Self-cleaning device

Abstract

The utility model relates to the technical field of cleaning, in particular to self-cleaning equipment. The self-cleaning apparatus includes: a host capable of autonomously moving to perform a cleaning operation; the mechanical arm cabin module is arranged above the main machine in the vertical direction, and a mechanical arm cabin is formed between the mechanical arm cabin module and the main machine; the mechanical arm module is arranged on the main machine and contained in the mechanical arm cabin, and the mechanical arm cabin module can rotate to open the mechanical arm cabin so that the mechanical arm module can stretch out of the main machine to work. The equipment can automatically recognize and process obstacles encountered in the cleaning process, the mechanical arm works, the mechanical arm cabin is opened, the mechanical arm stretches out, the obstacles are grabbed or the door is moved, manual intervention is reduced, and the cleaning efficiency and the cleaning coverage rate are improved. And when the mechanical arm does not work, the mechanical arm can be stored in the mechanical arm cabin, so that the space is saved, the appearance of the equipment is kept neat and attractive, and the visual attraction of the product 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 robot 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.

[0003] However, due to the complexity of the home environment, such as small and lightweight obstacles like scattered toys, fabrics, or data cables on the floor, obstacles like slippers at room entrances, or half-closed doors, the robot vacuum cleaner frequently avoids obstacles, which can prevent it from entering the room to clean or cause it to be unable to enter the room to clean due to obstacle avoidance. This results in problems such as reduced cleaning coverage and efficiency, reduced cleaning effectiveness, and rooms that are not cleaned or are missed. Utility Model Content

[0004] This application provides a self-cleaning device to grasp obstacles or move doors, solving the problems of low cleaning coverage, rooms that cannot be cleaned or are missed.

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

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

[0007] The main unit can move autonomously to perform cleaning operations;

[0008] The robotic arm cabin module is located vertically above the main unit, forming a robotic arm cabin between the robotic arm cabin module and the main unit.

[0009] The robotic arm module is located on the main unit and stored in the robotic arm compartment. The robotic arm compartment module can be rotated to open the robotic arm compartment, so that the robotic arm module can extend out of the main unit to work.

[0010] As an optional implementation, the main unit includes a main unit base and a top cover. The top cover is placed on the main unit base, and the main unit base can move autonomously to perform cleaning operations. In the vertical direction, the robotic arm cabin module is located on the side of the top cover away from the main unit base, and a robotic arm cabin is formed between the robotic arm cabin module and the top cover. The robotic arm module passes through the top cover and is placed on the main unit base.

[0011] As an optional implementation, the robotic arm cabin module includes a robotic arm cabin base and a robotic arm cabin cover. In the vertical direction, the robotic arm cabin base is located on the side of the upper cover away from the main unit base. The robotic arm cabin is formed between the robotic arm cabin cover and the upper cover. The robotic arm cabin cover is rotatably mounted on the robotic arm cabin base to open the robotic arm cabin.

[0012] As an optional implementation, the robotic arm module includes a robotic arm base and a robotic arm. The robotic arm base passes through the upper cover and is mounted on the main unit base. The robotic arm is connected to the robotic arm base and stored in the robotic arm compartment. The cover of the robotic arm compartment can be rotated to open the robotic arm compartment, so that the robotic arm can extend out of the main unit to work.

[0013] As an alternative implementation, the self-cleaning device also includes a motherboard, with a device compartment formed between the main unit base and the top cover, the motherboard being mounted on the main unit base and located within the device compartment.

[0014] As an alternative implementation, the motherboard has a clearance opening, and the robotic arm base passes through the top cover and the clearance opening, and is mounted on the host base.

[0015] As an alternative implementation, the motherboard is equipped with a heatsink that covers the motherboard's chips and shielding.

[0016] As an optional implementation, the self-cleaning device also includes a cooling fan, with heat sinks having heat dissipation holes, and the cooling fan located on the side of the heat sink away from the motherboard and opposite to the heat dissipation holes.

[0017] As an alternative implementation, the self-cleaning device also includes a battery pack, which is mounted on the main unit base and located in the device compartment, with the main board located between the battery pack and the robotic arm.

[0018] As an optional implementation, the self-cleaning device also includes a cooling fan, which is located on the base of the main unit and adjacent to the battery pack.

[0019] As an optional implementation, the cooling fan and cooling vent are located on opposite sides of the clearance opening.

[0020] As an optional implementation, the self-cleaning device also includes a binocular recognition module, which is located on the side of the main unit base and electrically connected to the motherboard.

[0021] As an optional implementation, the self-cleaning device also includes a rear camera, which is located on the side of the main unit base. The rear camera and the binocular recognition module are located on opposite sides of the main unit base. The rear camera is used to detect the cleaned area.

[0022] As an optional implementation, the self-cleaning device also includes a supplementary light, which is located on the side of the main unit base and is used to illuminate the detection area of ​​the rear camera.

[0023] 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 mounted on the side of the main unit base away from the top cover. The dust box assembly is located in the equipment compartment and communicates with the roller brush assembly. An air outlet is provided on the main unit base. The fan assembly is located in the equipment compartment and communicates with the dust box assembly on one side and with the air outlet on the other side.

[0024] As an alternative implementation, the self-cleaning device also includes a signal processing board, which is fixed to the fan assembly and electrically connected to the rear camera.

[0025] As an alternative implementation, the robotic arm cabin base is fixed to the top cover by fixing clips and fixing screws.

