Self-cleaning device

Abstract

The utility model relates to the technical field of cleaning, in particular to self-cleaning equipment. The self-cleaning equipment comprises a host; the driving wheel module is arranged on one side of the main machine; the mechanical arm module is arranged on the side, away from the driving wheel module, of the main machine so as to stretch out of the main machine to work. The pop-up assembly is arranged on the host, is connected with the driving wheel module and is used for popping up the driving wheel module out of the host; the locking assembly is arranged on the host; and the locking assembly is used for locking the driving wheel module and limiting ejection of the driving wheel module when the mechanical arm module works. When the mechanical arm grabs an object, the locking assembly locks the driving wheel module, so that the driving wheel is locked in a storage state and cannot be popped out, the counter-acting force generated by the popping assembly is counteracted, the self weight of the driving wheel is fully utilized, the main machine is kept stable, the phenomenon of side inclination or tail raising is prevented, the running reliability of the whole machine is improved, and the service life of the whole machine is prolonged. And the use experience of the user is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and more particularly to a self-cleaning device. Background Technology

[0002] With the continuous development of technology and the continuous improvement of people's living standards, self-cleaning devices such as robotic vacuum cleaners have become widely used in people's homes because they are more time-saving and labor-saving than traditional manual cleaning, greatly freeing up people's hands. In order to better achieve the cleaning function, current self-cleaning devices are equipped with robotic arms to move obstacles and collect items.

[0003] However, due to the excessive weight of the robotic arm itself, the machine is prone to instability when the arm is extended to its maximum length or when the robotic arm is gripping a load. This can cause the tail and drive wheels of the robot vacuum to lift up, making the machine unable to work properly. In particular, when the robotic arm is working at an angle, the machine is also prone to tilting and instability, resulting in a poor user experience and reliability. Utility Model Content

[0004] This application provides a self-cleaning device to solve the problems of machine tilting and tail lifting, thereby increasing the reliability of the entire machine operation.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] This application provides a self-cleaning device, which includes:

[0007] Host;

[0008] The drive wheel module is located on one side of the main unit and is used to drive the main unit to move for cleaning operations.

[0009] The robotic arm module is located on the side of the main unit away from the drive wheel module, so that it can extend out of the main unit to perform work;

[0010] The pop-out component is located on the host and connected to the drive wheel module. The pop-out component is used to pop the drive wheel module out of the host.

[0011] Locking component, the locking component is located on the main unit;

[0012] The locking assembly is used to lock the drive wheel module when the robotic arm module is in operation, preventing the drive wheel module from popping out.

[0013] As an optional implementation, the self-cleaning device also includes an obstacle-crossing module, which is rotatably mounted on the drive wheel module;

[0014] The locking component is used to engage with the obstacle-crossing module when the obstacle-crossing module rotates, locking the obstacle-crossing module and thus preventing the ejection of the drive wheel module connected to the obstacle-crossing module.

[0015] As an optional implementation, the locking assembly includes a locking bracket and a locking roller. The locking bracket is mounted on the main unit, and the locking roller is rotatably mounted on the locking bracket. The obstacle crossing module is provided with a wheel leg groove. When the obstacle crossing module rotates, the locking roller can slide into the wheel leg groove to engage with the wheel leg groove.

[0016] As an optional implementation, the drive wheel module includes a drive wheel bracket and a drive wheel. The drive wheel bracket is located on one side of the main unit, and the drive wheel is rotatably mounted on the drive wheel bracket. A pop-out component is connected to the drive wheel bracket and is used to pop the drive wheel bracket out of the main unit. The obstacle-crossing module is rotatably mounted on the drive wheel bracket.

[0017] As an optional implementation, the obstacle-crossing module includes:

[0018] Wheel leg base, the wheel leg base is rotatably connected to the drive wheel bracket;

[0019] Wheel leg cover plate, the wheel leg cover plate is located on the side of the wheel leg base away from the drive wheel bracket, and the wheel leg cover plate is provided with wheel leg groove;

[0020] The wheel leg drive component is mounted on the drive wheel bracket and is used to drive the wheel leg base to rotate, thereby causing the wheel leg cover plate to rotate.

[0021] As an optional implementation, the self-cleaning device also includes a locking position sensor and a baffle plate, with the locking position sensor mounted on the drive wheel bracket and the baffle plate mounted on the wheel leg base;

[0022] When the wheel leg base rotates, the baffle can rotate with the wheel leg base to be opposite the locking position sensor, thereby triggering the locking position sensor, stopping the wheel leg drive, and locking the locking assembly into the wheel leg groove.

[0023] As an optional implementation, a sensor slot is provided on the drive wheel bracket, the sensor slot is arranged around the circumference of the drive wheel on the drive wheel bracket, and the locking position sensor is arranged in the sensor slot.

[0024] As an optional implementation, the self-cleaning device also includes an initial position sensor, which is located in a sensor slot. When the wheel leg base rotates to reset, the baffle can rotate with the wheel leg base to face the initial position sensor, thereby triggering the initial position sensor and stopping the wheel leg drive.

[0025] As an optional implementation, the self-cleaning device also includes an obstacle crossing sensor, which is disposed in a sensor slot. Along the extension direction of the sensor slot, the initial position sensor, the locking position sensor and the obstacle crossing sensor are arranged in sequence.

[0026] As an optional implementation, the obstacle-crossing module also includes a wheel-leg drive gearbox, which is mounted on the drive wheel bracket. One end of the wheel-leg drive gearbox is connected to the wheel-leg drive component, and the other end of the wheel-leg drive gearbox is connected to the wheel-leg base.

[0027] As an alternative implementation, the wheel-leg drive gearbox includes multiple wheel-leg drive gears that mesh with each other.

[0028] As an optional implementation, the obstacle-crossing module also includes:

[0029] The obstacle-crossing wheel leg is connected to the wheel leg base.

[0030] The obstacle-crossing wheel is rotatably located on the side of the obstacle-crossing wheel leg away from the wheel leg base;

[0031] The wheel-leg drive unit is used to drive the wheel-leg base to rotate, thereby driving the obstacle-crossing wheel-leg to rotate.

[0032] As an optional implementation, the obstacle crossing module also includes an obstacle crossing wheel drive gearbox, which is disposed in the wheel leg base and the obstacle crossing wheel leg. One end of the obstacle crossing wheel drive gearbox is connected to the drive wheel, and the other end of the obstacle crossing wheel drive gearbox is connected to the obstacle crossing wheel.

[0033] As an optional implementation, the obstacle-crossing wheel drive gearbox includes multiple obstacle-crossing wheel drive gears that mesh with each other.

[0034] As an optional implementation, the self-cleaning device also includes a binocular recognition module, which is located on the side of the main unit.

[0035] As an optional implementation, the self-cleaning device also includes a rear camera, which is located on the side of the main unit and on opposite sides of the main unit with the binocular recognition module. The rear camera is used to detect the cleaned area.

[0036] As an optional implementation, the self-cleaning device also includes a supplementary light, which is located on the side of the main unit and is used to illuminate the detection area of ​​the rear camera.

[0037] As an optional implementation, the self-cleaning device also includes a roller brush assembly, a dust box assembly, and a fan assembly. The roller brush assembly is rotatably located on the side of the main unit away from the robotic arm module. The dust box assembly is located on the main unit and communicates with the roller brush assembly. The main unit is provided with an air outlet. The fan assembly is located on the main unit and communicates with the dust box assembly on one side and with the air outlet on the other side.

[0038] As an alternative implementation, the self-cleaning device also includes a cloth assembly, which is rotatably located on the side of the main unit away from the robotic arm module.

[0039] As an optional implementation, the self-cleaning device also includes a water tank and a water pump, which are located on the main unit and are connected to the wiping cloth assembly via the water pump.

