Cleaning equipment

Abstract

The utility model provides cleaning equipment. The cleaning equipment comprises a main machine body and a driving wheel, the main machine body comprises a bottom surface, a circumferential surface, a first slope and a second slope, the first slope is located on the front side of the main machine body and connected with the bottom surface and the circumferential surface, and the second slope is located on the rear side of the main machine body and connected with the bottom surface and the circumferential surface; the driving wheels are arranged on the main machine body and used for driving the main machine body to move. The position of the boundary line of the top edge of the first slope and the circumferential surface is higher than the position of the boundary line of the top edge of the second slope and the circumferential surface. The cleaning equipment provided by the utility model has a relatively high obstacle crossing capability and a relatively large working range, and the use experience of a user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cleaning, in particular to a cleaning device. BACKGROUND

[0002] Taking a sweeping robot as an example, in the related art, the sweeping robot is difficult to cross over when encountering a threshold, a step or the like low obstacle, and the working range is thus limited, which affects the overall cleaning effect of the environment and the user experience is not good. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the embodiments of the present application expect to provide a cleaning device with strong obstacle-crossing capability to expand its working range and improve the user experience.

[0004] The embodiments of the present application provide a cleaning device, comprising:

[0005] a main body comprising a bottom surface, a circumferential surface, a first slope surface and a second slope surface, the first slope surface is located at the front side of the main body and connects the bottom surface and the circumferential surface, and the second slope surface is located at the rear side of the main body and connects the bottom surface and the circumferential surface;

[0006] a drive wheel arranged on the main body and used to drive the main body to move;

[0007] wherein the position of the intersection line between the top edge of the first slope surface and the circumferential surface is higher than the position of the intersection line between the top edge of the second slope surface and the circumferential surface.

[0008] In some embodiments, the intersection line between the top edge of the first slope surface and the circumferential surface has a ground clearance of no less than 30 mm.

[0009] In some embodiments, the number of the drive wheels is at least two, the at least two drive wheels are coaxially arranged, and in the vertical projection of the plane perpendicular to the axis of the drive wheel, the angle formed by the first slope surface and the horizontal plane is greater than the angle formed by the second slope surface and the horizontal plane.

[0010] In some embodiments, the number of the drive wheels is at least two, the at least two drive wheels are coaxially arranged, and in the vertical projection of the plane perpendicular to the axis of the drive wheel, the angle formed by the first slope surface and the horizontal plane is 30°-45°.

[0011] In some embodiments, the first slope surface comprises adjacent first and second regions, the first region is located above the second region, the main body further comprises third slope surfaces located on the left and right sides of the main body, the third slope surfaces connect the second region and the second slope surface and form a closed loop slope surface surrounding the circumferential surface.

[0012] In some embodiments, the cleaning device comprises a bumper plate arranged on the front side of the main body, the bumper plate has a gap, the first area is exposed outside the cleaning device through the gap, the bottom edge of the position where the bumper plate is located on both sides of the gap in the circumferential direction is not lower than the top edge of the closed-loop slope surface.

[0013] In some embodiments, the cleaning device comprises a universal wheel device, the universal wheel device is located in front of the driving wheel, in the vertical projection of the plane perpendicular to the axis of the driving wheel, the projected contour of the universal wheel device does not exceed the extension line of the projected contour of the first slope surface.

[0014] In some embodiments, the main body has a through hole, part of the universal wheel device extends to the outside of the main body through the through hole, wherein part of the through hole penetrates the first slope surface and the other part penetrates the bottom surface.

[0015] In some embodiments, the cleaning device comprises a universal wheel device; the universal wheel device comprises:

[0016] A caster wheel;

[0017] A base assembly and a steering seat, the steering seat is rotatably arranged on the base assembly;

[0018] A lifting assembly; the caster wheel is arranged at the bottom end of the lifting assembly, the lifting assembly is rotationally matched with the steering seat, the caster wheel is used to drive the steering seat to rotate relative to the base assembly under the action of external force, and the lifting assembly can move up and down relative to the steering seat;

[0019] A driving mechanism for driving the lifting assembly to move up and down relative to the steering seat and the base assembly.

[0020] In some embodiments, the base assembly comprises a base plate part, the base plate part has a mounting hole, the steering seat is rotatably arranged in the mounting hole, the lifting assembly comprises a mounting frame and a rod part, the caster wheel is rotatably arranged on the mounting frame, the steering seat has a through hole, and the top end of the rod part extends to the top side of the base plate part through the through hole.

[0021] In some embodiments, the driving mechanism comprises a flexible belt and a winding mechanism, one end of the flexible belt is connected to the winding mechanism, the other end is fixed relative to the base assembly, the winding mechanism is used to wind the flexible belt, so that the flexible belt has a straightening movement trend, thereby driving the lifting assembly to move towards the direction of the caster wheel.

[0022] In some embodiments, the cleaning device comprises a bumper plate arranged on the front side of the main body;

[0023] The collision plate corresponds to the portion of the first slope within the circumferential extension length of the main body, and is not lower than the boundary line between the top edge of the first slope and the circumferential surface; and / or, the ground clearance of the portion of the collision plate corresponding to the portion of the first slope within the circumferential extension length of the main body is not less than 30mm.

[0024] In some embodiments, the cleaning device further includes a plurality of sensors, some of which are disposed on the first slope; and / or, the cleaning device further includes a lighting fixture disposed on the first slope.

[0025] In the cleaning device provided in this application embodiment, the first slope and the second slope can increase the approach angle and departure angle of the cleaning device, respectively, and the first slope can guide the cleaning device to overcome obstacles, thereby improving the obstacle-crossing ability of the cleaning device. Furthermore, the structures of the first slope and the second slope that intrude into the internal space of the main body are relatively small, reducing the space occupied by the main body. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the cleaning equipment located on the ground in one embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the structure of a cleaning device in one embodiment of this application;

[0028] Figure 3 for Figure 2 A schematic diagram of the structure from another perspective;

[0029] Figure 4 for Figure 2 A schematic diagram of the structure from another perspective;

[0030] Figure 5 This is a schematic diagram of the obstacle-crossing process of the cleaning equipment in one embodiment of this application;

[0031] Figure 6 for Figure 5 Another schematic diagram illustrating the obstacle-crossing process of cleaning equipment;

[0032] Figure 7 This is a schematic diagram of the universal wheel device in one embodiment of this application;

[0033] Figure 8 for Figure 7 The schematic diagram of the shielding plate is omitted in the embodiment;

[0034] Figure 9 for Figure 8 Cross-sectional schematic diagram of the middle structure;

[0035] Figure 10 For Figure 9 Schematic view of the lifting assembly of the middle embodiment after movement;

[0036] Figure 11 For Figure 7 Exploded view of the middle embodiment.