[0026] As an optional implementation, the self-cleaning device also includes a mopping module, which is located on the main unit.

[0027] As an alternative implementation, the mopping module includes a cloth assembly that is rotatably disposed on the side of the main unit away from the robotic arm module.

[0028] As an optional implementation, the mopping module also includes a water tank and a water pump, which are located on the main unit and are connected to the mop assembly via the water pump.

[0029] As an optional implementation, the self-cleaning device also includes a drive wheel module, which is located on the side of the main unit away from the robotic arm cabin module. The drive wheel module is used to drive the main unit to move in order to perform cleaning operations.

[0030] 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.

[0031] 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 casters and auxiliary wheels are located on opposite sides of the drive wheel module.

[0032] This application provides a self-cleaning device. By installing a robotic arm compartment module on the main unit and integrating the robotic arm module within the compartment, the device can automatically identify and handle obstacles encountered during the cleaning process, activating the robotic arm to open the compartment and extend the arm to grasp obstacles or move doors. This reduces manual intervention and improves cleaning efficiency and coverage. When not in use, the robotic arm can be stored inside the compartment, saving space and maintaining a clean and aesthetically pleasing appearance, enhancing the product's visual appeal. Unlike traditional flip-top designs, the rotatable design of the robotic arm compartment module does not increase the overall height of the device during opening. This feature allows the device to operate smoothly in low spaces (such as under furniture), enabling more flexible robotic arm operating angles and allowing the arm to clean in more directions without being limited by height. Furthermore, the rotatable design reduces resistance when opening and closing the compartment, lowering energy consumption and extending battery life compared to flip-top designs. While solving the problems of frequent obstacle avoidance and rooms that cannot be cleaned, the automatic opening of the robotic arm cabin and the extension of the robotic arm increase the technological feel of the equipment and improve the user experience. Attached Figure Description

[0033] 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.

[0034] Figure 1 This is a schematic diagram of the structure of the self-cleaning device provided in the embodiments of this application;

[0035] Figure 2 for Figure 1 Top view of the self-cleaning device shown;

[0036] Figure 3 for Figure 1 A bottom view of the self-cleaning device shown.

[0037] Figure 4 for Figure 1 Front view of the self-cleaning device shown;

[0038] Figure 5 for Figure 1 The rear view of the self-cleaning device shown.

[0039] Figure 6 for Figure 1 The side view of the self-cleaning device shown;

[0040] Figure 7 for Figure 1 A partially exploded structural diagram of the self-cleaning device from another perspective.

[0041] Figure 8 for Figure 7 Top view of the robotic arm module of the self-cleaning device shown;

[0042] Figure 9 for Figure 7 A bottom view of the robotic arm module of the self-cleaning device shown.

[0043] Figure 10 for Figure 1 A cross-sectional view of the self-cleaning device shown.

[0044] Figure 11 for Figure 7 A top view of the main unit of the self-cleaning device with the top cover removed;

[0045] Figure 12 for Figure 11 A schematic diagram of the mainboard of the self-cleaning device shown;

[0046] Figure 13 for Figure 12 A partial exploded view of the motherboard shown.

[0047] Figure 14 for Figure 11 The top view of the main unit shown is with the motherboard removed.

[0048] Figure 15 for Figure 14 The diagram shows a structural representation of the main unit without the motherboard, viewed from another angle.

[0049] Explanation of reference numerals in the attached figures:

[0050] 100-Self-cleaning device; 10-Main unit; 11-Main unit base; 111-Fixing column; 12-Top cover; 121-Through hole; 13-Equipment compartment; 14-Rear camera; 15-Fill light; 16-Air outlet; 20-Robotic arm compartment module; 21-Robotic arm compartment; 22-Robotic arm compartment base; 221-Fixing buckle; 222-Fixing screw; 223-Button; 23-Robotic arm compartment cover; 30-Robotic arm module; 31-Robotic arm base; 311-Base drive component; 32-Machine... Robotic arm; 40-Main board; 41-Avoidance opening; 42-Heat sink; 421-Heat dissipation hole; 43-Chip; 44-Shielding cover; 45-Cooling fan; 46-Signal processing board; 50-Battery pack; 51-Cooling fan; 60-Dual-lens recognition module; 70-Dust suction module; 71-Roller brush assembly; 72-Dust box assembly; 73-Fan assembly; 80-Mopping module; 81-Mop cloth assembly; 82-Water tank; 83-Water pump; 90-Drive wheel module; 91-Universal wheel; 92-Auxiliary wheel. Detailed Implementation

[0051] 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.

[0052] With the continuous development of technology and the continuous improvement of people's living standards, self-cleaning devices such as robot 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.

[0053] However, due to the complexity of the home environment, such as small and lightweight obstacles like scattered toys, fabrics, or data cables on the floor, obstacles like slippers at room entrances, or half-closed doors, the robot vacuum cleaner frequently avoids obstacles, which can prevent it from entering the room to clean or cause it to be unable to enter the room to clean due to obstacle avoidance. This results in reduced cleaning efficiency, reduced cleaning coverage, and rooms that are not cleaned or are missed.

[0054] To overcome the shortcomings of existing technologies, after repeated consideration and verification, the inventors discovered that if a robotic arm for assisting in handling is installed on the top of the robot vacuum cleaner, and a space is provided for storing the robotic arm, the storage space can be opened when obstacles need to be handled or doors need to be pushed, allowing the robotic arm to extend and work to grab obstacles or move doors. This reduces human intervention and improves the cleaning efficiency and coverage of the robot vacuum cleaner. When the robotic arm is not in use, it can be stored in the storage space, saving space and maintaining the clean and aesthetically pleasing appearance of the device.