[0040] As an optional implementation, the self-cleaning device also includes casters, which are rotatably located on the side of the main unit away from the robotic arm module.

[0041] As an optional implementation, the self-cleaning device also includes auxiliary wheels, which are rotatably located on the side of the main unit away from the robotic arm module, and the caster wheels and auxiliary wheels are located on opposite sides of the drive wheel module.

[0042] This application provides a self-cleaning device. By incorporating a locking component on the main unit, the drive wheel module is locked during the robotic arm's grasping process, preventing the drive wheels from popping out. This counteracts the reaction force generated by the pop-out component, stabilizing the main unit and preventing tilting or tail-lifting. This increases the reliability of the entire machine and improves the user experience. The locking component has a simple structure and low manufacturing cost, reducing production costs, simplifying the device, and improving maintainability. By fully utilizing the weight of the drive wheel module itself to improve machine stability, rather than relying on additional counterweights, the device avoids issues that could affect its endurance and mobility due to increased weight. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of the self-cleaning device provided in the embodiments of this application;

[0045] Figure 2 for Figure 1A partial exploded view of the self-cleaning device shown.

[0046] Figure 3 for Figure 2 A magnified structural diagram of part A in the middle;

[0047] Figure 4 for Figure 1 One of the structural schematic diagrams of the drive wheel module and obstacle-crossing module of the self-cleaning device shown;

[0048] Figure 5 for Figure 4 The diagram shows a partial exploded structure of the drive wheel module and obstacle crossing module.

[0049] Figure 6 for Figure 1 The second schematic diagram shows the structure of the drive wheel module and obstacle-crossing module of the self-cleaning device.

[0050] Figure 7 for Figure 6 The diagram shows a partial exploded structure of the drive wheel module and obstacle crossing module.

[0051] Figure 8 for Figure 1 Front view of the self-cleaning device shown;

[0052] Figure 9 for Figure 1 The rear view of the self-cleaning device shown.

[0053] Figure 10 for Figure 1 The side view of the self-cleaning device shown;

[0054] Figure 11 for Figure 1 A bottom view of the self-cleaning device shown.

[0055] Figure 12 for Figure 1 The self-cleaning device shown is a top view of the main unit after removing part of its main unit.

[0056] Figure 13 for Figure 1 The diagram shows the structure of the self-cleaning device that removes part of the main unit.

[0057] Explanation of reference numerals in the attached figures:

[0058] 100-Self-cleaning device; 10-Main unit; 11-Pop-up assembly; 12-Locking assembly; 121-Locking bracket; 122-Locking roller; 13-Rear camera; 14-Supplemental light; 15-Air outlet; 20-Drive wheel module; 21-Drive wheel bracket; 211-Locking position sensor; 212-Sensor slot; 213-Initial position sensor; 214-Obstacle crossing position sensor; 22-Drive wheel; 23-Universal wheel; 24-Auxiliary wheel; 30-Robotic arm module; 31-Robotic arm cabin module; 40-Obstacle crossing module ; 401-Wheel leg groove; 41-Wheel leg base; 411-Baffle; 412-Rack; 42-Wheel leg cover plate; 43-Wheel leg drive component; 44-Wheel leg drive gearbox; 441-Wheel leg drive gear; 45-Obstacle crossing wheel leg; 46-Obstacle crossing wheel; 47-Obstacle crossing wheel drive gearbox; 471-Obstacle crossing wheel drive gear; 50-Dual-eye recognition module; 60-Dust collection module; 61-Roller brush assembly; 62-Dust box assembly; 63-Fan assembly; 70-Mopping module; 71-Mop cloth assembly; 72-Water tank; 73-Water pump. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0060] With the continuous development of technology and the continuous improvement of people's living standards, self-cleaning devices such as robotic vacuum cleaners have become widely used in people's homes because they are more time-saving and labor-saving than traditional manual cleaning, greatly freeing up people's hands. In order to better achieve the cleaning function, current self-cleaning devices are equipped with robotic arms to move obstacles and collect items.

[0061] However, due to the excessive weight of the robotic arm, the machine is prone to instability when the arm is extended to its maximum length or when gripping a load. This can cause the tail and drive wheels of the robot vacuum to tilt, preventing the machine from functioning properly. This is especially true when the robotic arm is working at an angle, where it is also prone to lateral tilting and instability. In this case, the load that the robotic arm can grip is smaller, resulting in a poor user experience and reliability. Adding counterweights to prevent lateral tilting and instability would increase the machine's weight excessively, affecting obstacle-crossing capabilities and battery life, ultimately failing to meet the requirements for a good user experience and reliable operation.

[0062] To overcome the shortcomings of existing technologies, after repeated consideration and verification, the inventors discovered that existing self-cleaning devices, such as robotic vacuum cleaners, typically have tension springs at the drive wheels to provide suspension and shock absorption. Under the action of the tension springs, the ground exerts an additional reaction force on the drive wheels, in addition to the weight of the entire machine (without the tension springs, the drive wheels and casters only bear the weight of the entire machine, without any additional force). Although the drive wheels of the self-cleaning device are in a retracted state on the cleaning surface due to the device's weight and the ground's elasticity, the spring force causes the tail and drive wheels of the self-cleaning device to tend to lift up. In self-cleaning equipment equipped with a robotic arm, the ground exerts an upward reaction force on the drive wheels, in addition to the machine's overall weight. Meanwhile, the robotic arm and the load, under the influence of gravity, experience downward forces. The resulting torque can cause the machine's tail and drive wheels to tilt upwards, especially when the robotic arm extends to its maximum reach or grips a load. This is particularly problematic when the robotic arm is gripping a load at an angle, where the negative effects of these forces are even greater, making the machine more prone to tilting. If the drive wheels can be locked in a retracted position while the robotic arm is gripping an item, preventing them from extending, the reaction force generated by the tension spring can be counteracted. This allows for full utilization of the drive wheels' own weight, thus resolving the machine's tilting and tail-lifting issues, increasing overall operational reliability, and improving the user experience.

[0063] In view of this, this application provides a self-cleaning device, the self-cleaning device comprising:

[0064] Host;

[0065] The drive wheel module is located on one side of the main unit and is used to drive the main unit to move for cleaning operations.

[0066] The robotic arm module is located on the side of the main unit away from the drive wheel module, so that it can extend out of the main unit to perform work;

[0067] The pop-out component is located on the host and connected to the drive wheel module. The pop-out component is used to pop the drive wheel module out of the host.

[0068] Locking component, the locking component is located on the main unit;

[0069] The locking assembly is used to lock the drive wheel module when the robotic arm module is in operation, preventing the drive wheel module from popping out.

[0070] By incorporating a locking component on the main unit, the drive wheel module is locked during the robotic arm's grasping process. This locks the drive wheels in a retracted state, preventing them from popping out. This counteracts the reaction force generated by the pop-out component, stabilizing the main unit and preventing tilting or lifting. This increases the overall reliability of the machine and improves the user experience. The locking component has a simple structure and low manufacturing cost, reducing production costs, simplifying the equipment, and improving maintainability. By fully utilizing the weight of the drive wheel module itself to enhance machine stability, rather than relying on additional counterweights, the machine's endurance and mobility are avoided due to increased weight.

[0071] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0072] The following sections provide a detailed description of the specific structure of the self-cleaning device and various possible implementation methods.

