0087] In the technical solution, the first cover plate 121 and the second cover plate 122 are further provided with a connection mode, the first cover plate 121 is provided with a magnetic member, and the first cover plate 121 is fixed on the housing 110 by magnetic adsorption, so that the first cover plate 121 is convenient to disassemble, the dust collecting box 141 below the first cover plate 121 is exposed, and the dust collecting box 141 is convenient to maintain.

[0088] In some examples, the housing 110 can be provided with a magnetic metal or a material capable of being attracted by a magnetic member, so that the first cover plate 121 can be adsorbed on the housing 110 by magnetism.

[0089] In the technical solution, the second cover plate 122 is buckled to the housing 110, that is, the connection strength of the second cover plate 122 and the housing 110 is higher, and the probability of accidental falling of the second cover plate 122 is reduced.

[0090] It can be understood that one of the housing 110 and the second cover plate 122 is provided with a clamping groove, and the other is provided with a buckle, so that the second cover plate 122 can be buckled to the housing 110.

[0091] It can be understood that the dust collecting box 141 with higher maintenance or repair frequency can be arranged below the first cover plate 121, and the functional device 140 with longer service life and lower maintenance frequency can be arranged below the second cover plate 122, so that the maintenance of the cleaning device is more convenient.

[0092] As shown in Figures 1 to 3 In an implementation, the length direction of the bin opening 112 is perpendicular to the moving direction of the cleaning device, so that the cleaning device is more stable during movement and is not easy to deviate or lose control due to external force. At the same time, the cleaning device is more flexible during turning, climbing and other actions, and can easily cope with various complex environments.

[0093] As shown in Figures 1 to 3 In an implementation, the cleaning device further comprises an arm bin frame 150, the arm bin frame 150 is arranged around the periphery of the bin opening 112, and the first cover plate 121 and the second cover plate 122 are arranged around the periphery of the arm bin frame 150.

[0094] In the technical solution, the structure of the cleaning device is further provided, and the cleaning device can include an arm bin frame 150 arranged around the periphery of the bin opening 112, and the first cover plate 121 and the second cover plate 122 are arranged around the periphery of the arm bin frame 150. That is, an arm bin frame 150 is arranged between the bin opening 112 and the cover assembly 120 as a transition zone, so that the transition between the mechanical arm 130 and the shell 110 or the mechanical arm 130 and the cover assembly 120 is more obvious. On the one hand, the arm bin frame 150 can serve as a forbidden zone and can play a warning role to reduce the probability of the user accidentally touching the mechanical arm 130. On the other hand, the arrangement of the arm bin frame 150 makes the appearance of the cleaning device more design-oriented, making the cleaning device more beautiful.

[0095] As shown in Figures 1 to 7 In a possible implementation, the cleaning device further includes a function adjustment module 160 arranged on the cover assembly 120 and used to control the operation mode of the cleaning device, and an emergency stop module 170 arranged on the arm bin frame 150 and used to control the mechanical arm 130 to perform a safe operation mode.

[0096] In the technical solution, considering that the user's hand or foreign matter is clamped in the bin opening 112 during the process of the mechanical arm 130 being taken out of the bin and being taken back into the bin, which affects the user's experience. The cleaning device can further include a function adjustment module 160 and an emergency stop module 170. Through the arrangement of the function adjustment module 160 and the emergency stop module 170, the function adjustment module 160 can adjust the operation mode of the cleaning device, making the control of the cleaning device more convenient. When the cleaning device is in an abnormal working state, the emergency stop module 170 can be used to directly control the mechanical arm 130 to perform a safe operation mode to prevent the machine body from carrying the mechanical arm 130 and causing danger.

[0097] In the technical solution, the function adjustment module 160 is arranged on the cover assembly 120, based on which the function adjustment module 160 can be on the appearance surface of the cover assembly 120, facilitating the user to operate the function adjustment module 160 and the emergency stop module 170.

[0098] In the technical solution, the emergency stop module 170 is arranged on the arm bin frame 150, so that the emergency stop module 170 can be arranged close to the mechanical arm 130. When the cleaning device is abnormal, the user can operate the emergency stop module 170 at the first time, which can reduce the probability of misoperation.

[0099] It can be understood that controlling the mechanical arm 130 to perform a safe operation mode can include various ways, such as controlling the mechanical arm 130 to maintain the current state, controlling the mechanical arm 130 to be powered off, or controlling the mechanical arm 130 to be stored in the cleaning device.