[0037] Legend of reference signs

[0038] 100, cleaning device; 10, main body; 10a, bottom surface; 10b, circumferential surface; 10c, first slope surface; 10c1, first area; 10c2, second area; 10d, second slope surface; 10e, third slope surface; 10A, through hole; 20, driving wheel; 30, universal wheel device; 31, caster; 32, base assembly; 321, base plate part; 321a, mounting hole; 321b, second accommodating groove; 322, guide seat; 322a, sliding groove; 33, steering seat; 33a, through hole; 331, shaft part; 332, disc part; 34, lifting assembly; 341, mounting frame; 342, rod part; 35, driving mechanism; 351, flexible belt; 352, winding mechanism; 3521, motor; 3522, pulley; 36, limiting structure; 37, support; 38, elastic member; 39, guide bearing; 301, rolling member; 302, mounting bearing; 303, lower limit position detection member; 304, upper limit position detection member; 305, detection member fixing frame; 306, shade plate; 40, impact plate; 40a, notch. DETAILED DESCRIPTION

[0039] The embodiments of the present application will be further described below in conjunction with the drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0040] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0041] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited, the terms "connected", "connected" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0042] The present application provides a cleaning device 100, please refer to Figure 1 and Figure 2 , the cleaning device 100 includes a main body 10 and a drive wheel 20. The drive wheel 20 is arranged on the main body 10, which is used to drive the main body 10 to move.

[0043] Exemplarily, the cleaning device 100 further includes a cleaning member arranged at the bottom of the main body 10, which can be a roller brush, an edge brush, or a cloth, etc. The cleaning member can rotate or be squeezed to remove stains on the ground. The form of the cleaning device 100 includes but is not limited to a sweeping robot, a sweeping and mopping integrated robot, etc.

[0044] It can be understood that the cleaning device 100 can move on the ground under the action of the drive wheel 20, and during the movement, the cleaning member cleans the ground area passed by. The wider the cleaning device 100 can reach, the better the cleaning effect of the cleaning device 100 on the environment, so enhancing the obstacle crossing ability of the cleaning device 100 helps to improve the cleaning effect of the cleaning device 100. The obstacle is, for example, a threshold, a step, etc., as shown in Figure 1 .

[0045] Please refer to Figure 2 and Figure 3 , the main body 10 includes a bottom surface 10a, a circumferential surface 10b, a first slope surface 10c and a second slope surface 10d. The bottom surface 10a is located at the bottom of the main body 10, the circumferential surface 10b surrounds the circumferential side of the main body 10, the first slope surface 10c is located at the front side of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b, and the second slope surface 10d is located at the rear side of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b.

[0046] The above-mentioned slope surface refers to a surface with a certain slope, that is, the first slope surface 10c and the second slope surface 10d are both arranged inclinedly relative to the horizontal plane, forming a certain size of inclined angle structure at the front side and the rear side of the main body 10, so that, please refer to Figure 5 and Figure 6 , when the cleaning device 100 encounters an obstacle during operation, there are two cases as follows.

[0047] The first case is that the main body 10 of the cleaning device 100 can pass over the obstacle without abutting against the obstacle. The angle between the tangent line from the front end point of the main body 10 to the front wheel of the cleaning device 100 and the horizontal plane is the approach angle of the cleaning device 100, and the angle between the tangent line from the rear end point of the main body 10 to the rear wheel of the cleaning device 100 and the horizontal plane is the departure angle of the cleaning device 100. The first slope surface 10c can certainly increase the approach angle of the cleaning device 100, and the second slope surface 10d can certainly increase the departure angle of the cleaning device 100. Exemplarily, when the cleaning device 100 passes over the obstacles such as slopes, pits or protrusions, the main body 10 of the cleaning device 100 is hardly lifted by the obstacles to cause the driving wheel 20 to be suspended, and the cleaning device 100 can easily pass over the obstacles.

[0048] The second case is that the main body 10 of the cleaning device 100 abuts against the obstacle. Exemplarily, when the cleaning device 100 passes over the obstacles such as steps or thresholds, the first slope surface 10c abuts against the edge of the obstacle, so that the obstacle exerts a resistance on the cleaning device 100 in the oblique upward direction. Under the action of the driving wheel 20, the front side of the main body 10 is lifted, the main body 10 is tilted forward over the obstacle, and then the cleaning device 100 can move over the obstacle. Thus, the first slope surface 10c can guide the main body 10 to pass over the obstacle, thereby improving the obstacle passing ability of the cleaning device 100. When the cleaning device 100 leaves the obstacle, the second slope surface 10d can reduce the probability of the main body 10 being stuck to cause the driving wheel 20 to be suspended, and also improve the obstacle passing ability.

[0049] It should be noted that in this embodiment, the slopes of the first slope surface 10c and the second slope surface 10d can be the same or different; the slopes of the first slope surface 10c at any positions can be the same or different, and the slopes of the second slope surface 10d at any positions can be the same or different.

[0050] The first slope surface 10c can be a plane, a plurality of planes connected together, or a curved surface, etc. Similarly, the second slope surface 10d can be a plane, a plurality of planes connected together, or a curved surface, etc.

[0051] Please refer to Figure 4The position of the top edge of the first slope surface 10c and the intersection line of the circumferential surface 10b is higher than the position of the top edge of the second slope surface 10d and the intersection line of the circumferential surface 10b. That is, in the height direction of the cleaning device 100, the height dimension of the first slope surface 10c is large, on the one hand, the main body 10 is not easy to be lifted during the process of crossing the obstacle, on the other hand, even if the height of the obstacle is high, it can abut against the first slope surface 10c, rather than abutting against the circumferential side of the main body 10, so that the cleaning device 100 can cross higher obstacles, thereby further improving the obstacle crossing ability. The height dimension of the second slope surface 10d arranged at the rear side can be small, the structure invading the internal space of the main body 10 is small, and the occupation of the internal space of the main body 10 is reduced, facilitating the internal arrangement of other components of the main body 10.