[0073] Figure 1 This is a schematic diagram of the structure of the self-cleaning device provided in the embodiments of this application. Figure 2 for Figure 1 The diagram shows a partial exploded view of the self-cleaning device. Figure 3 for Figure 2 A magnified structural diagram of part A in the middle. Figure 4 for Figure 1 This is one of the structural schematic diagrams of the drive wheel module and obstacle-crossing module of the self-cleaning device shown. Figure 5 for Figure 4 The diagram shows a partial exploded view of the drive wheel module and obstacle-crossing module. Figure 6 for Figure 1 The second schematic diagram shows the structure of the drive wheel module and obstacle-crossing module of the self-cleaning device. Figure 7 for Figure 6 The diagram shows a partial exploded view of the drive wheel module and obstacle-crossing module. Figure 8 for Figure 1 The front view of the self-cleaning device shown. Figure 9 for Figure 1 The rear view of the self-cleaning device shown. Figure 10 for Figure 1 The self-cleaning device shown is a side view. Figure 11 for Figure 1 The self-cleaning device shown is viewed from below. Figure 12 for Figure 1 The image shows a top view of the self-cleaning device removing part of the main unit. Figure 13 for Figure 1 The diagram shows the structure of the self-cleaning device that removes part of the main unit.

[0074] like Figure 1 As shown, the self-cleaning device 100 provided in this embodiment of the application is used for cleaning the ground.

[0075] The self-cleaning device 100 is used in home life to automatically clean the house and is also suitable for cleaning selected areas, saving time and effort and freeing up human hands.

[0076] In one possible implementation, the self-cleaning device 100 can be a robotic vacuum cleaner. However, it is not limited to this; in other possible implementations, the self-cleaning device 100 can also be a combined sweeping and mopping robot, or other self-moving cleaning devices that meet cleaning needs.

[0077] like Figure 2 As shown, the self-cleaning device 100 includes a main unit 10, a drive wheel module 20, and a robotic arm module 30. The main unit 10 carries various functional components or modules of the self-cleaning device 100. The drive wheel module 20 is located on one side of the main unit 10 and is used to drive the main unit 10 to move for cleaning operations. The robotic arm module 30 is located on the side of the main unit 10 opposite to the drive wheel module 20 and extends out of the main unit 10 to perform operations.

[0078] like Figure 3 As shown, the host 10 is equipped with a pop-out component 11 and a locking component 12. The drive wheel module 20 can rotatably extend out of or retract from the host 10. The pop-out component 11 is connected to the drive wheel module 20 and is used to pop the drive wheel module 20 out of the host 10. The locking component 12 is used to lock the drive wheel module 20 when the robotic arm module 30 is working, restricting the pop-out of the drive wheel module 20, that is, confining the drive wheel module 20 within the host 10.

[0079] That is, when the self-cleaning device 100 is performing cleaning operations, the locking component 12 is not activated, allowing the pop-out component 11 to provide suspension, shock absorption, maintain drive wheel pressure, or automatically adjust the height of the drive wheel module 20 when needed, such as when walking on uneven ground, on inclined ground, crossing small obstacles, or transitioning from ground of different thicknesses or materials, thus popping the drive wheel module 20 out of the main unit 10 and enabling the self-cleaning device 100 to move normally. When the robotic arm module 30 is working, the locking component 12 is activated, locking the drive wheel module 20 and preventing the pop-out component 11 from popping it out. This counteracts the reaction force generated by the setting of the pop-out component 11, fully utilizing the weight of the drive wheel module 20 itself, and solving the problems of the self-cleaning device 100 tilting and lifting its tail.

[0080] In one possible implementation, the pop-out component 11 is a tension spring, with one side connected to the main unit 10 and the other side connected to the drive wheel module 20. However, it is not limited to this; in other possible implementations, the pop-out component 11 may also use other elastic elements.

[0081] When the self-cleaning device 100 is placed on the ground for cleaning operations or when the drive wheel module 20 is pressed, the drive wheel module 20 is in a retracted state and retracts into the body of the main unit 10. At this time, the pop-out component 11 is pulled tight by the force of the drive wheel module 20 and is in a stretched state. At this time, the pop-out component 11 has an elastic force on the body of the main unit 10.

[0082] When the self-cleaning device 100 is picked up or the drive wheel module 20 is suspended, the pop-out component 11 is reset, causing the drive wheel module 20 to rotate away from the main unit 10. The drive wheel module 20 is in the pop-out state, that is, the drive wheel module 20 extends out of the main unit 10. At this time, the pop-out component 11 is in the retracted state and has no elastic force on the main unit.

[0083] By installing a locking component 12 on the main unit 10, the drive wheel module 20 is locked during the robotic arm's grasping process, keeping the drive wheel in a retracted state and preventing it from popping out. This counteracts the reaction force generated by the pop-out component 11, keeping the main unit 10 stable and preventing tilting or tail-lifting, increasing the overall reliability of the machine and improving the user experience. The coordinated operation of the pop-out component 11 and the locking component 12 allows the drive wheel module 20 to pop out when needed, maintaining efficient and stable performance in different operating modes and enhancing the machine's adaptability. The locking component 12 has a simple structure and low manufacturing cost, reducing production costs and simplifying the equipment, thus improving maintainability. By fully utilizing the weight of the drive wheel module 20 itself to improve machine stability, rather than relying on additional counterweights, the machine's endurance and mobility efficiency are avoided due to increased overall weight.

[0084] like Figure 4 As shown, in one possible implementation, the self-cleaning device 100 further includes an obstacle-crossing module 40. The obstacle-crossing module 40 is rotatably mounted on the drive wheel module 20. The locking assembly 12 is used to engage with the obstacle-crossing module 40 when the obstacle-crossing module 40 rotates, thereby locking the obstacle-crossing module 40 and restricting the ejection of the drive wheel module 20 connected to the obstacle-crossing module 40.

[0085] The obstacle-crossing module 40 is designed to enable the device to cross obstacles more effectively, improving the adaptability of the self-cleaning device 100, such as when encountering thresholds, carpet edges or other small obstacles in a home environment.

[0086] By locking the obstacle-crossing module 40 when it rotates, the locking component 12 can effectively limit the ejection of the drive wheel module 20. This helps the locking component 12 to lock the drive wheel module 20 when the robotic arm module 30 is working, maintain the stability of the equipment, and prevent the equipment from tilting or lifting due to the reaction force generated by the ejection component 11.

[0087] The combination of locking assembly 12 and obstacle crossing module 40 allows for more precise control over the locking of drive wheel module 20. By limiting the pop-out action of drive wheel module 20, the device can maintain higher reliability when performing complex tasks (such as using a robotic arm to grasp objects) and reduce the risk of operational failure due to instability.

[0088] The combination of locking component 12 and obstacle crossing module 40 utilizes the existing obstacle crossing module 40 to lock the drive wheel module 20, avoiding additional complex structures or components, thus maintaining the simplicity and cost-effectiveness of the equipment.

[0089] In one possible implementation, the locking assembly 12 includes a locking bracket 121 and a locking roller 122. The locking bracket 121 is mounted on the main unit 10, and the locking roller 122 is rotatably mounted on the locking bracket 121. The obstacle-crossing module 40 is provided with a wheel leg groove 401. When the obstacle-crossing module 40 rotates, the locking roller 122 can slide into the wheel leg groove 401 to engage with it.

[0090] The locking roller 122 automatically slides into the wheel leg groove 401 when the obstacle-crossing module 40 rotates, achieving an automated locking process. The engagement of the locking roller 122 with the wheel leg groove 401 provides a robust locking mechanism, ensuring that the drive wheel module 20 is securely locked during equipment operation, especially when the robotic arm is working, preventing unnecessary ejection. Simultaneously, the design of the locking roller 122 allows for smooth rotation and engagement, reducing wear on components during locking and unlocking, thereby extending the equipment's lifespan.

[0091] The design of locking roller 122 and wheel leg groove 401 on obstacle crossing module 40 utilizes a simple mechanical structure, roller and groove, to achieve the locking function, maintaining the simplicity and ease of maintenance of the equipment.