[0055] In view of this, this application provides a self-cleaning device, the self-cleaning device comprising:

[0056] The main unit can move autonomously to perform cleaning operations;

[0057] The robotic arm cabin module is located vertically above the main unit, forming a robotic arm cabin between the robotic arm cabin module and the main unit.

[0058] The robotic arm module is located on the main unit and stored in the robotic arm compartment. The robotic arm compartment module can be rotated to open the robotic arm compartment, so that the robotic arm module can extend out of the main unit to work.

[0059] By integrating a robotic arm module into the main unit, the equipment can automatically identify and handle obstacles encountered during cleaning, activating the robotic arm to open the compartment and extend it to grab obstacles or move doors. This reduces manual intervention and improves cleaning efficiency and coverage. When not in use, the robotic arm can be stored inside the compartment, saving space and maintaining a clean and aesthetically pleasing appearance, enhancing the product's visual appeal. Unlike traditional flip-top designs, the rotatable design of the robotic arm module does not increase the overall height of the equipment during opening. This feature allows the equipment to operate smoothly in low spaces (such as under furniture), enabling more flexible robotic arm operation angles and allowing it to clean in more directions without being limited by height. Furthermore, the rotatable design reduces resistance when opening and closing the compartment, lowering energy consumption and extending battery life compared to flip-top designs. While solving the problems of frequent obstacle avoidance and rooms that cannot be cleaned, the automatic opening of the robotic arm cabin and the extension of the robotic arm increase the technological feel of the equipment and improve the user experience.

[0060] 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.

[0061] The following sections provide a detailed description of the specific structure of the self-cleaning device and various possible implementation methods.

[0062] 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 self-cleaning device shown is shown in top view. Figure 3 for Figure 1 The image shows a bottom view of the self-cleaning device. Figure 4 for Figure 1 The front view of the self-cleaning device shown. Figure 5 for Figure 1 The rear view of the self-cleaning device shown. Figure 6 for Figure 1 The self-cleaning device shown is a side view. Figure 7 for Figure 1 A partially exploded structural diagram of the self-cleaning device from another perspective. Figure 8 for Figure 7 A top view of the robotic arm module of the self-cleaning device shown. Figure 9 for Figure 7 The image shows a bottom view of the robotic arm module of the self-cleaning device. Figure 10 for Figure 1 The diagram shows a cross-sectional view of the self-cleaning device. Figure 11 for Figure 7 The top view of the main unit of the self-cleaning device shown is with the top cover removed. Figure 12 for Figure 11 The diagram shows the structure of the mainboard of the self-cleaning device. Figure 13 for Figure 12 The diagram shows a partial exploded view of the motherboard. Figure 14 for Figure 11 The top view of the host unit shown is without the motherboard. Figure 15 for Figure 14 The diagram shows a structural representation of the main unit without the motherboard, viewed from another angle.

[0063] like Figure 1 As shown, the self-cleaning device 100 provided in this embodiment of the application is used for cleaning the ground.

[0064] 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.

[0065] 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.

[0066] like Figure 7As shown, the self-cleaning device 100 includes a main unit 10, a robotic arm cabin 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 main unit 10 can move autonomously to perform cleaning operations. Vertically, the robotic arm cabin module 20 is positioned above the main unit 10. Figure 9 and Figure 10 As shown, a robotic arm compartment 21 is formed between the robotic arm compartment module 20 and the main unit 10. The robotic arm module 30 is mounted on the main unit 10 and housed in the robotic arm compartment 21. The robotic arm compartment module 20 can be rotated to open the robotic arm compartment 21, allowing the robotic arm module 30 to extend out of the main unit 10 to perform its work.

[0067] By installing a robotic arm compartment module 20 on the main unit 10 and integrating a robotic arm module 30 within the robotic arm compartment 21, the equipment can automatically identify and handle obstacles encountered during the cleaning process. This activates the robotic arm, opening the robotic arm compartment 21 and extending it to grab obstacles or move doors, reducing manual intervention and improving cleaning efficiency. The flexible operation of the robotic arm allows the equipment to clean more areas, increasing cleaning coverage. The equipment effectively solves the problem of frequent obstacle avoidance, ensuring the smooth progress of cleaning tasks. When not in use, the robotic arm can be stored inside the robotic arm compartment 21, saving space and maintaining a clean and aesthetically pleasing appearance, enhancing the product's visual appeal. In addition to solving the problems of frequent obstacle avoidance and rooms that cannot be cleaned, the automatic opening of the robotic arm compartment 21 and the extension of the robotic arm increase the equipment's technological feel and improve the user experience.

[0068] Unlike traditional flip-top designs, the rotatable design of the robotic arm compartment module 20 does not increase the overall height of the device during opening. This feature allows the device to operate smoothly in low spaces (such as under furniture) while still being able to open the robotic arm for cleaning operations. It also enables more flexible robotic arm operating angles, allowing the robotic arm to perform cleaning work in more directions without being limited by space height. Furthermore, because the rotatable design reduces the resistance when the robotic arm compartment 21 is opened and closed, it can reduce the device's energy consumption and extend its battery life compared to a flip-top design.