[0052] It should be noted that in other embodiments of the present application, the position of the top edge of the first slope surface 10c and the intersection line of the circumferential surface 10b can be lower than or equal to the position of the top edge of the second slope surface 10d and the intersection line of the circumferential surface 10b.

[0053] As can be seen, in the cleaning device 100 provided by the embodiments of the present application, the first slope surface 10c and the second slope surface 10d can respectively increase the approach angle and the departure angle of the cleaning device 100, and the first slope surface 10c can guide the cleaning device 100 to cross the obstacle, thereby improving the obstacle crossing ability of the cleaning device 100. The structure of the first slope surface 10c and the second slope surface 10d invading the internal space of the main body 10 is small, and the occupation of the internal space of the main body 10 is reduced.

[0054] Exemplarily, in an embodiment, the first slope surface 10c is also conducive to the movement of the cleaning device 100 from a high place to a low place to cross a step obstacle. When the height of the step obstacle is not enough to trigger the cliff recognition, the cleaning device 100 can continue to move, and the first slope surface 10c can reduce the probability that the front side of the main body 10 abuts against the ground to cause the driving wheel 20 to be suspended, so that the cleaning device 100 can smoothly move to the low place.

[0055] Exemplarily, in an embodiment, the bottom surface 10a is parallel to the horizontal plane.

[0056] Exemplarily, in an embodiment, the circumferential surface 10b is perpendicular to the horizontal plane.

[0057] Exemplarily, in an embodiment, the number of driving wheels 20 is at least two, and the two driving wheels 20 are arranged on the left and right sides of the main body 10, and the axes are located on the same straight line, that is, the two driving wheels 20 are coaxially arranged.

[0058] Exemplarily, in an embodiment, the cleaning device 100 further comprises a control device configured to control the operation of the driving wheel 20 to output power at a suitable time to drive the cleaning device 100 to move or to cross over the obstacle.

[0059] In some embodiments, referring to Figure 4 , the height H1 of the intersection line between the top edge of the first slope surface 10c and the circumferential surface 10b from the ground is not less than 30 mm, that is, H1≥30 mm. The value of H1 includes but is not limited to 30 mm, 33 mm, 35 mm, 40 mm, 45 mm, etc. Correspondingly, the height of the obstacle that the cleaning device 100 can cross over is also greater, so as to improve the obstacle-crossing ability.

[0060] In an embodiment in which the cleaning device 100 is a robot cleaner, the working environment thereof is usually a room such as a bedroom, a kitchen, a study, etc. The common obstacles in such an environment include but are not limited to the ground rail of a sliding door, a dry-wet separation partition, an edge of a wooden floor, etc. The height of these obstacles is generally less than 30 mm. Therefore, the cleaning device 100 can cross over these obstacles to move in different ground areas, has a larger activity area, and can clean the room more thoroughly and better.

[0061] In some embodiments, referring to Figure 4 , in the vertical projection plane perpendicular to the axis of the driving wheel 20, the angle (denoted as α) formed by the first slope surface 10c and the horizontal plane is greater than the angle (denoted as β) formed by the second slope surface 10d and the horizontal plane, that is, α>β.

[0062] The vertical projection plane perpendicular to the axis of the driving wheel 20, that is, the projection line of the cleaning device 100 along the axis of the driving wheel 20, forms a projection on one side of the main body 10. It can be understood that the projection contour of the first slope surface 10c is located at the front side edge of the cleaning device 100, and the projection contour of the second slope surface 10d is located at the rear side edge of the cleaning device 100. The shape of the projection contour of the first slope surface 10c is not limited and can be a straight line, a curve or a polyline. The angle formed by the line connecting the corresponding projection position of the top edge of the first slope surface 10c and the corresponding projection position of the bottom edge of the first slope surface 10c and the horizontal plane is regarded as the angle formed by the first slope surface 10c and the horizontal plane in the projection. Similarly, the shape of the projection contour of the second slope surface 10d is not limited and can be a straight line, a curve or a polyline. The angle formed by the line connecting the corresponding projection position of the top edge of the second slope surface 10d and the corresponding projection position of the bottom edge of the second slope surface 10d and the horizontal plane is regarded as the angle formed by the second slope surface 10d and the horizontal plane in the projection.

[0063] The first slope surface 10c forms a larger angle with the horizontal plane, that is, the first slope surface 10c has a larger inclination with respect to the horizontal plane, and the first slope surface 10c has a smaller size along the horizontal direction, so that the structure invading the internal space of the main body 10 is smaller, and the occupation of the internal space of the main body 10 is reduced.

[0064] The angle formed by the first slope surface 10c with the horizontal plane is not limited.

[0065] The angle formed by the second slope surface 10d with the horizontal plane is not limited.

[0066] In some embodiments, the angle a formed by the first slope surface 10c with the horizontal plane is 30°-45°, that is, 30°≤a≤45°, and the value of a includes but is not limited to 30°, 35°, 40°, 45°, etc. In this angle range, the occupation of the internal space of the main body 10 can be reduced, and the main body 10 can be guided to pass over the obstacle.

[0067] In some embodiments, referring to Figure 2 , the first slope surface 10c includes adjacent first and second regions 10c1 and 10c2, and the first region 10c1 is located above the second region 10c2. The main body 10 further includes third slope surfaces 10e located on the left and right sides of the main body 10, and the third slope surfaces 10e connect the second region 10c2 and the second slope surface 10d and form a closed loop slope surface around the peripheral surface 10b.