[0092] In one possible implementation, the wheel leg groove 401 on the obstacle-crossing module 40 is an arc-shaped groove with openings on both sides, and the locking roller 122 can slide into the wheel leg groove 401. This allows the locking roller 122 to slide into the wheel leg groove 401 from the opening when the obstacle-crossing module 40 rotates, thus locking it in place.

[0093] In one possible implementation, the drive wheel module 20 includes a drive wheel bracket 21 and a drive wheel 22. The drive wheel bracket 21 is located on one side of the main unit 10, and the drive wheel 22 is rotatably mounted on the drive wheel bracket 21. The ejection assembly 11 is connected to the drive wheel bracket 21 and is used to eject the drive wheel bracket 21 from the main unit 10, and the obstacle-crossing module 40 is rotatably mounted on the drive wheel bracket 21.

[0094] The combination of the pop-out assembly 11 and the drive wheel bracket 21 allows the drive wheel 22 to pop out when needed to adapt to uneven ground or cross obstacles. This flexibility improves the stability and adaptability of the equipment in various environments.

[0095] The obstacle crossing module 40 is directly mounted on the drive wheel bracket 21, which allows the device to respond more flexibly to changes in terrain. When the device encounters an obstacle, it can more effectively adjust the position of the drive wheel 22, thereby improving its obstacle crossing ability.

[0096] Integrating the obstacle-crossing module 40 and the drive wheel 22 onto the drive wheel bracket 21 helps optimize the use of internal space and reduces the overall size of the device. The drive wheel bracket 21, as a separate module, integrates the drive wheel 22, the pop-out assembly 11, and the obstacle-crossing module 40. This integrated design simplifies the manufacturing and maintenance process, making it easier to replace or repair any part.

[0097] like Figure 5 As shown, in one possible implementation, the obstacle-crossing module 40 includes a wheel leg base 41, a wheel leg cover plate 42, and a wheel leg drive component 43. The wheel leg base 41 is rotatably connected to the drive wheel bracket 21. The wheel leg cover plate 42 is located on the side of the wheel leg base 41 away from the drive wheel bracket 21, and the wheel leg cover plate 42 has a wheel leg groove 401. The wheel leg drive component 43 is located on the drive wheel bracket 21, and the wheel leg drive component 43 is used to drive the wheel leg base 41 to rotate, thereby driving the wheel leg cover plate 42 to rotate.

[0098] When the wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate, the wheel leg groove 401 on the wheel leg cover plate 42 rotates accordingly, causing the locking roller 122 to slide into the wheel leg groove 401 and engage with the wheel leg groove 401, thereby locking the wheel leg cover plate 42, locking the wheel leg base 41 and drive wheel bracket 21 connected to it, and locking the drive wheel module 20.

[0099] The design of the wheel leg base 41 and wheel leg cover 42 allows the equipment to effectively adjust and cross obstacles. Driven by the wheel leg drive unit 43, the obstacle-crossing wheel leg can flexibly change its angle and position to adapt to obstacles of different heights and shapes. It can also cooperate with the locking roller 122 to lock the drive wheel module 20, thereby enabling the robotic arm module 30 to work.

[0100] The wheel leg drive unit 43 provides precise control over the wheel leg base 41 and wheel leg cover plate 42, enabling the equipment to adjust the position and angle of the obstacle-crossing wheel legs according to real-time environmental conditions. This allows the equipment to maintain better balance and stability, reducing the risk of overturning due to imbalance.

[0101] Integrating obstacle-crossing functionality into a single obstacle-crossing module 40 makes the design more modular, simplifies manufacturing, assembly, and maintenance, and reduces equipment complexity. The wheel leg base 41 and wheel leg cover 42 are compactly designed to provide obstacle-crossing functionality without increasing the overall size of the equipment.

[0102] In one possible implementation, the wheel-leg drive component 43 is a motor.

[0103] like Figure 6 and Figure 7 As shown, in one possible implementation, the self-cleaning device 100 further includes a locking position sensor 211 and a baffle 411. The locking position sensor 211 is mounted on the drive wheel bracket 21, and the baffle 411 is mounted on the wheel leg base 41.

[0104] When the wheel leg base 41 rotates, the baffle 411 can rotate with the wheel leg base 41 to be opposite to the locking position sensor 211, thereby triggering the locking position sensor 211, stopping the wheel leg drive 43, and locking the locking assembly 12 into the wheel leg groove 401.

[0105] Specifically, when the robotic arm module 30 is working, the wheel leg drive component 43 drives the wheel leg base 41 and wheel leg cover plate 42 to rotate. This causes the baffle 411 to rotate with the wheel leg base 41 until it is opposite to the locking position sensor 211, while the wheel leg groove 401 rotates with the wheel leg cover plate 42, causing the locking roller 122 to slide into the wheel leg groove 401. At this time, the baffle 411 triggers the locking position sensor 211, the wheel leg drive component 43 stops driving, and the baffle 411 remains opposite to the locking position sensor 211. At the same time, the locking roller 122 is engaged in the wheel leg groove 401, thereby locking the wheel leg cover plate 42. Through the wheel leg cover plate 42, the wheel leg base 41 and the drive wheel bracket 21 connected to it are locked, thereby locking the drive wheel module 20 and preventing the drive wheel module 20 from popping out.

[0106] Through the relative movement of the baffle 411 and the locking position sensor 211, the system can automatically detect the position of the wheel leg base 41. When the baffle 411 triggers the locking position sensor 211, the wheel leg drive 43 automatically stops, thereby achieving automatic locking and improving the intelligence and automation level of the equipment.

[0107] The locking position sensor 211 provides real-time monitoring of the position of the wheel leg base 41, making the locking process more precise and ensuring that the locking assembly 12 can be accurately engaged in the wheel leg groove 401, thereby enhancing the stability of the equipment.

[0108] The combination of the locking position sensor 211 and the baffle 411 provides a reliable feedback mechanism, ensuring that each step of the locking process is executed accurately, thus improving the overall reliability of the equipment.

[0109] In one possible implementation, a sensor slot 212 is provided on the drive wheel bracket 21, the sensor slot 212 is arranged circumferentially around the drive wheel 22 on the drive wheel bracket 21, and a locking position sensor 211 is arranged in the sensor slot 212.

[0110] The sensor slot 212 provides a protective environment for the locking position sensor 211, reducing the risk of the locking position sensor 211 being exposed to the external environment. This helps prevent damage to the locking position sensor 211 from dust, moisture, and physical impacts, thereby extending its service life. Simultaneously, the design of the sensor slot 212 ensures the precise positioning of the locking position sensor 211 on the drive wheel bracket 21, which helps improve the detection accuracy of the locking position sensor 211 and ensures accurate detection of the position of the baffle 411 during the locking process.

[0111] By installing the locking position sensor 211 in the sensor slot 212, the installation process of the locking position sensor 211 is simplified, making it easier to maintain and replace, reducing the possibility of installation errors and lowering maintenance costs. At the same time, it also reduces the possibility of movement or loosening of the locking position sensor 211 during equipment operation, thereby improving the overall reliability of the equipment. The design of the sensor slot 212 allows the locking position sensor 211 to be compactly integrated into the drive wheel bracket 21 without occupying extra space, contributing to maintaining the overall compactness and aesthetics of the equipment.

[0112] In one possible implementation, the locking position sensor 211 is embedded in the groove wall of the sensor groove 212, and the baffle 411 is slidably disposed in the sensor groove 212, thereby cooperating with the locking position sensor 211 during the sliding process.