[0069] In one possible implementation, the main unit 10 includes a main unit base 11 and a top cover 12. The top cover 12 is placed on the main unit base 11. The main unit base 11 can move autonomously to perform cleaning operations. In the vertical direction, a robotic arm cabin module 20 is located on the side of the top cover 12 away from the main unit base 11. A robotic arm cabin 21 is formed between the robotic arm cabin module 20 and the top cover 12. The robotic arm module 30 passes through the top cover 12 and is placed on the main unit base 11.

[0070] By passing the robotic arm module 30 through the top cover 12 and placing it on the main unit base 11, better structural stability can be provided for the robotic arm module 30. At the same time, placing the robotic arm module 30 on the main unit base 11 also helps to lower the center of gravity of the equipment, enhance the stability of the equipment during movement and operation, and ensure the accuracy and reliability of the robotic arm during operation.

[0071] By passing the robotic arm module 30 through the top cover 12 and placing it on the main unit base 11, the height of the robotic arm module 30 can be reduced, thereby making more efficient use of internal space and reducing the overall height and volume of the equipment. At the same time, the robotic arm compartment module 20 is located on the side of the top cover 12 away from the main unit base 11. When the robotic arm is not in use, it can be stored in the robotic arm compartment 21 to protect the robotic arm from external damage and keep the equipment's appearance clean.

[0072] In one possible implementation, the top cover 12 is provided with a through hole 121. The robotic arm module 30 passes through the through hole 121 and is mounted on the main unit base 11.

[0073] like Figure 8 As shown, in one possible implementation, the robotic arm cabin module 20 includes a robotic arm cabin base 22 and a robotic arm cabin cover 23. Vertically, the robotic arm cabin base 22 is located on the side of the upper cover 12 opposite to the main unit base 11. The robotic arm cabin cover 23 and the upper cover 12 form a robotic arm cabin 21. The robotic arm cabin cover 23 is rotatably mounted on the robotic arm cabin base 22 to open the robotic arm cabin 21.

[0074] The rotatable design of the robotic arm hatch 23 allows for quick and easy opening and closing of the robotic arm hatch 21, enabling the robotic arm to extend rapidly for operation, thus improving the equipment's response speed and efficiency. When the robotic arm hatch 23 is closed, it protects the robotic arm from dust, liquids, or other external damage, maintaining the equipment's clean appearance and streamlined design, enhancing the product's visual appeal.

[0075] In one possible implementation, the robotic arm module 30 includes a robotic arm base 31 and a robotic arm 32. The robotic arm base 31 passes through the upper cover 12 and is mounted on the main unit base 11. The robotic arm 32 is connected to the robotic arm base 31 and is housed in the robotic arm compartment 21. The robotic arm compartment cover 23 can be rotated to open the robotic arm compartment 21 so that the robotic arm 32 can extend out of the main unit 10 to work.

[0076] The robotic arm base 31 is directly mounted on the main unit base 11, providing a robust support structure for the robotic arm 32. It also helps to lower the center of gravity of the device, ensuring the stability and accuracy of the robotic arm 32 during operation.

[0077] like Figure 11As shown, in one possible implementation, the self-cleaning device 100 also includes a motherboard 40, with a device compartment 13 formed between the main unit base 11 and the top cover 12. The motherboard 40 is disposed on the main unit base 11 and located in the device compartment 13.

[0078] The design of the device compartment 13 allows other modules (such as sensors, communication modules, etc.) to be integrated with the motherboard 40, supporting the functional expansion and upgrades of the device. The device compartment 13 provides a relatively enclosed environment, which helps optimize the heat dissipation design of the motherboard 40 and other electronic components, ensuring the stability of the device during long-term operation. Placing the motherboard 40 in the device compartment 13 effectively protects it from dust, moisture, and physical damage, extending the lifespan of the electronic components. With the motherboard 40 located in the device compartment 13, the wiring is more concise and organized, reducing cable clutter and potential points of failure.

[0079] like Figure 12 As shown, in one possible implementation, the motherboard 40 is provided with a clearance opening 41, and the robotic arm base 31 passes through the upper cover 12 and the clearance opening 41 and is located on the host base 11.

[0080] By setting a clearance opening 41 on the motherboard 40, the robotic arm base 31 can pass through the motherboard 40 without affecting its function, maximizing the use of the internal space of the device.

[0081] The design of the clearance opening 41 allows the robotic arm base 31 to be directly mounted on the main unit base 11, which simplifies the structural design of the equipment, reduces interference between components, and ensures the stability and operational accuracy of the robotic arm 32.

[0082] The clearance opening 41 makes the layout of the robotic arm base 31 and the motherboard 40 clearer, facilitating user inspection and maintenance of the equipment. The clearance opening 41 also reduces interference from the robotic arm base 31 to other electronic components on the motherboard 40, ensuring the normal operation of the equipment.

[0083] like Figure 14 and Figure 15 As shown, in one possible implementation, the host base 11 is provided with a fixing post 111. The fixing post 111 partially passes through the motherboard 40. The robotic arm base 31 also includes a base drive 311. The robotic arm base 31 is fixed to the host base 11 by the fixing post 111, and the base drive 311 passes through the clearance opening 41.

[0084] In one possible implementation, the robotic arm base 31 is fixed to the fixed post 111 by screws.

[0085] like Figure 13 As shown, in one possible implementation, the motherboard 40 is provided with a heat sink 42, which covers the chip 43 and the shielding cover 44 of the motherboard 40.

[0086] The heat sink 42 directly covers the chip 43 and the shield 44, which can effectively dissipate the heat generated by the chip 43, prevent overheating, ensure the stability and reliability of the device during long-term operation, extend the service life of electronic components, and reduce failures and damage caused by overheating.