[0068] It can be understood that the first region 10c1 and the second region 10c1 are two different regions with different surfaces, which are schematically distinguished by the intersection line as shown in Figure 2 . The second region 10c2 allows the first slope surface 10c to form a larger slope, and the first and second regions 10c1 and 10c2 realize the phased change of the slope, so as to reduce the probability that the first slope surface 10c is too straight and is blocked by the obstacle. In addition, the closed loop slope surface can improve the aesthetics of the bottom of the cleaning device 100, and the left and right sides of the main body 10 are not easily stuck by the obstacle, so that the obstacle passing ability of the cleaning device 100 is more stable when passing over the obstacle.

[0069] For example, in an embodiment, the intersection line of the top edge of the third slope surface 10e and the peripheral surface 10b is flush with the intersection line of the second slope surface 10d and the peripheral surface 10b, so as to reduce the invasion of the internal space of the main body 10, and make the lines of the bottom of the main body 10 more smooth, and improve the aesthetics.

[0070] For example, in an embodiment, the slope of the third slope surface 10e at the same height position as the second slope surface 10d is the same.

[0071] In some embodiments, referring to Figure 2The cleaning device 100 comprises a collision plate 40 arranged on the front side of the main body 10, the collision plate 40 has a gap 40a, the first area 10c1 is exposed outside the cleaning device 100 through the gap 40a, and the bottom edge of the part of the collision plate 40 located on both sides of the gap 40a in the circumferential direction is not lower than the top edge of the closed-loop slope surface.

[0072] The collision plate 40 is used to bear the impact when the cleaning device 100 collides with an obstacle, and the connection between the collision plate 40 and the main body 10 is a non-rigid connection, which is movably connected to the front side of the main body 10 and is used to buffer the impact of the cleaning device 100. In other embodiments, the collision plate 40 can be replaced as a consumable part, thereby reducing the maintenance cost of the cleaning device 100.

[0073] In an embodiment, the cleaning device 100 further comprises a collision detection device, and the collision plate 40 has a certain floating property relative to the main body 10, which makes the collision plate 40 move when the cleaning device 100 collides with an obstacle, and the movement is large enough to be detected, so that the collision detection device detects the collision activity and generates a corresponding signal, which facilitates the cleaning device 100 to determine the next action to be performed according to the signal.

[0074] The first area 10c1 is exposed outside the cleaning device 100 through the gap 40a, that is, the gap 40a on the collision plate 40 can avoid the first slope surface 10c, so that when the cleaning device 100 approaches an obstacle, the obstacle can contact the first area 10c1, rather than directly colliding with the collision plate to trigger a collision signal, which helps the cleaning device 100 to pass over the obstacle by the guiding action of the first area 10c1. The bottom edge of the part of the collision plate 40 located on both sides of the gap 40a in the circumferential direction is not lower than the top edge of the closed-loop slope surface, so that the corresponding part of the collision plate 40 avoids the closed-loop slope surface, and the cleaning device 100 is not easy to be stuck.

[0075] In an embodiment, the collision plate 40 is a plastic part.

[0076] In an embodiment, the shape of the gap 40a is rectangular. Of course, in other embodiments, the gap 40a can also be a sector or other irregular shape.

[0077] In some embodiments, the collision plate 40 corresponds to the part of the first slope surface 10c in the extension length range of the main body 10 in the circumferential direction, and is not lower than the intersection line of the top edge of the first slope surface 10c and the circumferential surface 10b, so as to avoid the first slope surface 10c in the height direction, and the first slope surface 10c can abut against the obstacle.

[0078] In some embodiments, the ground clearance H2 of the collision plate 40 corresponding to the part of the first slope surface 10c in the circumferential extension of the main body 10 is not less than 30 mm, i.e., H2≥30 mm, and the value of H2 includes but is not limited to 30 mm, 33 mm, 35 mm, 40 mm, 45 mm, etc., so as to reduce or even almost block the first slope surface 10c.

[0079] As an optional embodiment, when the ground clearance of the intersection line between the top edge of the first slope surface 10c and the circumferential surface 10b is 30 mm, the ground clearance of the part corresponding to the collision plate is also 30 mm, so as to completely avoid the first slope surface 10c.

[0080] In some embodiments, the cleaning device 100 can further include a plurality of sensors, and some of the sensors are arranged on the first slope surface 10c, so as to utilize the large surface area of the first slope surface 10c and facilitate the sensors to perceive information. In addition, the arrangement of the sensors on the first slope surface 10c can relieve the demand for the internal space of the main body 10 and improve the design flexibility.

[0081] It can be understood that the sensors include but are not limited to cameras, laser radars, or infrared transceivers, etc., which can be used to acquire the information of the surrounding environment of the cleaning device 100, including but not limited to room map information, obstacle position and distance, etc. The sensors can feed back the collected information to the control module, so as to plan the moving path of the cleaning device 100 and complete the cleaning work.

[0082] In some embodiments, the cleaning device 100 further includes a lighting lamp, which is arranged on the first slope surface 10c. The lighting lamp can be used to provide light in a dark environment, so that the sensors can normally acquire information.

[0083] It should be noted that the above-mentioned sensors or lighting lamps will not be arranged on the area of the first slope surface 10c which first contacts the obstacle, so as to reduce the probability of damaging the sensors or lighting lamps.

[0084] In some embodiments, referring to Figure 2 , the cleaning device 100 includes a universal wheel device 30 which participates in the steering action in the moving process of the cleaning device 100. For example, when the two driving wheels 20 are driving wheels and a speed difference is formed between the two driving wheels 20, the cleaning device 100 performs a steering action, and the universal wheel device 30 is a driven part which adjusts with the rotation of the cleaning device 100 on the ground, so that the cleaning device 100 turns more smoothly and smoothly.

[0085] Exemplarily, the universal wheel device 30 is arranged on the main body 10 and located in front of the driving wheels 20. The cleaning device 100 adopts a moving mode of front-wheel steering and rear-wheel driving, which has a relatively simple structure and high reliability. The universal wheel device 30 can be a universal wheel or other forms.

[0086] Please see Figure 4 In this embodiment, the omnidirectional wheel device 30 is disposed in front of the drive wheel 20. When projected onto a plane perpendicular to the axis of the drive wheel 20, the projected outline of the omnidirectional wheel device 30 does not exceed the extension line of the projected outline of the first slope 10c. The aforementioned extension line refers to a straight line along the tangent direction of the projected outline of the first slope 10c at its endpoint, which reflects the movement posture of the main body 10 when the first slope 10c moves against an obstacle.