[0113] In one possible implementation, the self-cleaning device 100 further includes an initial position sensor 213. The initial position sensor 213 is disposed in the sensor slot 212. When the wheel leg base 41 rotates to reset, the baffle 411 can rotate with the wheel leg base 41 to be opposite to the initial position sensor 213, thereby triggering the initial position sensor 213 to stop the wheel leg drive 43.

[0114] Specifically, when the obstacle crossing module 40 completes its work and resets, the wheel leg drive 43 drives the wheel leg base 41 and wheel leg cover 42 to rotate in the opposite direction, causing the baffle 411 to rotate with the wheel leg base 41 to be opposite to the initial position sensor 213. The baffle 411 triggers the initial position sensor 213, causing the wheel leg drive 43 to stop. At this time, the baffle 411 remains opposite to the initial position sensor 213, and the obstacle crossing module 40 returns to its initial state, thus realizing the retraction of the obstacle crossing module 40.

[0115] The initial position sensor 213 can detect whether the wheel leg base 41 has returned to its initial position, ensuring that the equipment can accurately reset after each operation and prepare for the next operation. By detecting the initial position of the wheel leg base 41, the equipment can more precisely control obstacle crossing and locking operations, which helps to improve the equipment's navigation and operation capabilities in complex environments.

[0116] The initial position sensor 213 provides a feedback mechanism to ensure that the wheel leg base 41 is correctly reset after each operation, reducing operational errors and malfunction risks caused by positional misalignment. Simultaneously, in the event of equipment problems, the initial position sensor 213 can help quickly diagnose whether the issue is due to the obstacle-crossing module 40 not resetting correctly, thus simplifying the troubleshooting process. By ensuring that the obstacle-crossing module 40 resets quickly after each operation, the equipment can perform continuous operations more efficiently, reducing waiting time and operational delays.

[0117] The initial position sensor 213 is placed in the sensor slot 212, which provides it with physical protection and reduces the impact of the external environment on the initial position sensor 213, thereby extending its service life. At the same time, the design of the sensor slot 212 ensures the precise positioning of the initial position sensor 213 on the drive wheel bracket 21, which helps to improve the detection accuracy of the initial position sensor 213.

[0118] In one possible implementation, the initial position sensor 213 is embedded in the wall of the sensor slot 212.

[0119] In one possible implementation, the self-cleaning device 100 further includes an obstacle crossing sensor 214, which is disposed in a sensor slot 212. Along the extension direction of the sensor slot 212, an initial position sensor 213, a locking position sensor 211, and an obstacle crossing sensor 214 are arranged in sequence.

[0120] When the wheel leg base 41 rotates to the obstacle crossing position, the baffle 411 can rotate with the wheel leg base 41 to be opposite the obstacle crossing position sensor 214, thereby triggering the obstacle crossing position sensor 214.

[0121] Specifically, when the obstacle-crossing module 40 rotates to cross an obstacle, the wheel leg drive 43 drives the wheel leg base 41 and wheel leg cover 42 to rotate, causing the baffle 411 to rotate with the wheel leg base 41 to be opposite to the obstacle crossing position sensor 214. The baffle 411 triggers the obstacle crossing position sensor 214, causing the wheel leg drive 43 to stop. At this time, the baffle 411 remains opposite to the obstacle crossing position sensor 214, and the obstacle-crossing module 40 rotates to the obstacle crossing position to work. That is, at this time, the self-cleaning device 100 can perform obstacle crossing operations through the obstacle-crossing module 40.

[0122] The obstacle crossing sensor 214 can detect whether the wheel leg base 41 has rotated to the obstacle crossing position, ensuring that the device can guarantee the consistency of obstacle crossing drive during each obstacle crossing operation. The device can control the obstacle crossing operation more precisely, which helps to improve the device's navigation and operation capabilities in complex environments.

[0123] By sequentially arranging multiple sensors in the same sensor slot 212, a highly integrated design is achieved, reducing device complexity and space occupation, making the device more compact. Multiple sensors sharing a single sensor slot 212 simplifies the wiring and installation process, reduces the possibility of installation errors, and decreases wiring complexity and cost.

[0124] The combination of the initial position sensor 213, the locking position sensor 211, and the obstacle-crossing position sensor 214 provides comprehensive functional detection capabilities. The device can detect whether the obstacle-crossing module 40 is in the initial position, the locking position, or the obstacle-crossing position, thereby achieving more precise and reliable operation. By detecting multiple states at the same location, the device can respond more quickly to environmental changes and operational needs, improving overall operational efficiency.

[0125] In one possible implementation, the obstacle clearance sensor 214 is embedded in the wall of the sensor slot 212.

[0126] In one possible implementation, the initial position sensor 213, the locking position sensor 211, and the obstacle crossing position sensor 214 are each optocouplers, but this is not the only possible implementation.

[0127] By setting the initial position sensor 213, the locking position sensor 211, and the obstacle crossing position sensor 214, the self-cleaning device 100 has the functions of locking the drive wheel module 20, lifting the chassis, and crossing obstacles.

[0128] The system includes a raised position and an obstacle-crossing end position on either side of the initial position, locked position, and obstacle-crossing end position. The raised position is located on the side of the initial position furthest from the locked position, while the obstacle-crossing end position is located on the side of the obstacle-crossing position furthest from the locked position. The raised position and obstacle-crossing end position are detected by the motor stall current. When the current reaches a set value, it indicates that the obstacle-crossing module 40 is in the raised position or the obstacle-crossing end position, and the wheel leg drive component 43 is controlled to move.

[0129] The specific motion logic is as follows:

[0130] The driving wheel module 20 has a locking function: the wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate forward, causing the obstacle-crossing module 40 to rotate from its initial position to the locked position. The locking roller 122 engages with the wheel leg groove 401 to lock the driving wheel module 20. At this time, the robotic arm module 30 can begin operation. After completion, the wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate in reverse, returning the obstacle-crossing module 40 to its initial position for reset.

[0131] Chassis lifting function: The wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate in the opposite direction, causing the obstacle crossing module 40 to rotate from the initial position to the lifted position. At this time, the drive wheel module 20 is slightly ejected under the action of the obstacle crossing module 40 and the pop-out component 11, thereby lifting the chassis of the main unit 10. After completion, the wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate in the forward direction, causing the obstacle crossing module 40 to return to the initial position for reset.

[0132] Obstacle-crossing function: The wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate forward, causing the obstacle-crossing module 40 to rotate from the initial position past the locked position to the obstacle-crossing position. At this time, the obstacle-crossing module 40 pops out and can perform obstacle-crossing operations. It continues to rotate forward to reach the obstacle-crossing end position, and the obstacle-crossing ends. After completion, the wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate in the opposite direction, causing the obstacle-crossing module 40 to return to the initial position for reset.

[0133] In one possible implementation, the chassis lifting function can raise the drive wheel module 20 by a height ranging from 5mm to 20mm. The obstacle-crossing function can raise the drive wheel module 20 to a height ranging from 5cm to 10cm for obstacle crossing.

[0134] In one possible implementation, the obstacle crossing module 40 further includes a wheel-leg drive gearbox 44, which is mounted on the drive wheel bracket 21. One end of the wheel-leg drive gearbox 44 is connected to the wheel-leg drive component 43, and the other end of the wheel-leg drive gearbox 44 is connected to the wheel-leg base 41.

[0135] By optimizing the gear ratio, the wheel-leg drive gearbox 44 can effectively transmit the power of the wheel-leg drive component 43 to the wheel-leg base 41, improving the response speed and accuracy of obstacle crossing and locking operations. The wheel-leg drive gearbox 44 can increase the torque output of the wheel-leg drive component 43, enabling the obstacle-crossing wheel leg to overcome larger obstacles more easily.