[0087] The heat sink 42 not only helps dissipate heat but also acts as a physical barrier, protecting the chip 43 and the shielding cover 44 from external physical damage. Simultaneously, the heat sink 42 covering the shielding cover 44 further enhances the electromagnetic shielding effect, reducing the impact of electromagnetic interference on the normal operation of the equipment.

[0088] In one possible implementation, the self-cleaning device 100 further includes a cooling fan 45, a heat sink 42 with heat dissipation holes 421, and the cooling fan 45 is located on the side of the heat sink 42 away from the motherboard 40 and opposite to the heat dissipation holes 421.

[0089] The combination of cooling fan 45 and heat dissipation holes 421 allows for flexible airflow design and optimized airflow paths, further enhancing heat dissipation. Cooling fan 45 guides airflow directly to heat sink 40 through heat dissipation holes 421, significantly improving heat dissipation efficiency and ensuring stable operation of the device under high loads. Since heat sink 42 is directly mounted on chip 43 and shielding cover 44, and cooling fan 45 is mounted on heat sink 42, cooling fan 45 is close to chip 43 for heat dissipation. This avoids the problem of reduced heat dissipation efficiency caused by the cooling fan 45 being too far from heat sink 42 and chip 43. Active cooling by cooling fan 45 can quickly reduce the temperature of chip 43 and other electronic components, preventing performance degradation or damage due to overheating and extending the device's lifespan.

[0090] In one possible implementation, the self-cleaning device 100 also includes a battery pack 50, which is mounted on the main unit base 11 and located in the device compartment 13, with the main board 40 located between the battery pack 50 and the robotic arm 32.

[0091] The battery pack 50 is mounted on the main unit base 11 within the equipment compartment 13. The equipment compartment 13 provides a sealed environment, effectively protecting the battery pack 50 from external environmental influences such as dust and moisture, thus extending its lifespan. The battery pack 50, motherboard 40, and robotic arm 31 are strategically positioned within the equipment compartment 13, optimizing internal space utilization and resulting in a more compact overall design. Since the battery pack 50 is typically heavy, placing it at the bottom helps lower the device's center of gravity, improving stability during movement and operation. The motherboard 40 is located between the battery pack 50 and the robotic arm 32, simplifying the power connection between them and also simplifying the signal and control connections between them. Furthermore, the modular design allows for independent maintenance and upgrades of the battery pack 50, motherboard 40, and robotic arm 32, enhancing the device's flexibility and scalability.

[0092] The separate layout of the battery pack 50, motherboard 40, and robotic arm 32 helps optimize thermal management and prevents the battery pack 50 from overheating and affecting the performance of other components.

[0093] In one possible implementation, the battery pack 50 uses a battery pack with fast charging capability.

[0094] In one possible implementation, the self-cleaning device 100 also includes a cooling fan 51, which is mounted on the main unit base 11 and adjacent to the battery pack 50.

[0095] The cooling fan 51 can prevent the battery pack 50 from temporarily pausing charging due to the accumulation of charging heat during fast charging.

[0096] The cooling fan 51 is located near the battery pack 50, which can effectively remove the heat generated by the battery pack 50 quickly, prevent the battery from overheating, improve the overall heat dissipation efficiency of the equipment, and thus extend the battery's service life.

[0097] Placing the cooling fan 51 on the main unit base 11 and close to the battery pack 50 allows for better utilization of the internal space of the device while maintaining its compactness.

[0098] In one possible implementation, the cooling fan 51 and the cooling fan 45 are located on opposite sides of the clearance opening 41.

[0099] By installing cooling fans 51 and cooling fans 45 on both sides of the clearance opening 41, an effective airflow channel can be formed. The cooling fans 51 can not only dissipate heat from the battery pack 50, but also provide auxiliary heat dissipation for the motherboard 40, significantly improving the internal heat dissipation efficiency of the device. Air is allowed to flow directly through areas requiring heat dissipation, such as the chip 43 and the battery pack 50, ensuring that heat is quickly carried away and optimizing the heat dissipation path.

[0100] like Figure 4 As shown, in one possible implementation, the self-cleaning device 100 further includes a binocular recognition module 60, which is located on the side of the main unit base 11 and electrically connected to the motherboard 40.

[0101] The binocular recognition module 60 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 60 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.

[0102] The binocular recognition module 60 is positioned on the side of the main unit base 11, providing a wider field of view to adapt to different installation environments and usage scenarios. Electrically connected to the motherboard 40, the binocular recognition module 60 allows for real-time data transmission and processing, ensuring the device can quickly respond to environmental changes. The modular design of the binocular recognition module 60 allows for independent maintenance and upgrades, facilitating the introduction of new recognition technologies and functions and improving the device's scalability.

[0103] In one possible implementation, the binocular recognition module 60 is positioned close to the motherboard 40, which facilitates wiring and optimizes the use of space inside the device, making the overall design more compact.

[0104] like Figure 5 As shown, in one possible implementation, the self-cleaning device 100 also includes a rear camera 14, which is located on the side of the main unit base 11 and is located on opposite sides of the main unit base 11 with the binocular recognition module 60. The rear camera 14 is used to detect the cleaned area.

[0105] By setting up binocular recognition modules 60 and a rear camera 14 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.

[0106] The rear camera 14 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 14, 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 60 and the rear camera 14, the device can optimize path planning, avoiding repeated cleaning and missed areas, thus improving work efficiency. The image data collected by the rear camera 14 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 14, enhancing the user's intuitive understanding and satisfaction with the cleaning effect.