[0100] As Figure 5 and Figure 6 shown, it can be understood that the cleaning device can have multiple operation modes, and the function adjustment module 160 can be used to select and control the operation mode of the cleaning device, including but not limited to: mopping mode, sweeping mode, dust collection mode, high-efficiency obstacle avoidance cleaning mode, scheduled cleaning mode, etc. In addition to adjusting the operation mode, the function adjustment module 160 can also control the specific cleaning mode of the cleaning device, such as controlling the travel speed of the cleaning device, controlling the cleaning frequency of the cleaning part 146 of the cleaning device, such as controlling the rotation speed of the main brush of the cleaning device, controlling the on-off of the power supply 143, etc. By mounting the function adjustment module 160 on the cleaning device, the user can participate more directly in the control of the cleaning device, so that the operation mode of the cleaning device is more satisfactory to the user's expectations, and the user experience can be improved.

[0101] As Figures 1 to 7 shown, in a possible implementation, the emergency stop module 170 is arranged separately from the function adjustment module 160.

[0102] In this technical solution, the emergency stop module 170 is arranged separately from the function adjustment module 160, that is, there is a certain distance between the emergency stop module 170 and the function adjustment module 160. Based on this, when the cleaning device is in an abnormal working state, the user can identify the emergency stop module 170 at the first time, and can immediately control the mechanical arm 130 to stop working through the emergency stop module 170, which can improve the efficiency of the emergency stop response, especially avoid false operation, such as avoiding taking the function adjustment module 160 as the emergency stop module 170, and can make the use of the cleaning device more safe.

[0103] In a possible implementation, at least part of the function adjustment module 160 is arranged on the second cover plate 122 of the cover assembly 120. In this way, the connection relationship between the function adjustment module 160 and the functional device 140 can be established, and the function module can control the operation mode of the functional device 140.

[0104] In this technical solution, the function adjustment module 160 is arranged on the second cover plate 122, and the emergency stop module 170 is arranged on the arm compartment frame 150, so that the emergency stop module 170 can be away from the function adjustment module 160, and they are arranged on different plate bodies, which can further reduce the probability of misoperation.

[0105] In a possible implementation, the second cover plate 122 is formed with a first mounting hole, and the function adjustment module 160 is arranged in the first mounting hole; the arm compartment frame 150 is provided with a second mounting hole, and the emergency stop module 170 is arranged in the first mounting hole.

[0106] In the technical solution, the assembling mode of the function adjustment module 160 and the emergency stop module 170 is further provided, the first mounting hole can be formed on the second cover plate 122, the function adjustment module 160 can be connected to the control device arranged in the shell 110, and the function adjustment module 160 can be extended out of the second cover plate 122 through the first mounting hole, so as to facilitate the user to operate the function adjustment module 160. The arm storage frame 150 forms the second mounting hole, and the emergency stop module 170 can be connected to the control device arranged in the shell 110, and the emergency stop module 170 can be extended out of the arm storage frame 150 through the second mounting hole, so that the operation of the emergency stop module 170 is more convenient.

[0107] In an available implementation, the cleaning device further comprises a control device, the control device is arranged in the shell 110 and connected to the emergency stop module 170 and the function adjustment module 160.

[0108] In the technical solution, the cleaning device can comprise a control device, the emergency stop module 170 and the function adjustment module 160 are connected to the control device, the emergency stop module 170 can control the mechanical arm 130 to stop through the control device, and the function adjustment module 160 can control the operation mode of the cleaning device through the control device.

[0109] In some examples, the control device can comprise a main control board 142.

[0110] As shown in Figure 8 and Figure 9 In an available implementation, the cleaning device further comprises a power supply 143, the power supply 143 is connected to the shell 110, the mechanical arm 130 and the control device; wherein the power supply 143 and the control device are arranged in the shell 110 and located on the same side of the mechanical arm 130, and the function adjustment module 160 is above the control device.

[0111] In the technical solution, the cleaning device can further comprise a power supply 143, the power supply 143 is connected to the shell 110, the mechanical arm 130 and the control device, and the power supply 143 serves as a power source of the shell 110 and the mechanical arm 130. The power supply 143 and the control device are arranged in the shell 110 and located on the same side of the mechanical arm 130, which further clarifies the layout relationship of the devices of the cleaning device, can make the center of gravity of the mechanical arm 130 as much as possible distributed in the middle front area of the shell 110, can make the cleaning device more stable, and at the same time, facilitates the establishment of the connection relationship between the mechanical arm 130, the shell 110 and the control device, and facilitates the power-on of the cleaning device.