[0136] The design of the wheel-leg drive gearbox 44 allows for precise control of the movement of the obstacle-crossing wheels. By adjusting the gear ratio, fine-tuning of the speed and angle of the obstacle-crossing wheels can be achieved.

[0137] Integrating the wheel-leg drive gearbox 44 onto the drive wheel bracket 21 helps maintain the compactness of the equipment and saves space. The modular design of the wheel-leg drive gearbox 44 makes maintenance and replacement easier, reducing equipment downtime.

[0138] In one possible implementation, the wheel leg drive gearbox 44 includes a plurality of wheel leg drive gears 441 that mesh with each other.

[0139] The meshing design of multiple wheel-leg drive gears 441 can effectively adjust and optimize the power transmission path, enabling the output of the wheel-leg drive component 43 to be transmitted to the wheel-leg base 41 more efficiently, which helps to improve the obstacle-crossing ability of the equipment.

[0140] By using multiple wheel-leg drive gears 441, different gear ratios can be designed to meet different operating requirements, enabling precise control of torque and speed, and allowing the equipment to maintain optimal performance under different operating conditions.

[0141] Meanwhile, the meshing of multiple wheel-leg drive gears 441 allows for complex power transmission functions within a limited space, helping to keep the overall size of the equipment compact.

[0142] In one possible implementation, a rack 412 is provided on the wheel leg base 41. The wheel leg drive gear 441 at the other end of the wheel leg drive gearbox 44 meshes with the rack 412 on the wheel leg base 41.

[0143] In one possible implementation, the obstacle-crossing module 40 further includes obstacle-crossing leg 45 and obstacle-crossing wheel 46. The obstacle-crossing leg 45 is connected to the leg base 41. The obstacle-crossing wheel 46 is rotatably disposed on the side of the obstacle-crossing leg 45 away from the leg base 41. The leg drive member 43 is used to drive the leg base 41 to rotate, thereby causing the obstacle-crossing leg 45 to rotate.

[0144] The combination of obstacle-crossing legs 45 and obstacle-crossing wheels 46 enables the equipment to more effectively traverse various obstacles. Obstacle-crossing legs 45 provide necessary height and angle adjustments, while obstacle-crossing wheels 46 ensure smooth rolling and movement. Driven by the leg drive unit 43, the leg base 41 rotates, allowing the equipment to flexibly adjust the angle and position of the obstacle-crossing legs 45 to adapt to different terrains and obstacles, improving the equipment's adaptability in complex environments. The design of the obstacle-crossing legs 45 provides additional support and stability, especially when crossing higher obstacles, effectively preventing the equipment from tipping over.

[0145] In one possible implementation, the obstacle crossing module 40 further includes an obstacle crossing wheel drive gearbox 47, which is disposed in the wheel leg base 41 and the obstacle crossing wheel leg 45. One end of the obstacle crossing wheel drive gearbox 47 is connected to the drive wheel 22, and the other end of the obstacle crossing wheel drive gearbox 47 is connected to the obstacle crossing wheel 46.

[0146] By optimizing the gear ratio, the obstacle-crossing wheel drive gearbox 47 can effectively transmit the power of the drive wheel 22 to the obstacle-crossing wheel 46, improving the driving capability of the obstacle-crossing wheel 46 and enabling the equipment to cross obstacles more easily. The obstacle-crossing wheel drive gearbox 47 can adjust and amplify the torque output of the drive wheel 22, allowing the obstacle-crossing wheel 46 to obtain greater thrust.

[0147] The design of the obstacle-crossing wheel drive gearbox 47 allows for precise control of the movement of the obstacle-crossing wheel 46. By adjusting the gear ratio, fine-tuning of the speed and torque of the obstacle-crossing wheel 46 can be achieved to adapt to different terrain conditions.

[0148] Integrating the obstacle-crossing wheel drive gearbox 47 into the wheel leg base 41 and the obstacle-crossing wheel leg 45 helps maintain the compactness of the equipment and saves space. The modular design of the obstacle-crossing wheel drive gearbox 47 makes its maintenance and replacement easier and reduces equipment downtime.

[0149] The use of obstacle-crossing wheel drive gearbox 47 reduces the complexity of directly connecting drive wheel 22 and obstacle-crossing wheel 46, reduces the risk of component wear and failure, thereby improving the overall system reliability. By optimizing gear transmission efficiency, obstacle-crossing wheel drive gearbox 47 can reduce the energy consumption of drive components, thereby improving the equipment's endurance.

[0150] In one possible implementation, the obstacle-crossing wheel drive gearbox 47 includes a plurality of obstacle-crossing wheel drive gears 471, which mesh with each other.

[0151] The meshing design of multiple obstacle-crossing wheel drive gears 471 can effectively adjust and optimize the power transmission path, enabling the output of drive wheel 22 to be transmitted to obstacle-crossing wheel 46 more efficiently, which helps to improve the obstacle-crossing ability of the equipment.

[0152] By using multiple obstacle-crossing wheel drive gears 471, different gear ratios can be designed to meet different operational requirements. The combination of multiple obstacle-crossing wheel drive gears 471 can achieve precise control of torque and speed, enabling the equipment to maintain optimal performance under different operating conditions.

[0153] The meshing of multiple obstacle-crossing wheel drive gears 471 allows for complex power transmission functions within a limited space, helping to keep the overall size of the equipment compact.

[0154] By distributing the power load across multiple obstacle-crossing wheel drive gears 471, wear and stress concentration on individual obstacle-crossing wheel drive gears 471 are reduced, thereby improving the system's reliability and durability. The meshing of multiple obstacle-crossing wheel drive gears 471 helps balance and disperse vibration and noise during the transmission process, improving the smoothness of equipment operation.

[0155] In one possible implementation, the self-cleaning device 100 further includes a robotic arm compartment module 31. The robotic arm compartment module 31 is positioned above the main unit 10 in a vertical direction. A robotic arm compartment is formed between the robotic arm compartment module 31 and the main unit 10. A robotic arm module 30 is mounted on the main unit 10 and housed within the robotic arm compartment. The robotic arm compartment module 30 can be rotatably opened to extend the robotic arm module 30 out of the main unit 10 for operation.

[0156] By installing a robotic arm compartment module 31 on the main unit 10 and integrating a robotic arm module 30 within the compartment, the equipment can automatically identify and handle obstacles encountered during the cleaning process. This activates the robotic arm, opening the compartment and extending it to grab obstacles or move doors, reducing manual intervention and improving cleaning efficiency. When not in use, the robotic arm can be stored inside the compartment, saving space, maintaining a clean and aesthetically pleasing appearance, and enhancing the product's visual appeal.

[0157] like Figure 8 As shown, in one possible implementation, the self-cleaning device 100 further includes a binocular recognition module 50, which is located on the side of the host 10.

[0158] The binocular recognition module 50 uses two cameras to capture images and obtains more accurate distance and size information through parallax calculation, improving the accuracy of target recognition and positioning. The binocular recognition module 50 can also acquire depth information through stereo vision technology, providing the device with three-dimensional perception of its surroundings and enhancing its navigation and obstacle avoidance performance.

[0159] The binocular recognition module 50 is positioned on the side of the main unit 10, providing a wider field of view and adapting to different installation environments and usage scenarios. The modular design of the binocular recognition module 50 allows for independent maintenance and upgrades, facilitating the introduction of new recognition technologies and functions and improving the device's scalability.

[0160] like Figure 9 As shown, in one possible implementation, the self-cleaning device 100 also includes a rear camera 13, which is located on the side of the host 10 and is located on opposite sides of the host 10 with the binocular recognition module 50. The rear camera 13 is used to detect the cleaned area.