[0107] The rear camera 14 can also help the device detect obstacles when reversing or turning, avoid collisions, and improve the operational safety of the device.

[0108] The distributed design of the rear camera 14 and the binocular recognition module 60 facilitates independent maintenance and upgrades, improving the flexibility and scalability of the device.

[0109] In one possible implementation, the self-cleaning device 100 also includes a supplementary light 15, which is located on the side of the main unit base 11 and is used to illuminate the detection area of ​​the rear camera 14.

[0110] The supplementary light 15 provides an additional light source for the rear camera 14, which can significantly improve the brightness and clarity of the image, especially in low-light environments, ensuring that the rear camera 14 captures high-quality images and improving the accuracy and reliability of detection.

[0111] The addition of supplementary lighting 15 enables the equipment to operate normally under various lighting conditions (such as at night or in dark environments), expanding the applicable scenarios and working time of the equipment.

[0112] The supplemental lighting can also dynamically adjust its brightness as needed, providing flexible lighting control and optimizing energy consumption and equipment performance.

[0113] In one possible implementation, the self-cleaning device 100 further includes a vacuuming module 70. The vacuuming module 70 is located on the main unit 10 and is used for vacuuming operations.

[0114] In one possible implementation, the vacuum module 70 includes a roller brush assembly 71, a dustbin assembly 72, and a fan assembly 73. The roller brush assembly 71 is rotatably mounted on the side of the main unit base 11 away from the top cover 12. The dustbin assembly 72 is located in the equipment compartment 13 and communicates with the roller brush assembly 71. The main unit base 11 is provided with an air outlet 16. The fan assembly 73 is located in the equipment compartment 13, with one side communicating with the dustbin assembly 72 and the other side communicating with the air outlet 16.

[0115] The dustbin assembly 72 is connected to the roller brush assembly 71. The rotation of the roller brush assembly 71 can effectively sweep away dust and debris on the ground and automatically guide them into the dustbin assembly 72, improving cleaning efficiency. The fan assembly 73, through its connection with the dustbin assembly 72 and the air outlet 16, forms an effective airflow path, ensuring that dust is quickly drawn into the dustbin assembly 72 and clean air is discharged.

[0116] The modular design of the dust box assembly 72 facilitates disassembly and cleaning, allowing users to easily maintain the equipment and keep it running efficiently.

[0117] In one possible implementation, the roller brush assembly 71 is located on the side of the battery pack 50 facing away from the binocular recognition module 60. The fan assembly 73 is located near the rear camera 14. The dustbin assembly 72 is located between the roller brush assembly 71 and the fan assembly 73. The air outlet 16 is located near the rear camera 14.

[0118] In one possible implementation, the self-cleaning device 100 also includes a signal processing board 46, which is fixed to the fan assembly 73 and electrically connected to the rear camera 14.

[0119] By fixing the signal processing board 46 to the fan assembly 73, the internal space layout of the equipment is optimized, wiring complexity is reduced, and a more compact design is achieved. The signal processing board 46 is electrically connected to the rear camera 14, enabling real-time processing of image data captured by the rear camera 14, thereby improving the speed and efficiency of data processing.

[0120] The signal processing board 46 can perform preliminary analysis and processing on the image data from the rear camera 14, such as image enhancement and edge detection, to improve the device's ability to evaluate the cleaning effect. By performing preliminary data processing on the signal processing board 46, the computational burden on the motherboard 40 is reduced, and the overall processing efficiency of the device is improved.

[0121] The independent design of the signal processing board 46 facilitates maintenance and upgrades, supports the introduction of new processing algorithms and functions, and improves the scalability of the device.

[0122] In one possible implementation, the signal processing board 46 is bonded and fixed to the bracket of the fan assembly 73.

[0123] In one possible implementation, the robotic arm cabin base 22 is fixed to the upper cover 12 by a fixing buckle 221 and a fixing screw 222.

[0124] The fixing screw 222 provides strong fixing force, enabling the robotic arm cabin base 22 to be firmly connected to the upper cover 12, ensuring stability during the operation of the robotic arm 32 and reducing vibration and displacement.

[0125] The design of the fixing buckle 221 makes the installation and disassembly of the robotic arm cabin base 22 simpler and faster, allowing users to operate it without tools or with only simple tools, thus improving the maintainability of the equipment.

[0126] The double fixing of the buckle 221 and the screw 222 provides additional safety protection to prevent the robotic arm cabin base 22 from accidentally loosening or falling off during use.

[0127] In one possible implementation, a button 223 is also provided on the robotic arm compartment base 22. By pressing the button 223, the robotic arm compartment cover 23 can be opened, allowing the robotic arm compartment 21 to open. This facilitates operation by the user when the self-cleaning device 100 is not in use, improving the maintainability of the equipment.

[0128] like Figure 2 As shown, in one possible implementation, the self-cleaning device 100 further includes a mopping module 80. The mopping module 80 is located on the main unit 10.

[0129] In one possible implementation, the mopping module 80 includes a mop assembly 81, which is rotatably disposed on the side of the host 10 away from the robotic arm cabin module 20.

[0130] The introduction of the mop assembly 81 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 71 and the mop assembly 81, the device can perform both wet and dry cleaning, adapting to different types of floors and cleaning needs. The rotatable mop assembly 81 can cover a larger cleaning area or increase the frequency of cleaning, thereby reducing the number of repetitive cleanings and improving overall cleaning efficiency.