[0112] It can be understood that the power supply 143 and the control device are arranged in the shell 110 and are located on the same side of the mechanical arm 130, which means that the power supply 143 and the control device are arranged on the same side of the mechanical arm 130 in the advancing direction of the cleaning device, that is, in the front-rear direction of the cleaning device. And the functional adjustment module 160 is above the control device means that the functional adjustment module 160 is on the top of the control device along the height direction of the cleaning device.

[0113] In the technical scheme, the functional adjustment module 160 is above the control device, which facilitates the functional adjustment module 160 to be directly connected with the control device, facilitates the assembly and preparation of the cleaning device, can improve the response efficiency of the functional adjustment module 160, and reduces the failure rate.

[0114] As shown in Figures 1 to 7 In a possible implementation, the cleaning device further comprises an obstacle avoidance module 180, the cover assembly 120 is formed with a mounting opening 181, and the obstacle avoidance module 180 is arranged in the shell 110, and part of the obstacle avoidance module 180 is located at the mounting opening 181.

[0115] In the technical scheme, the cleaning device can further comprise the obstacle avoidance module 180, the mounting opening 181 is formed on the cover assembly 120, and part of the obstacle avoidance module is located at the mounting opening 181, which facilitates the obstacle avoidance module 180 to collect information around, especially to obtain information of obstacles around the cleaning device, and the height of the obstacle avoidance module 180 is lower than the top surface of the cover assembly 120, so that the overall height is reduced, and the field of view range of the obstacle avoidance module 180 can also be ensured.

[0116] As shown in Figures 1 to 7 In a possible implementation, the mounting opening 181 is formed on the first cover plate 121 of the cover assembly 120.

[0117] In the technical scheme, the setting mode of the obstacle avoidance module 180 is further provided, the mounting opening 181 can be formed on the cover assembly 120, and part of the obstacle avoidance module 180 can be extended out of the cover assembly 120 through the mounting opening 181, which facilitates the obstacle avoidance module 180 to collect information around, especially to obtain information of obstacles around the cleaning device.

[0118] In a possible implementation, an inner wall of the mounting opening 181 is formed with an inclined surface relative to the appearance surface of the cover assembly 120, and the inclination angle of the inclined surface is greater than or equal to 17.5° and less than or equal to 22.5°.

[0119] In the technical solution, the mounting port 181 is further provided with a slope formed on the inner wall of the mounting port 181 relative to the appearance surface of the cover assembly 120, and the inclination angle of the slope is greater than or equal to 17.5° and less than or equal to 22.5°, so that the transmission of the detection signal of the obstacle avoidance module 180 is facilitated, the signal emitted by the obstacle avoidance module 180 is prevented from being blocked by the cover assembly 120, the radiation area of the signal emitted by the obstacle avoidance module 180 is increased, and the length of the slope of the mounting port 181 is prevented from being too long.

[0120] In some examples, the obstacle avoidance module 180 can include a TOF sensor (Time of flight).

[0121] In some examples, the obstacle avoidance module 180 is arranged on the first cover plate 121 away from one end of the mechanical arm 130. The function adjustment module 160 is arranged on the second cover plate 122 away from one end of the obstacle avoidance module 180, so that the obstacle avoidance module 180 has a certain distance between the mechanical arm 130 and the function adjustment module 160, thereby realizing safe obstacle avoidance of the whole machine.

[0122] As shown in FIG. 1, Figure 1 In a feasible implementation, the cleaning device further includes a warehouse door 190 connected to the shell 110 and used to cover the warehouse opening 112.

[0123] In the technical solution, the cleaning device further includes the warehouse door 190, which is movably connected to the shell 110 and can open or close the warehouse opening 112. Thus, when the mechanical arm 130 is folded and stored in the arm warehouse 111, the warehouse opening 112 can be closed by the warehouse door 190 to reduce or prevent dust and liquid from entering the arm warehouse 111 and causing the mechanical arm 130 to malfunction, thereby improving the service life of the mechanical arm 130 and improving the overall reliability of the cleaning device. It can be understood that when the mechanical arm 130 needs to be extended out of the arm warehouse 111 for object grabbing, the warehouse door 190 can be moved relative to the shell 110 to open the warehouse opening 112.

[0124] As shown in FIG. 1, Figures 1 to 11 According to the second aspect of the embodiments of the present application, a cleaning system is provided, which includes the cleaning device according to any one of the above technical solutions, and a base station used to accommodate the cleaning device.

[0125] The cleaning system provided by the embodiments of the present application has all the beneficial effects of the cleaning device according to the above technical solutions.