[0087] The projected outline of the caster wheel device 30 does not exceed the extension line of the projected outline of the first slope 10c, including two scenarios. In the first scenario, the projected outline of the caster wheel device 30 is located on one side of the extension line of the projected outline of the first slope 10c; in the second scenario, the projected outline of the caster wheel device 30 is tangent to the extension line of the projected outline of the first slope 10c. This design makes it difficult for the caster wheel device 30 to get stuck on obstacles during the cleaning equipment 100's movement over them, thus minimizing obstruction to the upward movement of the main body 10. Especially when the angle between the first slope 10c and the horizontal plane is large, the component force exerted by the obstacle on the cleaning equipment 100 in the direction of movement is greater. This design of the caster wheel device 30 further enhances the reliability of the obstacle-crossing function.

[0088] The projected outline of the aforementioned caster wheel device 30 does not exceed the extension line of the projected outline of the first slope 10c, which is when the cleaning equipment 100 is not tilted up, and at this time the bottom surface 10a is parallel to the horizontal plane.

[0089] The installation position of the caster wheel assembly 30 is relatively flexible. In some embodiments, the main body 10 has a through hole 10A, through which a portion of the caster wheel assembly 30 extends to the outside of the main body 10. The through hole 10A can be located through the bottom surface 10a, or a portion of the through hole 10A can penetrate the first slope 10c, while another portion penetrates the bottom surface 10a, as shown below. Figure 2 As shown. This facilitates the adjustment of the position of the caster wheel device 30, ensuring both smooth movement and the obstacle-crossing ability of the cleaning device 100.

[0090] In some embodiments, the caster wheel assembly 30 is located in front of the drive wheel 20; please refer to [reference needed]. Figure 7 , Figure 8 and Figure 9 The caster wheel assembly 30 includes casters 31, base assembly 32, steering seat 33, lifting assembly 34, and drive mechanism 35.

[0091] The steering seat 33 is rotatably arranged on the base assembly 32, and the caster 31 is arranged at the bottom end of the lifting assembly 34, the lifting assembly 34 is rotationally connected with the steering seat 33, and the caster 31 is used to drive the steering seat 33 to rotate relative to the base assembly 32 under the action of an external force, and the lifting assembly 34 can move up and down relative to the steering seat 33.

[0092] That is, the steering seat 33 can rotate relative to the base assembly 32, the lifting assembly 34 cannot rotate relative to the steering seat 33, and when the caster 31 rotates under the action of an external force, the lifting assembly 34 rotates and drives the steering seat 33 to rotate. The above-mentioned external force includes but is not limited to the resistance exerted by the ground terrain, or the thrust exerted on the caster 31 when the main body 10 turns.

[0093] The lifting assembly 34 can move up and down relative to the steering seat 33, and the caster 31 arranged thereon also moves, that is, the distance between the caster 31 and the base assembly 32 and the steering seat 33 can be changed. The base assembly 32 is used to mount the universal wheel device 30 to the chassis of the cleaning equipment 100 or other ground moving equipment, and when the distance between the caster 31 and the base assembly 32 changes, the ground clearance of the chassis also changes.

[0094] The driving mechanism 35 is used to drive the lifting assembly 34 to move up and down relative to the steering seat 33 and the base assembly 32. Referring to Figure 5 and Figure 9 , the lifting assembly 34 is in a first height position; referring to Figure 6 and Figure 10 , the lifting assembly 34 is in a second height position, and the first height position is higher than the second height position, and the driving mechanism 35 is used to drive the lifting assembly 34 to move from the first height position to the second height position.

[0095] It can be understood that when the lifting assembly 34 is in the first height position, the total height of the cleaning equipment 100 is relatively small, and the cleaning equipment 100 can pass through a relatively low space, such as under a sofa; when the lifting assembly 34 is in the second height position, the front side of the chassis of the cleaning equipment 100 has a relatively large ground clearance, and can cross obstacles such as a threshold, a step, and the like, and the obstacle crossing ability is improved.

[0096] Exemplarily, in an embodiment, the driving mechanism 35 can also be used to drive the lifting assembly 34 to move from the second height position to the first height position, so as to realize a reset function.

[0097] In the cleaning equipment 100, the lifting assembly 34 is used to drive the caster 31 to move up and down, so as to adjust the ground clearance of the front side of the main body 10.

[0098] Therefore, in the universal wheel device 30, the lifting assembly 34 can change the height position under the action of the driving mechanism 35 to adjust the distance between the caster wheel 31 and the base assembly 32. This makes the ground clearance of the front side of the cleaning device 100 change, and the cleaning device 100 can actively lift the front side. When encountering ground obstacles, the cleaning device 100 lifts the head, the main body 10 can cross the obstacles, and under the driving of the driving wheel 20, the main body 10 can cross the obstacles, so that the cleaning device 100 has better obstacle crossing ability. After crossing the obstacles, the lifting assembly 34 can be reset to reduce the current maximum height of the cleaning device 100.

[0099] Notably, in the universal wheel device 30, the steering seat 33 is arranged on the base assembly 32, and the steering seat 33 is rotationally connected with the lifting assembly 34. When the lifting assembly 34 moves, the relative distance between the steering seat 33 and the base assembly 32 does not change. That is, the steering seat 33 and the lifting assembly 34 are connected in a split manner. In this way, the driving mechanism 35 is connected to fewer structures, and only needs to drive the lifting assembly 34, which can reduce the number of types of components, thereby improving the flexibility of the design and being conducive to reducing the overall height of the cleaning device 100.

[0100] Therefore, in the embodiment, when the cleaning device 100 encounters obstacles during operation, a third situation also occurs: the lifting assembly 34 in the universal wheel device 30 moves, and the ground clearance of the front side of the main body 10 increases. In this way, the approach angle of the cleaning device 100 can be further increased, so that the cleaning device 100 can easily cross the obstacles, and under the guidance of the first slope 10c and the driving of the driving wheel 20, the cleaning device 100 can cross the obstacles. In this situation, the obstacle crossing ability of the cleaning device 100 is greatly improved.