[0131] By providing more thorough and diverse cleaning solutions, the equipment can meet different user needs, thereby increasing user satisfaction and trust.

[0132] In one possible implementation, the cloth assembly 81 is located on the side of the roller brush assembly 71 away from the binocular recognition module 60.

[0133] In one possible implementation, the mopping module 80 also includes a water tank 82 and a water pump 83, which are mounted on the main unit 10. The water tank 82 is connected to the mop assembly 81 via the water pump 83.

[0134] Water from the water tank 82 is delivered to the mop assembly 81 via water pump 83, allowing the equipment to automatically perform wet mopping operations, enhancing cleaning effectiveness, especially when dealing with stubborn stains. The use of water pump 83 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 83 reduces manual intervention, enabling continuous cleaning tasks and improving overall cleaning efficiency.

[0135] In one possible implementation, the water tank 82 is detachably mounted on the main unit base 11, allowing users to easily perform maintenance and maintain the efficient operation of the equipment.

[0136] In one possible implementation, the design integrating the water tank 82 and the water pump 83 also supports the device to achieve more intelligent cleaning operations, such as automatic water replenishment and humidity regulation, thereby improving the device's level of intelligence.

[0137] like Figure 6 As shown, in one possible implementation, the self-cleaning device 100 further includes a drive wheel module 90, which is located on the side of the main unit 10 away from the robotic arm cabin module 20. The drive wheel module 90 is used to drive the main unit 10 to move in order to perform cleaning operations.

[0138] The drive wheel module 90 enables the equipment to move autonomously, covering a larger cleaning area and improving its mobility and flexibility. The drive wheel module 90 supports intelligent path planning, optimizing cleaning routes, reducing repetitive cleaning and missed areas, and improving cleaning efficiency. The integration of the drive wheel module 90 also enables smarter navigation and obstacle avoidance functions, enhancing the overall level of intelligence.

[0139] The drive wheel module 90 can work in conjunction with other functional modules (such as the mopping module 80 and the vacuuming module 70) to achieve multi-functional cleaning operations.

[0140] In one possible implementation, the drive wheel module 90 is located on both sides of the roller brush assembly 71.

[0141] In one possible implementation, the self-cleaning device 100 also includes a caster wheel 91, which is rotatably located on the side of the main unit 10 away from the robotic arm cabin module 20.

[0142] The omnidirectional wheels 91 can rotate freely, allowing the equipment to move flexibly in all directions. Together with the drive wheel module 90, 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, supporting multi-functional operation.

[0143] like Figure 3 As shown, in one possible implementation, the self-cleaning device 100 further includes an auxiliary wheel 92, which is rotatably disposed on the side of the host 10 away from the robotic arm cabin module 20, and the caster wheel 91 and the auxiliary wheel 92 are disposed on opposite sides of the drive wheel module 90.

[0144] The combination of auxiliary wheels 92 and casters 91 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 91 and auxiliary wheels 92 allows the equipment to move flexibly in different directions, improving maneuverability, especially in confined or complex environments. The design of auxiliary wheels 92 and casters 91 supports smooth steering and directional adjustments, reducing the turning radius and improving steering efficiency.

[0145] Meanwhile, the auxiliary wheel 92 helps to share the weight and load of the equipment, reducing the pressure on the drive wheel module 90 and extending the service life of the drive wheel module 90.

[0146] In one possible implementation, the omnidirectional wheel 91 is positioned close to the binocular recognition module 60, while the auxiliary wheel 92 is positioned close to the rear camera 14.

[0147] The self-cleaning device 100 provided in this embodiment includes a main unit 10, a robotic arm compartment module 20, and a robotic arm module 30. The main unit 10 can move autonomously to perform cleaning operations. Vertically, the robotic arm compartment module 20 is positioned above the main unit 10, forming a robotic arm compartment 21 between the robotic arm compartment module 20 and the main unit 10. The robotic arm module 30 is mounted on the main unit 10 and housed within the robotic arm compartment 21. The robotic arm compartment module 20 can be rotated to open the robotic arm compartment 21, allowing the robotic arm module 30 to extend out of the main unit 10 to perform its work.

[0148] By installing a robotic arm compartment module 20 on the main unit 10 and integrating a robotic arm module 30 within the robotic arm compartment 21, the equipment can automatically identify and handle obstacles encountered during the cleaning process. This activates the robotic arm, opening the robotic arm compartment 21 and extending the robotic arm to grab obstacles or move doors, reducing manual intervention and improving cleaning efficiency and coverage. When not in use, the robotic arm can be stored inside the robotic arm compartment 21, saving space and maintaining a clean and aesthetically pleasing appearance, thus enhancing the product's visual appeal. In addition to solving the problems of frequent obstacle avoidance and rooms that cannot be cleaned, the automatic opening of the robotic arm compartment 21 and the extension of the robotic arm increase the equipment's technological sophistication and improve the user experience.

[0149] 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.

[0150] 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.

[0151] 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).

[0152] 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.

[0153] 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 apparatus, characterized by, The self-cleaning device comprises: a host capable of autonomous movement for cleaning operation; a mechanical arm cabin module arranged above the host in the vertical direction, forming a mechanical arm cabin with the host; a mechanical arm module arranged on the host and accommodated in the mechanical arm cabin, the mechanical arm cabin module being capable of rotating to open the mechanical arm cabin so that the mechanical arm module extends out of the host for operation.