[0126] The cleaning system provided by the embodiment of the application comprises a cleaning device and a base station, the base station can accommodate the cleaning device, the base station can supplement cleaning liquid for the cleaning device, supplement clean water, and clean the cleaning piece 146 of the cleaning device, so that the use of the cleaning device is more convenient, and in addition, the base station can also supply water and charge the cleaning device.

[0127] In the present application, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance; the term "multiple" refers to two or more than two, unless otherwise explicitly limited. The terms "mounting", "connection", "connection", "fixing" and the like should be broadly understood, for example, "connection" can be fixed connection, or detachable connection, or integrally connected; "connection" can be directly connected, or indirectly connected through an intermediate medium. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0128] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or units referred to must have a particular direction, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application.

[0129] In the description of the present application, the terms "one embodiment", "some embodiments", "specific embodiments" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0130] The above is only the preferred embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning apparatus, characterized by, The cleaning device comprises: a housing, an arm compartment is formed on the housing, and a compartment opening is formed on the arm compartment; a cover assembly connected to the housing, the cover assembly is formed with a gap to avoid the compartment opening; a mechanical arm connected to the housing and capable of extending out of or being stored in the arm compartment through the compartment opening.

2. The cleaning device according to claim 1, wherein: the cover assembly comprises a first cover plate and a second cover plate, the first cover plate is detachably connected to the housing, and the second cover plate is connected to the housing.

3. The cleaning device according to claim 2, wherein: in the direction of travel of the cleaning device, the second cover plate is arranged at the front end of the housing in the direction of travel, and the first cover plate is arranged at the rear end of the housing in the direction of travel.

4. The cleaning device according to claim 2, wherein: at least one of the first cover plate and the second cover plate is formed with the gap to enable the mechanical arm to extend out of or be stored in the arm compartment.

5. The cleaning device according to claim 2, wherein: the first cover plate is formed with a first avoiding opening, the second cover plate is formed with a second avoiding opening, the first cover plate and the second cover plate are spliced, the first avoiding opening and the second avoiding opening are spliced to form the gap to avoid the compartment opening.

6. The cleaning apparatus of claim 2, wherein, Further comprising: a functional device arranged in the housing; wherein the first cover plate covers at least part of the functional device.

7. The cleaning apparatus of claim 6, wherein, The functional device comprises: a dust collection box, and the first cover plate is used to cover the dust collection box.

8. The cleaning device according to claim 2, wherein: a magnetic member is arranged on the first cover plate, and the first cover plate is magnetically connected to the housing; a buckle is formed on the second cover plate, and the second cover plate is buckled to the housing.

9. The cleaning device according to any one of claims 1 to 8, wherein: the length direction of the compartment opening is perpendicular to the direction of travel of the cleaning device.

10. The cleaning apparatus of claim 9, wherein, Further comprising: an arm compartment frame arranged around the periphery of the compartment opening, and the first cover plate and the second cover plate of the cover assembly are arranged around the periphery of the arm compartment frame.

11. The cleaning apparatus of claim 10, wherein, Further comprising: a function adjustment module arranged on the cover assembly and used to control the operation mode of the functional device; an emergency stop module arranged on the arm compartment frame and used to control at least the mechanical arm to execute a safety operation mode.

12. The cleaning device according to claim 11, wherein: the emergency stop module is arranged apart from the function adjustment module.

13. The cleaning device according to claim 11, wherein: at least part of the function adjustment module is arranged on the second cover plate of the cover assembly.

14. The cleaning device according to claim 13, wherein: a first mounting hole is formed on the second cover plate, and the function adjustment module is arranged in the first mounting hole; a second mounting hole is arranged on the arm compartment frame, and the emergency stop module is arranged in the first mounting hole.

15. The cleaning apparatus of claim 14, wherein, Further comprising: A control device is arranged in the housing and connected to the emergency stop module and the function adjustment module.

16. The cleaning apparatus of claim 1, wherein, Further comprising: An obstacle avoidance module is arranged in the housing, and part of the obstacle avoidance module is located at the mounting port.

17. The cleaning device according to claim 16, characterized in that The mounting port is formed on the first cover plate of the cover assembly.

18. The cleaning device according to claim 16, characterized in that An inner wall of the mounting port is formed with a slope relative to an appearance surface of the cover assembly, and an inclination angle of the slope is greater than or equal to 17.5° and less than or equal to 22.5°.

19. The cleaning apparatus of any one of claims 1 to 18, wherein, Further comprising: A bin door is connected to the housing and used for covering the bin port.

20. A cleaning system characterized by, Including: The cleaning device according to any one of claims 1 to 19; A base station is used for accommodating the cleaning device.

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