[0101] In some embodiments, referring to Figure 11 , the base assembly 32 includes a base plate portion 321 having a mounting hole 321a, and the steering seat 33 is rotatably arranged in the mounting hole 321a. The lifting assembly 34 includes a mounting bracket 341 and a rod portion 342, and the caster wheel 31 is rotatably arranged on the mounting bracket 341. The steering seat 33 has a through hole 33a, and the top end of the rod portion 342 extends to the top side of the base plate portion 321 through the through hole 33a.

[0102] That is, the rod portion 342 of the lifting assembly 34 penetrates the steering seat 33 and the base plate portion 321, so that the top end of the rod portion 342 extends to the top side of the base plate portion 321. In this way, the axial position of the steering seat 33 relative to the base plate portion 321 and the radial position of the lifting assembly 34 relative to the base plate portion 321 are limited, and the structure is reliable and compact.

[0103] Exemplarily, in an embodiment, the caster 31 has an axle which is arranged in the mounting frame 341 so that the caster 31 can rotate relative to the mounting frame 341 when the cleaning device 100 moves.

[0104] Exemplarily, in an embodiment, in the case that the cleaning device 1000 moves, the front side of the mounting frame 341 and the front side of the steering seat 33 achieve a smooth transition along the moving direction of the cleaning device 1000, specifically, as shown in Figure 7 the front side of the mounting frame 341 includes a first inclined surface and the front side of the steering seat 33 includes a second inclined surface, the difference in drop and slope between the first inclined surface and the second inclined surface is small, so that in the process of the cleaning device 1000 crossing the obstacle, the universal wheel device 30 basically does not cause the cleaning device 1000 to have a significant jerk, thereby reducing the probability of the cleaning device 1000 being stuck.

[0105] Exemplarily, in an embodiment, the substrate 321 is arranged on the main body 10, the top side of the substrate 321 is located inside the main body 10, and the top end of the rod 342 extends into the inside of the main body 10 to be connected to the driving mechanism 35 arranged inside the main body 10.

[0106] In some embodiments, referring to Figure 11 the steering seat 33 includes a shaft 331 which is arranged in the mounting hole 321a, and the outer circumferential surface of the shaft 331 has a ring groove. The universal wheel device 30 includes a limiting structure 36 which is fixed relative to the base assembly 32, a part of the limiting structure 36 extends into the ring groove, and the steering seat 33 can rotate relative to the limiting structure 36.

[0107] That is, the shaft 331 of the steering seat 33 extends into the mounting hole 321a and is axially fixed on the base assembly 32 through the limiting structure 36, the limiting structure 36 has a bidirectional limiting effect on the shaft 331 along the axial direction through cooperation with the ring groove, so that the steering seat 33 is axially limited on the base assembly 32 but can rotate relative to the base assembly 32, and the shaft 331 of the steering seat 33 does not need to be provided with an additional shaft end cover, and the mounting hole 321a also does not need to be provided with an additional stop groove or the like.

[0108] In some embodiments, referring to Figure 11 the limiting structure 36 includes a check ring, the check ring is arranged discontinuously at the beginning and end to form a gap, and the gap is used for the shaft 331 to enter and exit the check ring. During installation, the check ring is elastically deformed, the size of the gap is increased so that the shaft 331 can be clamped into the check ring, and such a structure is relatively simple and convenient to install.

[0109] In some embodiments, referring to Figure 8 to Figure 11The universal wheel device 30 comprises a support 37 arranged on the top side of the base plate portion 321, the support 37 is rotationally fixed with the base assembly 32, the top end of the rod portion 342 is rotatably connected to the support 37, and the driving mechanism 35 is configured to apply force to the support 37 to drive the lifting assembly 34 to move up and down relative to the base assembly 32 via the support 37.

[0110] That is, the support 37 does not rotate when the lifting assembly 34 rotates. It can be understood that the rod portion 342 is arranged in the steering seat 33, and the top end of the rod portion 342 is connected to the support 37 which is rotationally fixed with the base assembly 32, so that the lifting assembly 34 is radially limited on the base assembly 32 and can move up and down relative to the base assembly 32.

[0111] In some embodiments, referring to Figure 11 The universal wheel device 30 comprises an elastic member 38, the support 37 is supported on the elastic member 38, and the elastic member 38 can be elastically deformed in the lifting direction to enable the support 37 to move in the lifting direction.

[0112] The lifting movement of the support 37 under the force of the driving mechanism 35 causes the elastic member 38 supported below to be elastically deformed and accumulate elastic potential energy. When the force applied to the support 37 by the driving mechanism 35 is less than the force applied in the opposite direction, the elastic member 38 restores the deformation to drive the support 37 to move, which is conducive to the resetting of the lifting assembly 34.

[0113] In addition, when the lifting assembly 34 is arranged at the second height position, the self-weight of the cleaning device 100 causes the lifted base assembly 32 to have a downward movement tendency, and the support 37 has a tendency to reset upward to the first height position compared with the base assembly 32.

[0114] It should be noted that the form of the elastic member 38 is not limited, including but not limited to springs, rubber bands, and any parts that can be elastically deformed.

[0115] In some embodiments, referring to Figure 11 The universal wheel device 30 further comprises a guide bearing 39, the top end of the rod portion 342 is rotatably connected to the support 37 via the guide bearing 39 to reduce the friction between the top end of the rod portion 342 and the support 37.

[0116] For example, in an embodiment, the universal wheel device 30 comprises a fastener, the guide bearing 39 comprises an outer ring and an inner ring, the bottom of the support 37 is provided with a bearing hole, the outer ring of the guide bearing 39 is interference-fitted and clamped into the bearing hole, and the fastener is arranged from top to bottom through the inner ring of the bearing and connected to the support 37 and the top end of the rod portion 342.

[0117] In some embodiments, referring to Figure 8 to Figure 11The base assembly 32 further comprises a guide seat 322, which is arranged on the top side of the base plate portion 321 and has a sliding groove 322a extending along the lifting direction. A part of the support 37 extends into the sliding groove 322a and is in sliding fit with the sliding groove 322a. When the support 37 moves up and down, the part of the support 37 is limited in the sliding groove 322a and moves along the extension direction of the sliding groove 322a. The sliding groove 322a plays a guiding role for the support 37 and makes the support 37 unable to rotate relative to the base assembly 32, so that the support 37 moves more smoothly.