2. The self-cleaning apparatus according to claim 1, characterized in that, The host comprises a host base and an upper cover, the upper cover being arranged on the host base, the host base being capable of autonomous movement for cleaning operation, the mechanical arm cabin module being arranged on the side of the upper cover away from the host base in the vertical direction, the mechanical arm cabin being formed between the mechanical arm cabin module and the upper cover, and the mechanical arm module passing through the upper cover and being arranged on the host base.

3. The self-cleaning apparatus according to claim 2, characterized in that, The mechanical arm cabin module comprises a mechanical arm cabin base and a mechanical arm cabin cover, the mechanical arm cabin base being arranged on the side of the upper cover away from the host base in the vertical direction, the mechanical arm cabin being formed between the mechanical arm cabin cover and the upper cover, and the mechanical arm cabin cover being rotatably arranged on the mechanical arm cabin base to open the mechanical arm cabin.

4. The self-cleaning apparatus according to claim 3, characterized in that, The mechanical arm module comprises a mechanical arm base and a mechanical arm, the mechanical arm base passing through the upper cover and being arranged on the host base, the mechanical arm being connected to the mechanical arm base and accommodated in the mechanical arm cabin, and the mechanical arm cabin cover being rotatable to open the mechanical arm cabin so that the mechanical arm extends out of the host for operation.

5. The self-cleaning apparatus according to claim 4, characterized in that, The self-cleaning device further comprises a mainboard, the host base and the upper cover forming a device cabin, the mainboard being arranged on the host base and located in the device cabin.

6. The self-cleaning apparatus according to claim 5, characterized in that, The mainboard is provided with an avoidance opening, the mechanical arm base passing through the upper cover and the avoidance opening and being arranged on the host base.

7. The self-cleaning apparatus according to claim 6, characterized in that, The mainboard is provided with a heat sink, the heat sink covering the chips and shielding cover of the mainboard.

8. The self-cleaning apparatus according to claim 7, characterized in that, The self-cleaning device further comprises a heat dissipation fan, the heat sink being provided with a heat dissipation hole, the heat dissipation fan being arranged on the side of the heat sink away from the mainboard and opposite to the heat dissipation hole.

9. The self-cleaning apparatus according to claim 8, characterized in that, The self-cleaning device further comprises a battery pack, the battery pack being arranged on the host base and located in the device cabin, and the mainboard being located between the battery pack and the mechanical arm.

10. The self-cleaning apparatus according to claim 9, characterized in that, The self-cleaning device further comprises a heat dissipation fan, the heat dissipation fan being arranged on the host base and adjacent to the battery pack.

11. The self-cleaning apparatus according to claim 10, characterized in that, The heat dissipation fan and the heat dissipation fan are arranged on opposite sides of the avoidance opening.

12. The self-cleaning apparatus of claim 5, wherein, The self-cleaning device further comprises a binocular recognition module, the binocular recognition module being arranged on the side surface of the host base and electrically connected to the mainboard.

13. The self-cleaning apparatus of claim 12, wherein, The self-cleaning device further comprises a rear camera, the rear camera being arranged on the side surface of the host base, and the rear camera and the binocular recognition module being arranged on opposite sides of the host base, the rear camera being used for detecting the cleaned area.

14. The self-cleaning apparatus according to claim 13, characterized in that, The self-cleaning device further comprises a light supplementing lamp, the light supplementing lamp being arranged on the side surface of the host base, and the light supplementing lamp being used for illuminating the detection area of the rear camera.

15. The self-cleaning apparatus of claim 13, wherein, The self-cleaning device further comprises a rolling brush assembly, a dust box assembly and a fan assembly, the rolling brush assembly is rotatably arranged on the side of the main machine base away from the upper cover, the dust box assembly is arranged in the device cabin and communicates with the rolling brush assembly, the main machine base is provided with an air outlet, and the fan assembly is arranged in the device cabin and communicates with the dust box assembly on one side and the air outlet on the other side.

16. The self-cleaning apparatus of claim 15, wherein, The self-cleaning device further comprises a signal processing board, which is fixed on the fan assembly and electrically connected with the rear camera.

17. The self-cleaning apparatus of claim 3, wherein, The mechanical arm cabin base is fixed on the upper cover through a fixing buckle and a fixing screw.

18. The self-cleaning device according to any one of claims 1-17, characterized in that, The self-cleaning device further comprises a mopping module, which is arranged on the main machine.

19. The self-cleaning apparatus of claim 18, wherein, The mopping module comprises a cloth assembly, which is rotatably arranged on the side of the main machine away from the mechanical arm cabin module.

20. The self-cleaning apparatus of claim 19, wherein, The mopping module further comprises a water tank and a water pump, which are arranged on the main machine, and the water tank and the cloth assembly communicate through the water pump.

21. The self-cleaning device according to any one of claims 1-17, characterized in that, The self-cleaning device further comprises a driving wheel module, which is arranged on the side of the main machine away from the mechanical arm cabin module, and is used to drive the main machine to move for cleaning work.

22. The self-cleaning apparatus of claim 21, wherein, The self-cleaning device further comprises a universal wheel, which is rotatably arranged on the side of the main machine away from the mechanical arm cabin module.

23. The self-cleaning apparatus of claim 22, wherein, The self-cleaning device further comprises an auxiliary wheel, which is rotatably arranged on the side of the main machine away from the mechanical arm cabin module, and the universal wheel and the auxiliary wheel are arranged on opposite sides of the driving wheel module.

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