[0161] By setting up binocular recognition modules 50 and a rear camera 13 on opposite sides of the device, the device can achieve comprehensive monitoring of the environment in front and behind, thus improving its environmental perception capabilities.

[0162] The rear camera 13 is dedicated to detecting cleaned areas, enabling real-time monitoring and evaluation of cleaning effectiveness to ensure that the expected cleaning standards are met. Based on feedback from the rear camera 13, the device can identify uncleaned or incompletely cleaned areas, such as stubborn stains, and automatically perform secondary cleaning, improving overall cleaning efficiency. Combining data from the binocular recognition module 50 and the rear camera 13, the device can optimize path planning, avoiding repeated cleaning and missed areas, thus improving work efficiency. The image data collected by the rear camera 13 can be used to record the cleaning process and results, supporting subsequent data analysis and report generation. The device can provide before-and-after comparison images through the rear camera 13, enhancing the user's intuitive understanding and satisfaction with the cleaning effect.

[0163] The rear camera 13 can also help the device detect obstacles when reversing or turning, avoid collisions, and improve the device's operational safety.

[0164] The distributed design of the rear camera 13 and the binocular recognition module 50 facilitates independent maintenance and upgrades, improving the flexibility and scalability of the device.

[0165] In one possible implementation, the self-cleaning device 100 also includes a supplementary light 14, which is located on the side of the host 10 and is used to illuminate the detection area of ​​the rear camera 13.

[0166] The supplementary light 14 provides an additional light source for the rear camera 13, especially in low-light environments, which can significantly improve the brightness and clarity of the image, ensuring that the rear camera 13 captures high-quality images and improving the accuracy and reliability of detection.

[0167] The addition of supplementary lighting 14 enables the device to operate normally under various lighting conditions (such as at night or in dark environments), expanding the applicable scenarios and working time of the device.

[0168] The supplemental lighting can also dynamically adjust its brightness as needed, providing flexible lighting control and optimizing energy consumption and equipment performance.

[0169] like Figure 11 and Figure 12 As shown, in one possible implementation, the self-cleaning device 100 further includes a vacuuming module 60. The vacuuming module 60 is mounted on the main unit 10 and is used for vacuuming operations.

[0170] In one possible implementation, the vacuuming module 60 includes a roller brush assembly 61, a dustbin assembly 62, and a fan assembly 63. The roller brush assembly 61 is rotatably disposed on the side of the main unit 10 away from the robotic arm module 30. The dustbin assembly 62 is disposed on the main unit 10 and communicates with the roller brush assembly 61. The main unit 10 is provided with an air outlet 15. The fan assembly 63 is disposed on the main unit 10, with one side communicating with the dustbin assembly 62 and the other side communicating with the air outlet 15.

[0171] The dustbin assembly 62 is connected to the roller brush assembly 61. The rotation of the roller brush assembly 61 can effectively sweep away dust and debris on the ground and automatically guide them into the dustbin assembly 62, improving cleaning efficiency. The fan assembly 63, through its connection with the dustbin assembly 62 and the air outlet 15, forms an effective airflow path, ensuring that dust is quickly drawn into the dustbin assembly 62 and clean air is discharged.

[0172] The modular design of the dust box assembly 62 facilitates disassembly and cleaning, allowing users to easily maintain the equipment and keep it running efficiently.

[0173] In one possible implementation, the fan assembly 63 is positioned close to the rear camera 13. The dustbin assembly 62 is located between the roller brush assembly 61 and the fan assembly 63. The air outlet 15 is positioned close to the rear camera 13.

[0174] In one possible implementation, the drive wheel module 20 is located on both sides of the roller brush assembly 61.

[0175] In one possible implementation, the self-cleaning device 100 also includes a mopping module 70. The mopping module 70 is located on the main unit 10.

[0176] like Figure 13 As shown, in one possible implementation, the mopping module 70 includes a mop assembly 71, which is rotatably disposed on the side of the host 10 away from the robotic arm module 30.

[0177] The introduction of the mop assembly 71 enables the device to perform wet mopping operations, further improving cleaning effectiveness, especially when dealing with stubborn stains and fine dust. By combining the roller brush assembly 61 and the mop assembly 71, the device can perform both wet and dry cleaning, adapting to different types of floors and cleaning needs. The rotatable mop assembly 71 can cover a larger cleaning area or increase the frequency of cleaning, thereby reducing the number of re-cleaning operations and improving overall cleaning efficiency.

[0178] By providing more thorough and diverse cleaning solutions, the equipment can meet different user needs, thereby increasing user satisfaction and trust.

[0179] In one possible implementation, the cloth assembly 71 is located on the side of the roller brush assembly 61 away from the binocular recognition module 50.

[0180] In one possible implementation, the mopping module 70 also includes a water tank 72 and a water pump 73, which are mounted on the main unit 10. The water tank 72 is connected to the mop assembly 71 via the water pump 73.

[0181] Water from the water tank 72 is delivered to the mop assembly 71 via water pump 73, allowing the equipment to automatically perform wet mopping operations, enhancing cleaning effectiveness, especially when dealing with stubborn stains. The use of water pump 73 allows for precise water control, adjusting the moisture level according to different cleaning needs and floor types, avoiding excessive or insufficient water usage. Automated water delivery via water pump 73 reduces manual intervention, enabling continuous cleaning tasks and improving overall cleaning efficiency.

[0182] In one possible implementation, the water tank 72 is detachably mounted on the main unit 10, allowing users to easily perform maintenance and maintain the efficient operation of the equipment.

[0183] In one possible implementation, the design integrating the water tank 72 and the water pump 73 also supports the device to achieve more intelligent cleaning operations, such as automatic water replenishment and humidity regulation, thereby improving the device's intelligence level.

[0184] like Figure 10 As shown, in one possible implementation, the self-cleaning device 100 also includes a caster wheel 23, which is rotatably located on the side of the host 10 away from the robotic arm module 30.

[0185] The casters 23 can rotate freely, allowing the equipment to move flexibly in all directions. Together with the drive wheel module 20, they allow the equipment to turn and adjust its direction on the spot, enhancing the equipment's mobility in confined spaces and complex environments. This enables more complex movement patterns and cleaning path planning, and supports multi-functional operation.

[0186] In one possible implementation, the self-cleaning device 100 further includes an auxiliary wheel 24, which is rotatably disposed on the side of the main unit 10 away from the robotic arm module 30, and the caster wheel 23 and the auxiliary wheel 24 are disposed on opposite sides of the drive wheel module 20.

[0187] The combination of auxiliary wheels 24 and casters 23 provides additional support and stability, ensuring the equipment remains balanced during movement and cleaning, and reducing the risk of tipping over. The combination of casters 23 and auxiliary wheels 24 allows the equipment to move flexibly in different directions, improving maneuverability, especially in confined or complex environments. The design of auxiliary wheels 24 and casters 23 supports smooth steering and directional adjustments, reducing the turning radius and improving steering efficiency.

[0188] Meanwhile, the auxiliary wheel 24 helps to share the weight and load of the equipment, reducing the pressure on the drive wheel module 20 and extending the service life of the drive wheel module 20.

[0189] In one possible implementation, the omnidirectional wheel 23 is positioned close to the binocular recognition module 50, while the auxiliary wheel 24 is positioned close to the rear camera 13.

[0190] The self-cleaning device 100 provided in this application embodiment includes a main unit 10, a drive wheel module 20, and a robotic arm module 30. The drive wheel module 20 is located on one side of the main unit 10 and is used to drive the main unit 10 to move for cleaning operations. The robotic arm module 30 is located on the side of the main unit 10 away from the drive wheel module 20 and is extended out of the main unit 10 to work. The main unit 10 is provided with a pop-out component 11 and a locking component 12. The pop-out component 11 is connected to the drive wheel module 20 and is used to pop the drive wheel module 20 out of the main unit. The locking component 12 is used to lock the drive wheel module 20 when the robotic arm module 30 is working, thereby restricting the pop-out of the drive wheel module 20.