[0118] As an optional embodiment, please refer to Figure 11 The elastic member 38 is a compression spring, which is arranged in the sliding groove 322a. In this way, the sliding groove 322a is reused, and the compression spring is conveniently fixed.

[0119] As an optional embodiment, please refer to Figure 11 The number of the guide seats 322 is two, which are oppositely arranged on both sides of the mounting hole 321a. The opposite ends of the support 37 respectively extend into the sliding grooves 322a of the guide seats 322. In this way, the guiding effect of the guide seats 322 is better.

[0120] In some embodiments, please refer to Figure 11 The universal wheel device 30 further comprises one or more mounting bearings 302, which are sleeved on the outer periphery of the steering seat 33. The steering seat 33 is rotatably mounted on the base assembly 32 through the mounting bearings 302. The mounting bearings 302 can reduce the friction between the steering seat 33 and the base assembly 32.

[0121] In some embodiments, please refer to Figure 11 The top surface and / or the bottom surface 10a of the base plate portion 321 is provided with a containing groove, which is in communication with the mounting hole 321a. The one or more mounting bearings 302 are accommodated in the containing groove. The containing groove plays a limiting and fixing role for the mounting bearings 302. The mounting bearings 302 can be radial bearings or axial bearings.

[0122] Exemplarily, in an embodiment, the mounting bearing 302 comprises an inner ring and an outer ring. The outer ring is in interference fit with the containing groove to be fixed in the containing groove. The inner ring is connected to the steering seat 33. The mounting bearing 302 bears the radial load and the axial load from the steering seat 33.

[0123] In some embodiments, please refer to Figure 11, the bottom surface 10a of the substrate portion 321 is provided with a first accommodating groove (not shown in the figure), and the top surface of the substrate portion 321 is provided with a second accommodating groove 321b, the inner diameter of the first accommodating groove is greater than the inner diameter of the second accommodating groove 321b, and the steering seat 33 comprises a disc portion 332 and a shaft portion 331 which are arranged in an axial direction and connected to each other, the outer diameter of the disc portion 332 is greater than the outer diameter of the shaft portion 331. One of the mounting bearings 302 is sleeved on the outer periphery of the disc portion 332 and embedded in the first accommodating groove, and the other mounting bearing 302 is sleeved on the outer periphery of the shaft portion 331 and embedded in the second accommodating groove 321b.

[0124] The disc portion 332 has a larger outer diameter, is arranged on the bottom surface 10a of the substrate portion 321, and abuts against the substrate portion 321, so that the load capacity of the steering seat 33 in the axial direction can be improved. The other mounting bearing 302 is arranged on the other side of the substrate portion 321, so that the two bearings are arranged in a spaced manner, and can stabilize the steering seat 33.

[0125] In some embodiments, referring to Figure 9 and Figure 10 , the driving mechanism 35 comprises a flexible belt 351 and a winding mechanism 352, one end of the flexible belt 351 is connected to the winding mechanism 352, and the other end is fixed relative to the base assembly 32, and the winding mechanism 352 is used for winding the flexible belt 351, so that the flexible belt 351 generates a straightening movement trend, and drives the lifting assembly 34 to move towards the direction of the caster 31.

[0126] When the flexible belt 351 is wound, the flexible belt 351 presses down the lifting assembly 34, so that the lifting assembly 34 moves; when the flexible belt 351 is relaxed, the lifting assembly 34 is reset under the action of the self-weight of the cleaning device 100 and / or the elastic force of the elastic member 38. The driving mechanism 35 has the characteristics of flexible transmission, the flexible belt 351 can also play a role in buffering the connection between the driving mechanism 35 and the lifting assembly 34, reducing the damage to the structure, and can also compensate for the error of the winding mechanism 352 to a certain extent, reducing the precision requirement of motion control, realizing stable and effective transmission, and helping to improve the reliability of the entire cleaning device 100.

[0127] Exemplarily, in an embodiment, the wires at both ends of the flexible belt 351 are arranged in a horizontal direction, and the structure above the lifting assembly 34 is less, almost only the flexible belt 351, so that the height size of the universal wheel device 30 can be reduced, thereby reducing the overall height of the cleaning device 100.

[0128] In some embodiments, referring to Figure 10 and Figure 11The winding mechanism 352 comprises a motor 3521 and a pulley 3522. The motor 3521 is connected to the power output shaft of the motor 3521, and the pulley 3522 is used to wind the flexible belt 351. The motor 3521 outputs power to the pulley 3522 to rotate and wind the flexible belt 351, so as to adjust the lifting movement of the lifting assembly 34 by controlling the rotation of the motor 3521. It can be understood that the motor 3521 reverses to relax the flexible belt 351, and the lifting assembly 34 can perform a reset movement.

[0129] In some embodiments, referring to Figure 11 The universal wheel device 30 further comprises a rolling member 301 rotatably arranged on the bracket 37, and the bracket 37 is in rolling contact with the driving structure through the rolling member 301.

[0130] It can be understood that the driving mechanism 35 at least applies a downward component force to the bracket 37, and the rolling contact between the bracket 37 and the driving mechanism 35 helps to reduce the friction therebetween, so as to reduce the component force applied by the driving mechanism 35 to the bracket 37 in other directions, thereby making the driving effect of the driving mechanism 35 on the bracket 37 more direct.

[0131] Exemplarily, the flexible belt 351 is in contact with the rolling member 301, and when the flexible belt 351 is wound, the rolling member 301 rolls, which can greatly reduce the friction between the flexible belt 351 and the lifting assembly 34 and improve the service life of the components.

[0132] In some embodiments, referring to Figure 11 The universal wheel device 30 further comprises a lower limit position detection member 303 capable of outputting a signal in response to an event that the lifting assembly 34 extends to a lower limit position. The signal can finally act on the motor 3521 to stop rotating, so as to fix the lifting assembly 34 at the lower limit position.

[0133] Exemplarily, in an embodiment, the universal wheel device 30 comprises a detection member fixing frame 305, and the lower limit position detection member 303 is arranged on the detection member fixing frame 305 and responds when the lifting assembly 34 reaches the lower limit position. The form of the lower limit position detection member 303 is not limited, including but not limited to a photoelectric switch, a displacement sensor, etc.

[0134] In some embodiments, referring to Figure 11 The universal wheel device 30 further comprises an upper limit position detection member 304 capable of outputting a signal in response to an event that the lifting assembly 34 retracts to an upper limit position. The signal can finally act on the motor 3521 to stop reverse rotation, so as to complete the reset of the lifting assembly 34.

[0135] Exemplarily, in an embodiment, the upper limit position detecting member 304 is arranged on the detecting member fixing frame 305, and the upper limit position detecting member 304 is responsive when the lifting assembly 34 reaches the upper limit position. The form of the upper limit position detecting member 304 is not limited, including but not limited to a photoelectric switch, a displacement sensor, etc.

[0136] In some embodiments, referring to Figure 8 and Figure 11 The universal wheel device 30 further comprises a cover plate 306 arranged above the base assembly 32, for covering the flexible belt 351 and the upper limit position detecting member 304, etc., to play a protection role.

[0137] In the embodiments of the present application, unless specifically defined and limited, a first feature is "on", "under", "above" or "below" a second feature can mean that the first feature is in direct contact with the second feature, or the first feature is indirectly in contact with the second feature through an intermediate medium. Moreover, the first feature is "above", "over" and "on" the second feature can mean that the first feature is directly above or obliquely above the second feature, or only means that the first feature is higher in horizontal height than the second feature. The first feature is "below", "under" and "under" the second feature can mean that the first feature is directly below or obliquely below the second feature, or only means that the first feature is lower in horizontal height than the second feature.

[0138] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0139] The various embodiments / implementation modes provided by the present application can be combined with each other without producing contradictions, if possible.

[0140] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning device, characterized in that, include: The main body includes a bottom surface, a circumferential surface, a first slope and a second slope, the first slope being located on the front side of the main body and connecting the bottom surface and the circumferential surface, and the second slope being located on the rear side of the main body and connecting the bottom surface and the circumferential surface; A drive wheel, mounted on the main body, is used to drive the main body to move; The position of the boundary line between the top edge of the first slope and the circumferential surface is higher than the position of the boundary line between the top edge of the second slope and the circumferential surface.

2. The cleaning equipment according to claim 1, characterized in that, The distance from the ground of the boundary line between the top edge of the first slope and the circumferential surface is not less than 30 mm.

3. The cleaning equipment according to claim 1, characterized in that, The number of drive wheels is at least two, and the at least two drive wheels are arranged coaxially. When projected onto a plane perpendicular to the axis of the drive wheels, the angle formed by the first slope and the horizontal plane is greater than the angle formed by the second slope and the horizontal plane.

4. The cleaning equipment according to claim 1, characterized in that, The number of drive wheels is at least two, and the at least two drive wheels are arranged coaxially. When projected onto a plane perpendicular to the axis of the drive wheels, the angle formed between the first slope and the horizontal plane is 30° to 45°.

5. The cleaning equipment according to any one of claims 1-4, characterized in that, The first slope includes an adjacent first region and a second region, with the first region located above the second region; the main body also includes a third slope located on the left and right sides of the main body, the third slope connecting the second region and the second slope, and forming a closed-loop slope surrounding the circumferential surface.

6. The cleaning equipment according to claim 5, characterized in that, The cleaning device includes a collision plate disposed on the front side of the main body. The collision plate has a notch, through which the first area is exposed to the outside of the cleaning device. The bottom edge of the portion of the collision plate located on both sides of the notch along the circumferential direction is not lower than the top edge of the closed-loop slope.

7. The cleaning equipment according to any one of claims 1-4, characterized in that, The cleaning equipment includes a caster wheel assembly located in front of the drive wheel. When projected onto a plane perpendicular to the axis of the drive wheel, the projected outline of the caster wheel assembly does not exceed the extension line of the projected outline of the first slope.

8. The cleaning equipment according to claim 7, characterized in that, The main body has a through hole, and a portion of the caster wheel device extends to the outside of the main body through the through hole, wherein a portion of the through hole penetrates the first slope and another portion penetrates the bottom surface.

9. The cleaning equipment according to any one of claims 1-4, characterized in that, The cleaning equipment includes a caster wheel assembly; the caster wheel assembly includes: Casters; A base assembly and a steering seat, the steering seat being rotatably mounted on the base assembly; Lifting assembly; the caster is located at the bottom of the lifting assembly, the lifting assembly is anti-rotating with the steering seat, the caster is used to drive the steering seat to rotate relative to the base assembly under the action of external force, and the lifting assembly can move up and down relative to the steering seat; A drive mechanism is used to drive the lifting assembly to move up and down relative to the steering seat and the base assembly.

10. The cleaning equipment according to claim 9, characterized in that, The base assembly includes a base plate portion having a mounting hole, and the steering seat is rotatably disposed through the mounting hole. The lifting assembly includes a mounting frame and a rod portion, and the caster is rotatably disposed on the mounting frame. The steering seat has a through hole, and the top end of the rod portion passes through the through hole and extends to the top side of the base plate portion.

11. The cleaning equipment according to claim 9, characterized in that, The drive mechanism includes a flexible belt and a winding mechanism. One end of the flexible belt is connected to the winding mechanism, and the other end is fixed relative to the base assembly. The winding mechanism is used to wind the flexible belt so that the flexible belt has a straightening tendency, thereby driving the lifting assembly to move toward the caster.

12. The cleaning equipment according to any one of claims 1-4, characterized in that, The cleaning device includes a collision plate, which is disposed on the front side of the main body; The collision plate corresponds to the portion of the first slope within the circumferential extension length of the main body, and is not lower than the boundary line between the top edge of the first slope and the circumferential surface; and / or, the ground clearance of the portion of the collision plate corresponding to the portion of the first slope within the circumferential extension length of the main body is not less than 30mm.

13. The cleaning equipment according to any one of claims 1-4, characterized in that, The cleaning device also includes a plurality of sensors, some of which are disposed on the first slope; and / or, the cleaning device also includes a lighting fixture disposed on the first slope.

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