[0191] By installing a locking component 12 on the main unit 10, the drive wheel module 20 is locked during the robotic arm's grasping process, keeping the drive wheels in a retracted state and preventing them from popping out. This counteracts the reaction force generated by the pop-out component 11, keeping the main unit 20 stable and preventing tilting or tail-lifting. This increases the reliability of the entire machine and improves the user experience. The locking component 12 has a simple structure and low manufacturing cost, reducing production costs, simplifying the equipment, and improving maintainability. By fully utilizing the weight of the drive wheel module 20 itself to improve machine stability, rather than relying on additional counterweights, the machine's endurance and mobility are avoided due to increased weight.

[0192] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0193] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0194] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0195] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0196] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A self-cleaning device, characterized in that, The self-cleaning device includes: Host; A drive wheel module is located on one side of the main unit and is used to drive the main unit to move for cleaning operations. A robotic arm module is located on the side of the host computer away from the drive wheel module, so as to extend out of the host computer to perform work; A pop-out component is provided on the host and connected to the drive wheel module. The pop-out component is used to pop the drive wheel module out of the host. A locking component, wherein the locking component is disposed on the host computer; The locking component is used to lock the drive wheel module when the robotic arm module is working, thereby restricting the ejection of the drive wheel module.

2. The self-cleaning device according to claim 1, characterized in that, The self-cleaning device also includes an obstacle-crossing module, which is rotatably mounted on the drive wheel module; The locking component is used to engage with the obstacle-crossing module when the obstacle-crossing module rotates, thereby locking the obstacle-crossing module and preventing the drive wheel module connected to the obstacle-crossing module from popping out.

3. The self-cleaning device according to claim 2, characterized in that, The locking assembly includes a locking bracket and a locking roller. The locking bracket is mounted on the main unit, and the locking roller is rotatably mounted on the locking bracket. The obstacle-crossing module is provided with a wheel leg groove. When the obstacle-crossing module rotates, the locking roller can slide into the wheel leg groove to engage with the wheel leg groove.

4. The self-cleaning device according to claim 3, characterized in that, The drive wheel module includes a drive wheel bracket and a drive wheel. The drive wheel bracket is located on one side of the main unit, and the drive wheel is rotatably mounted on the drive wheel bracket. The pop-out component is connected to the drive wheel bracket and is used to pop the drive wheel bracket out of the main unit. The obstacle-crossing module is rotatably mounted on the drive wheel bracket.

5. The self-cleaning device according to claim 4, characterized in that, The obstacle-crossing module includes: Wheel leg base, the wheel leg base being rotatably connected to the drive wheel bracket; A wheel leg cover plate is provided on the side of the wheel leg base away from the drive wheel bracket, and the wheel leg cover plate is provided with the wheel leg groove; A wheel leg drive component is provided on the drive wheel bracket. The wheel leg drive component is used to drive the wheel leg base to rotate, thereby driving the wheel leg cover plate to rotate.

6. The self-cleaning device according to claim 5, characterized in that, The self-cleaning device also includes a locking position sensor and a baffle plate. The locking position sensor is located on the drive wheel bracket, and the baffle plate is located on the wheel leg base. When the wheel leg base rotates, the baffle can rotate with the wheel leg base to be opposite the locking position sensor, thereby triggering the locking position sensor, stopping the wheel leg drive, and engaging the locking assembly in the wheel leg groove.

7. The self-cleaning device according to claim 6, characterized in that, The drive wheel bracket is provided with a sensor slot, which is arranged around the circumference of the drive wheel on the drive wheel bracket, and the locking position sensor is arranged in the sensor slot.

8. The self-cleaning device according to claim 7, characterized in that, The self-cleaning device also includes an initial position sensor, which is located in the sensor slot. When the wheel leg base rotates to reset, the baffle can rotate with the wheel leg base to be opposite the initial position sensor, thereby triggering the initial position sensor and stopping the wheel leg drive.

9. The self-cleaning device according to claim 8, characterized in that, The self-cleaning device also includes an obstacle crossing sensor, which is disposed in the sensor slot. Along the extension direction of the sensor slot, the initial position sensor, the locking position sensor and the obstacle crossing sensor are arranged in sequence.

10. The self-cleaning device according to claim 5, characterized in that, The obstacle-crossing module also includes a wheel-leg drive gearbox, which is mounted on the drive wheel bracket. One end of the wheel-leg drive gearbox is connected to the wheel-leg drive component, and the other end of the wheel-leg drive gearbox is connected to the wheel-leg base.

11. The self-cleaning device according to claim 10, characterized in that, The wheel-leg drive gearbox includes multiple wheel-leg drive gears, which mesh with each other.

12. The self-cleaning device according to claim 5, characterized in that, The obstacle-crossing module also includes: The obstacle-crossing wheel leg is connected to the wheel leg base. An obstacle-crossing wheel is rotatably mounted on the side of the obstacle-crossing wheel leg away from the wheel leg base; The wheel-leg drive component is used to drive the wheel-leg base to rotate, thereby causing the obstacle-crossing wheel-leg to rotate.

13. The self-cleaning device according to claim 12, characterized in that, The obstacle crossing module also includes an obstacle crossing wheel drive gearbox, which is disposed in the wheel leg base and the obstacle crossing wheel leg. One end of the obstacle crossing wheel drive gearbox is connected to the drive wheel, and the other end of the obstacle crossing wheel drive gearbox is connected to the obstacle crossing wheel.

14. The self-cleaning device according to claim 13, characterized in that, The obstacle-crossing wheel drive gearbox includes multiple obstacle-crossing wheel drive gears, which mesh with each other.

15. The self-cleaning device according to any one of claims 1-14, characterized in that, The self-cleaning device also includes a binocular recognition module, which is located on the side of the main unit.

16. The self-cleaning device according to claim 15, characterized in that, The self-cleaning device also includes a rear camera, which is located on the side of the main unit. The rear camera and the binocular recognition module are located on opposite sides of the main unit. The rear camera is used to detect the cleaned area.

17. The self-cleaning device according to claim 16, characterized in that, The self-cleaning device also includes a supplementary light, which is located on the side of the main unit and is used to illuminate the detection area of ​​the rear camera.

18. The self-cleaning device according to any one of claims 1-14, characterized in that, The self-cleaning device also includes a roller brush assembly, a dust box assembly, and a fan assembly. The roller brush assembly is rotatably disposed on the side of the main unit away from the robotic arm module. The dust box assembly is disposed on the main unit and communicates with the roller brush assembly. The main unit is provided with an air outlet. The fan assembly is disposed on the main unit and communicates with the dust box assembly on one side and with the air outlet on the other side.

19. The self-cleaning device according to any one of claims 1-14, characterized in that, The self-cleaning device also includes a wiping cloth assembly, which is rotatably located on the side of the main unit away from the robotic arm module.

20. The self-cleaning device according to claim 19, characterized in that, The self-cleaning device also includes a water tank and a water pump, which are located on the main unit. The water tank and the wiping cloth assembly are connected through the water pump.

21. The self-cleaning device according to any one of claims 1-14, characterized in that, The self-cleaning device also includes casters, which are rotatably located on the side of the main unit away from the robotic arm module.

22. The self-cleaning device according to claim 21, characterized in that, The self-cleaning device also includes auxiliary wheels, which are rotatably located on the side of the main unit away from the robotic arm module, and the omnidirectional wheels and the auxiliary wheels are located on opposite sides of the drive wheel module.

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